diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index f5d16c2e..bbf794a0 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -13,12 +13,13 @@ This chapter is the reference manual for the MJCF modeling language used in MuJo
 XML schema
 ~~~~~~~~~~
 
-The dropdown below summarizes the XML elements and their attributes in MJCF. Note that all information in MJCF is
-entered through elements and attributes. Text content in elements is not used; if present, the parser ignores it.
+The dropdown below summarizes the XML elements and their attributes in MJCF. The menu on the right links to elements,
+while the dropdown below links to attributes. Note that all information in MJCF is entered through elements and
+attributes. Text content in elements is not used; if present, the parser ignores it.
 
 .. only:: html
 
-   The icons to the left of each element have the following meaning:
+   The icons to the right of each element name have the following meaning:
 
    .. list-table::
       :widths: 6 94
@@ -129,7 +130,7 @@ saving the XML. There are currently six meta-elements in MJCF:
 
 .. _frame:
 
-|R| **frame**
+**frame** |R|
 ^^^^^^^^^^^^^
 
 The frame meta-element is a pure coordinate transformation that can wrap any group of elements in the kinematic tree
@@ -176,7 +177,7 @@ in their direct children. The attributes of the frame meta-element are documente
 
 .. _replicate:
 
-|R| **replicate**
+**replicate** |R|
 ^^^^^^^^^^^^^^^^^
 
 The replicate element duplicates the enclosed kinematic tree elements with incremental translational and rotational
@@ -259,7 +260,7 @@ namespaced once by the innermost call of :ref:`mjs_attach`. See the limitations
 
 .. _include:
 
-|m| **include**
+**include** |m|
 ^^^^^^^^^^^^^^^
 
 This element does not strictly belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
@@ -284,7 +285,7 @@ how to use includes and how to modularize large files if desired.
 
 .. _mujoco:
 
-|!| **mujoco**
+**mujoco** |!|
 ~~~~~~~~~~~~~~
 
 The unique top-level element, identifying the XML file as an MJCF model file.
@@ -298,7 +299,7 @@ The unique top-level element, identifying the XML file as an MJCF model file.
 
 .. _option:
 
-|m| **option**
+**option** |m|
 ~~~~~~~~~~~~~~
 
 This element is in one-to-one correspondence with the low level structure mjOption contained in the field mjModel.opt of
@@ -495,7 +496,7 @@ adjust it properly through the XML.
 
 .. _option-flag:
 
-|?| :el-prefix:`option/` |-| **flag**
+:el-prefix:`option/` |-| **flag** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element sets the flags that enable and disable different parts of the simulation pipeline. The actual flags used at
@@ -691,7 +692,7 @@ from its default.
 
 .. _compiler:
 
-|m| **compiler**
+**compiler** |m|
 ~~~~~~~~~~~~~~~~
 
 This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer
@@ -882,7 +883,7 @@ has any effect. The settings here are global and apply to the entire model.
 
 .. _compiler-lengthrange:
 
-|?| :el-prefix:`compiler/` |-| **lengthrange**
+:el-prefix:`compiler/` |-| **lengthrange** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element controls the computation of actuator length ranges. For an overview of this functionality see :ref:`Length
@@ -976,7 +977,7 @@ disable length range computations altogether, include this element and set mode=
 
 .. _size:
 
-|m| **size**
+**size** |m|
 ~~~~~~~~~~~~
 
 This element specifies size parameters that cannot be inferred from the number of elements in the model. Unlike the
@@ -1073,7 +1074,7 @@ compilation.
 
 .. _statistic:
 
-|m| **statistic**
+**statistic** |m|
 ~~~~~~~~~~~~~~~~~
 
 This element is used to override model statistics computed by the compiler. These statistics are not only informational
@@ -1126,7 +1127,7 @@ parameters.
 
 .. _asset:
 
-|m| **asset**
+**asset** |m|
 ~~~~~~~~~~~~~
 
 This is a grouping element for defining assets. It does not have attributes. Assets are created in the model so that
@@ -1139,7 +1140,7 @@ file.
 
 .. _asset-mesh:
 
-|m| :el-prefix:`asset/` |-| **mesh**
+:el-prefix:`asset/` |-| **mesh** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is
@@ -1463,7 +1464,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
 
 .. _mesh-plugin:
 
-|?| :el-prefix:`mesh/` |-| **plugin**
+:el-prefix:`mesh/` |-| **plugin** |?|
 '''''''''''''''''''''''''''''''''''''
 
 Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -1482,7 +1483,7 @@ Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _asset-hfield:
 
-|m| :el-prefix:`asset/` |-| **hfield**
+:el-prefix:`asset/` |-| **hfield** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field,
@@ -1589,7 +1590,7 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
 
 .. _asset-skin:
 
-|m| :el-prefix:`asset/` |-| **skin**
+:el-prefix:`asset/` |-| **skin** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. _asset-skin-name:
@@ -1609,7 +1610,7 @@ still be specified here but this functionality is now deprecated and will be rem
 
 .. _asset-texture:
 
-|m| :el-prefix:`asset/` |-| **texture**
+:el-prefix:`asset/` |-| **texture** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which
 is finally referenced from a model element that needs to be textured.
@@ -1839,7 +1840,7 @@ The custom MuJoCo format is assumed to be a binary file containing the following
 
 .. _asset-material:
 
-|m| :el-prefix:`asset/` |-| **material**
+:el-prefix:`asset/` |-| **material** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a material asset. It can be referenced from :ref:`skins <deformable-skin>`, :ref:`geoms <body-geom>`,
@@ -1948,7 +1949,7 @@ properties are grouped together.
 
 .. _material-layer:
 
-|m| :el-prefix:`material/` |-| **layer**
+:el-prefix:`material/` |-| **layer** |m|
 ''''''''''''''''''''''''''''''''''''''''
 
 If multiple textures are needed to specify the appearance of a material, the :ref:`texture <asset-material-texture>`
@@ -2002,7 +2003,7 @@ attribute and :el:`layer` child elements is an error.
 
 .. _asset-model:
 
-|m| :el-prefix:`asset/` |-| **model**
+:el-prefix:`asset/` |-| **model** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element specifies other MJCF models which may be used for :ref:`attachment<body-attach>` in the current model.
 
@@ -2025,7 +2026,7 @@ This element specifies other MJCF models which may be used for :ref:`attachment<
 
 .. _body:
 
-|R| **(world)body**
+**(world)body** |R|
 ~~~~~~~~~~~~~~~~~~~
 
 This element is used to construct the :ref:`kinematic tree <CTree>` via nesting. The element :el:`worldbody` is used for
@@ -2120,7 +2121,7 @@ defined. Its body name is automatically defined as "world".
 
 .. _body-inertial:
 
-|?| :el-prefix:`body/` |-| **inertial**
+:el-prefix:`body/` |-| **inertial** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies the mass and inertial properties of the body. If this element is not included in a given body,
@@ -2175,7 +2176,7 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
 
 .. _body-joint:
 
-|m| :el-prefix:`body/` |-| **joint**
+:el-prefix:`body/` |-| **joint** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom
@@ -2393,7 +2394,7 @@ rotations as unit quaternions.
 
 .. _body-freejoint:
 
-|m| :el-prefix:`body/` |-| **freejoint**
+:el-prefix:`body/` |-| **freejoint** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
@@ -2437,7 +2438,7 @@ inherited*. If the XML model is saved, it will appear as a regular joint of type
 
 .. _body-geom:
 
-|m| :el-prefix:`body/` |-| **geom**
+:el-prefix:`body/` |-| **geom** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a geom, and attaches it rigidly to the body within which the geom is defined. Multiple geoms can
@@ -2812,7 +2813,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
 
 .. _geom-plugin:
 
-|?| :el-prefix:`geom/` |-| **plugin**
+:el-prefix:`geom/` |-| **plugin** |?|
 '''''''''''''''''''''''''''''''''''''
 
 Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -2830,7 +2831,7 @@ Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _body-site:
 
-|m| :el-prefix:`body/` |-| **site**
+:el-prefix:`body/` |-| **site** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a site, which is a simplified and restricted kind of geom. A small subset of the geom attributes
@@ -2916,7 +2917,7 @@ tendons, constructing slider-crank transmissions for actuators.
 
 .. _body-camera:
 
-|m| :el-prefix:`body/` |-| **camera**
+:el-prefix:`body/` |-| **camera** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the
@@ -3043,7 +3044,7 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
 
 .. _body-light:
 
-|m| :el-prefix:`body/` |-| **light**
+:el-prefix:`body/` |-| **light** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
@@ -3184,7 +3185,7 @@ Attributes may be applied or ignored depending on the lighting model being used.
 
 .. _body-composite:
 
-|m| :el-prefix:`body/` |-| **composite**
+:el-prefix:`body/` |-| **composite** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This is not a model element, but rather a macro which expands into multiple model elements representing a composite
@@ -3262,7 +3263,7 @@ cable, which produces an inextensible chain of bodies connected with ball joints
 
 .. _composite-joint:
 
-|m| :el-prefix:`composite/` |-| **joint**
+:el-prefix:`composite/` |-| **joint** |m|
 '''''''''''''''''''''''''''''''''''''''''
 
 Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other
@@ -3330,7 +3331,7 @@ joints should be created, as well as to adjust the attributes of both automatic
 
 .. _composite-geom:
 
-|?| :el-prefix:`composite/` |-| **geom**
+:el-prefix:`composite/` |-| **geom** |?|
 ''''''''''''''''''''''''''''''''''''''''
 
 This sub-element adjusts the attributes of the geoms in the composite object. The default attributes are the same as in
@@ -3383,7 +3384,7 @@ joints and tendons have different sets of attributes, while all geoms in the com
 
 .. _composite-site:
 
-|?| :el-prefix:`composite/` |-| **site**
+:el-prefix:`composite/` |-| **site** |?|
 ''''''''''''''''''''''''''''''''''''''''
 
 This sub-element adjusts the attributes of the sites in the composite object. Otherwise it is the same as geom above.
@@ -3402,7 +3403,7 @@ This sub-element adjusts the attributes of the sites in the composite object. Ot
 
 .. _composite-skin:
 
-|?| :el-prefix:`composite/` |-| **skin**
+:el-prefix:`composite/` |-| **skin** |?|
 ''''''''''''''''''''''''''''''''''''''''
 
 If this element is included, the model compiler will generate a skinned mesh asset and attach it to the element bodies
@@ -3452,7 +3453,7 @@ automatically-generated skin.
 
 .. _composite-plugin:
 
-|?| :el-prefix:`composite/` |-| **plugin**
+:el-prefix:`composite/` |-| **plugin** |?|
 ''''''''''''''''''''''''''''''''''''''''''
 
 Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -3471,7 +3472,7 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
 
 .. _body-flexcomp:
 
-|m| :el-prefix:`body/` |-| **flexcomp**
+:el-prefix:`body/` |-| **flexcomp** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Similar to :el:`composite`, this element (new in MuJoCo 3.0) is not a model element, but rather a macro which expands
@@ -3768,7 +3769,7 @@ saving the XML:
 
 .. _flexcomp-contact:
 
-|m| :el-prefix:`flexcomp/` |-| **contact**
+:el-prefix:`flexcomp/` |-| **contact** |m|
 ''''''''''''''''''''''''''''''''''''''''''
 
 .. _flexcomp-contact-internal:
@@ -3796,7 +3797,7 @@ saving the XML:
 
 .. _flexcomp-edge:
 
-|m| :el-prefix:`flexcomp/` |-| **edge**
+:el-prefix:`flexcomp/` |-| **edge** |m|
 '''''''''''''''''''''''''''''''''''''''
 
 Each flex element has one edge in 1D (coinciding with the capsule element), three edges in 2D, and six edges in 3D. The
@@ -3824,7 +3825,7 @@ element is used to adjust the properties of all edges in the flex.
 
 .. _flexcomp-elasticity:
 
-|m| :el-prefix:`flexcomp/` |-| **elasticity**
+:el-prefix:`flexcomp/` |-| **elasticity** |m|
 '''''''''''''''''''''''''''''''''''''''''''''
 
 .. _flexcomp-elasticity-young:
@@ -3842,7 +3843,7 @@ element is used to adjust the properties of all edges in the flex.
 
 .. _flexcomp-pin:
 
-|m| :el-prefix:`flexcomp/` |-| **pin**
+:el-prefix:`flexcomp/` |-| **pin** |m|
 ''''''''''''''''''''''''''''''''''''''
 
 Each point is either pinned or not pinned. The effect of pinning was explained earlier. This element is used to specify
@@ -3875,7 +3876,7 @@ multiple times is allowed.
 
 .. _flexcomp-plugin:
 
-|?| :el-prefix:`flexcomp/` |-| **plugin**
+:el-prefix:`flexcomp/` |-| **plugin** |?|
 '''''''''''''''''''''''''''''''''''''''''
 
 Associate this flexcomp with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -3893,7 +3894,7 @@ Associate this flexcomp with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 
 .. _body-plugin:
 
-|?| :el-prefix:`body/` |-| **plugin**
+:el-prefix:`body/` |-| **plugin** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -3911,7 +3912,7 @@ Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _body-attach:
 
-|m| :el-prefix:`body/` |-| **attach**
+:el-prefix:`body/` |-| **attach** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The :el:`attach` element is used to insert a sub-tree of bodies from another model into this model's kinematic tree.
@@ -3946,7 +3947,7 @@ referenced or not).
 
 .. _body-frame:
 
-|m| :el-prefix:`body/` |-| **frame**
+:el-prefix:`body/` |-| **frame** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Frames specify a coordinate transformation which is applied to all child elements. They disappear during compilation
@@ -3986,7 +3987,7 @@ and the transformation they encode is accumulated in their direct children. See
 
 .. _contact:
 
-|m| **contact**
+**contact** |m|
 ~~~~~~~~~~~~~~~
 
 This is a grouping element and does not have any attributes. It groups elements that are used to adjust the generation
@@ -3996,7 +3997,7 @@ thus the description here is brief.
 
 .. _contact-pair:
 
-|m| :el-prefix:`contact/` |-| **pair**
+:el-prefix:`contact/` |-| **pair** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a predefined geom pair which will be checked for collision. Unlike dynamically generated pairs
@@ -4076,7 +4077,7 @@ friction can only be created with this element.
 
 .. _contact-exclude:
 
-|m| :el-prefix:`contact/` |-| **exclude**
+:el-prefix:`contact/` |-| **exclude** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
@@ -4101,7 +4102,7 @@ bodies. Collisions between any geom defined in the first body and any geom defin
 
 .. _deformable:
 
-|m| **deformable**
+**deformable** |m|
 ~~~~~~~~~~~~~~~~~~
 
 This is a grouping element and does not have any attributes. It groups elements that specify deformable objects, namely flexes and skins.
@@ -4109,7 +4110,7 @@ This is a grouping element and does not have any attributes. It groups elements
 
 .. _deformable-flex:
 
-|m| :el-prefix:`deformable/` |-| **flex**
+:el-prefix:`deformable/` |-| **flex** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Flexible objects (or flexes) were added in MuJoCo 3.0. These are collections of massless stretchable geometric elements
@@ -4208,7 +4209,7 @@ cases, the user will specify a :el:`flexcomp` which will then automatically cons
 
 .. _flex-edge:
 
-|?| :el-prefix:`flex/` |-| **edge**
+:el-prefix:`flex/` |-| **edge** |?|
 '''''''''''''''''''''''''''''''''''
 
 This element adjusts the passive or constraint properties of all edges of the flex. A flex edge can have a damping
@@ -4231,7 +4232,7 @@ these mechanisms to be combined as desired.
 
 .. _flex-elasticity:
 
-|?| :el-prefix:`flex/` |-| **elasticity**
+:el-prefix:`flex/` |-| **elasticity** |?|
 '''''''''''''''''''''''''''''''''''''''''
 
 The elasticity model is a `Saint Venant-Kirchhoff
@@ -4274,7 +4275,7 @@ stress-strain relationship.. See also :ref:`deformable <CDeformable>` objects.
 
 .. _flex-contact:
 
-|?| :el-prefix:`flex/` |-| **contact**
+:el-prefix:`flex/` |-| **contact** |?|
 ''''''''''''''''''''''''''''''''''''''
 
 This element adjusts the contact properties of the flex. It is mostly identical to geom contact properties, with some
@@ -4350,7 +4351,7 @@ extensions specific to flexes.
 
 .. _deformable-skin:
 
-|m| :el-prefix:`deformable/` |-| **skin**
+:el-prefix:`deformable/` |-| **skin** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 These are deformable meshes whose vertex positions and normals are computed each time the model is rendered. MuJoCo
@@ -4468,7 +4469,7 @@ be clear from the above specification.
 
 .. _skin-bone:
 
-|m| :el-prefix:`skin/` |-| **bone**
+:el-prefix:`skin/` |-| **bone** |m|
 '''''''''''''''''''''''''''''''''''
 
 This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here.
@@ -4508,7 +4509,7 @@ This element defines a bone of the skin. The bone is a regular MuJoCo body which
 
 .. _equality:
 
-|m| **equality**
+**equality** |m|
 ~~~~~~~~~~~~~~~~
 
 This is a grouping element for equality constraints. It does not have attributes. See the :ref:`Equality <coEquality>`
@@ -4518,7 +4519,7 @@ all equality constraint types, thus we document them only once, under the :ref:`
 
 .. _equality-connect:
 
-|m| :el-prefix:`equality/` |-| **connect**
+:el-prefix:`equality/` |-| **connect** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an equality constraint that connects two bodies at a point. The constraint effectively defines a
@@ -4593,7 +4594,7 @@ ball joint outside the kinematic tree. Connect constraints can be specified in o
 
 .. _equality-weld:
 
-|m| :el-prefix:`equality/` |-| **weld**
+:el-prefix:`equality/` |-| **weld** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of
@@ -4680,7 +4681,7 @@ of the other body, without any joint elements in the child body. Weld constraint
 
 .. _equality-joint:
 
-|m| :el-prefix:`equality/` |-| **joint**
+:el-prefix:`equality/` |-| **joint** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar
@@ -4725,7 +4726,7 @@ joint types (slide and hinge) can be used.
 
 .. _equality-tendon:
 
-|m| :el-prefix:`equality/` |-| **tendon**
+:el-prefix:`equality/` |-| **tendon** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the length of one tendon to be a quartic polynomial of another tendon.
@@ -4763,7 +4764,7 @@ This element constrains the length of one tendon to be a quartic polynomial of a
 
 .. _equality-flex:
 
-|m| :el-prefix:`equality/` |-| **flex**
+:el-prefix:`equality/` |-| **flex** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the lengths of all edges of a specified flex to their respective lengths in the initial model
@@ -4788,7 +4789,7 @@ as there are edges in the specified flex.
 
 .. _equality-distance:
 
-|m| :el-prefix:`equality/` |-| **distance**
+:el-prefix:`equality/` |-| **distance** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please switch
@@ -4797,7 +4798,7 @@ to the corresponding version of the documentation.
 
 .. _tendon:
 
-|m| **tendon**
+**tendon** |m|
 ~~~~~~~~~~~~~~
 
 Grouping element for tendon definitions. The attributes of fixed tendons are a subset of the attributes of spatial
@@ -4808,7 +4809,7 @@ can also represent different forms of mechanical coupling.
 
 .. _tendon-spatial:
 
-|m| :el-prefix:`tendon/` |-| **spatial**
+:el-prefix:`tendon/` |-| **spatial** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. figure:: images/XMLreference/tendon.png
@@ -4989,7 +4990,7 @@ length X, as in the clip on the right of `this example model
 
 .. _spatial-site:
 
-|m| :el-prefix:`spatial/` |-| **site**
+:el-prefix:`spatial/` |-| **site** |m|
 ''''''''''''''''''''''''''''''''''''''
 
 This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to
@@ -5003,7 +5004,7 @@ bodies.
 
 .. _spatial-geom:
 
-|m| :el-prefix:`spatial/` |-| **geom**
+:el-prefix:`spatial/` |-| **geom** |m|
 ''''''''''''''''''''''''''''''''''''''
 
 This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch
@@ -5029,7 +5030,7 @@ constrained to pass through the geom instead of passing around it.
 
 .. _spatial-pulley:
 
-|m| :el-prefix:`spatial/` |-| **pulley**
+:el-prefix:`spatial/` |-| **pulley** |m|
 ''''''''''''''''''''''''''''''''''''''''
 
 This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to
@@ -5053,7 +5054,7 @@ illustrated the use of pulleys.
 
 .. _tendon-fixed:
 
-|m| :el-prefix:`tendon/` |-| **fixed**
+:el-prefix:`tendon/` |-| **fixed** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that
@@ -5109,7 +5110,7 @@ as above.
 
 .. _fixed-joint:
 
-|m| :el-prefix:`fixed/` |-| **joint**
+:el-prefix:`fixed/` |-| **joint** |m|
 '''''''''''''''''''''''''''''''''''''
 
 This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is
@@ -5128,7 +5129,7 @@ multiplied by the corresponding coef value, and added up to obtain the tendon le
 
 .. _actuator:
 
-|m| **actuator**
+**actuator** |m|
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 This is a grouping element for actuator definitions. Recall the discussion of MuJoCo's :ref:`Actuation model
@@ -5139,7 +5140,7 @@ under the :el:`general` actuator.
 
 .. _actuator-general:
 
-|m| :el-prefix:`actuator/` |-| **general**
+:el-prefix:`actuator/` |-| **general** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a general actuator, providing full access to all actuator components and allowing the user to
@@ -5402,7 +5403,7 @@ specify them independently.
 
 .. _actuator-motor:
 
-|m| :el-prefix:`actuator/` |-| **motor**
+:el-prefix:`actuator/` |-| **motor** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the next three elements are the :ref:`Actuator shortcuts <CActShortcuts>` discussed earlier. When a
@@ -5472,7 +5473,7 @@ This element does not have custom attributes. It only has common attributes, whi
 
 .. _actuator-position:
 
-|m| :el-prefix:`actuator/` |-| **position**
+:el-prefix:`actuator/` |-| **position** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
@@ -5583,7 +5584,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-velocity:
 
-|m| :el-prefix:`actuator/` |-| **velocity**
+:el-prefix:`actuator/` |-| **velocity** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
@@ -5654,7 +5655,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-intvelocity:
 
-|m| :el-prefix:`actuator/` |-| **intvelocity**
+:el-prefix:`actuator/` |-| **intvelocity** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an integrated-velocity servo. For more information, see the
@@ -5742,7 +5743,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-damper:
 
-|m| :el-prefix:`actuator/` |-| **damper**
+:el-prefix:`actuator/` |-| **damper** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
@@ -5813,7 +5814,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-cylinder:
 
-|m| :el-prefix:`actuator/` |-| **cylinder**
+:el-prefix:`actuator/` |-| **cylinder** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
@@ -5897,7 +5898,7 @@ This element has four custom attributes in addition to the common attributes:
 
 .. _actuator-muscle:
 
-|m| :el-prefix:`actuator/` |-| **muscle**
+:el-prefix:`actuator/` |-| **muscle** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>`
@@ -6013,7 +6014,7 @@ This element has nine custom attributes in addition to the common attributes:
 
 .. _actuator-adhesion:
 
-|m| :el-prefix:`actuator/` |-| **adhesion**
+:el-prefix:`actuator/` |-| **adhesion** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 ..  youtube:: BcHZ5BFeTmU
@@ -6079,7 +6080,7 @@ This element has a subset of the common attributes and two custom attributes.
 
 .. _actuator-plugin:
 
-|?| :el-prefix:`actuator/` |-| **plugin**
+:el-prefix:`actuator/` |-| **plugin** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -6162,7 +6163,7 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 
 .. _sensor:
 
-|m| **sensor**
+**sensor** |m|
 ~~~~~~~~~~~~~~
 
 This is a grouping element for sensor definitions. It does not have attributes. The outputs of all sensors are
@@ -6178,7 +6179,7 @@ themselves are "features" that could be of interest to the user.
 
 .. _sensor-touch:
 
-|m| :el-prefix:`sensor/` |-| **touch**
+:el-prefix:`sensor/` |-| **touch** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the
@@ -6207,7 +6208,7 @@ scalar. It is computed by adding up the (scalar) normal forces from all included
 
 .. _sensor-accelerometer:
 
-|m| :el-prefix:`sensor/` |-| **accelerometer**
+:el-prefix:`sensor/` |-| **accelerometer** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation
@@ -6235,7 +6236,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-velocimeter:
 
-|m| :el-prefix:`sensor/` |-| **velocimeter**
+:el-prefix:`sensor/` |-| **velocimeter** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as
@@ -6260,7 +6261,7 @@ the site frame. This sensor outputs three numbers, which are the linear velocity
 
 .. _sensor-gyro:
 
-|m| :el-prefix:`sensor/` |-| **gyro**
+:el-prefix:`sensor/` |-| **gyro** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as
@@ -6287,7 +6288,7 @@ simulate an inertial measurement unit (IMU).
 
 .. _sensor-force:
 
-|m| :el-prefix:`sensor/` |-| **force**
+:el-prefix:`sensor/` |-| **force** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a
@@ -6321,7 +6322,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-torque:
 
-|m| :el-prefix:`sensor/` |-| **torque**
+:el-prefix:`sensor/` |-| **torque** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but
@@ -6349,7 +6350,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-magnetometer:
 
-|m| :el-prefix:`sensor/` |-| **magnetometer**
+:el-prefix:`sensor/` |-| **magnetometer** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor
@@ -6373,7 +6374,7 @@ site frame. The output is a 3D vector.
 
 .. _sensor-rangefinder:
 
-|m| :el-prefix:`sensor/` |-| **rangefinder**
+:el-prefix:`sensor/` |-| **rangefinder** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a rangefinder.
@@ -6448,7 +6449,7 @@ points (spheres) and the surface normals (arrows).
 
 .. _sensor-camprojection:
 
-|m| :el-prefix:`sensor/` |-| **camprojection**
+:el-prefix:`sensor/` |-| **camprojection** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camera projection sensor: the location of a target site, projected onto a camera image in pixel
@@ -6481,7 +6482,7 @@ z-coordinate indicates a location in front of/behind the camera plane, respectiv
 
 .. _sensor-jointpos:
 
-|m| :el-prefix:`sensor/` |-| **jointpos**
+:el-prefix:`sensor/` |-| **jointpos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array
@@ -6508,7 +6509,7 @@ attached to scalar joints (slide or hinge). Its output is scalar.
 
 .. _sensor-jointvel:
 
-|m| :el-prefix:`sensor/` |-| **jointvel**
+:el-prefix:`sensor/` |-| **jointvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is
@@ -6534,7 +6535,7 @@ scalar.
 
 .. _sensor-tendonpos:
 
-|m| :el-prefix:`sensor/` |-| **tendonpos**
+:el-prefix:`sensor/` |-| **tendonpos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar.
@@ -6558,7 +6559,7 @@ This element creates a tendon length sensor. It can be attached to both spatial
 
 .. _sensor-tendonvel:
 
-|m| :el-prefix:`sensor/` |-| **tendonvel**
+:el-prefix:`sensor/` |-| **tendonvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is
@@ -6583,7 +6584,7 @@ scalar.
 
 .. _sensor-actuatorpos:
 
-|m| :el-prefix:`sensor/` |-| **actuatorpos**
+:el-prefix:`sensor/` |-| **actuatorpos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This
@@ -6608,7 +6609,7 @@ sensor can be attached to any actuator. Its output is scalar.
 
 .. _sensor-actuatorvel:
 
-|m| :el-prefix:`sensor/` |-| **actuatorvel**
+:el-prefix:`sensor/` |-| **actuatorvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar.
@@ -6632,7 +6633,7 @@ This element creates an actuator velocity sensor. This sensor can be attached to
 
 .. _sensor-actuatorfrc:
 
-|m| :el-prefix:`sensor/` |-| **actuatorfrc**
+:el-prefix:`sensor/` |-| **actuatorfrc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the
@@ -6658,7 +6659,7 @@ arms determined by the transmission). This sensor can be attached to any actuato
 
 .. _sensor-jointactuatorfrc:
 
-|m| :el-prefix:`sensor/` |-| **jointactuatorfrc**
+:el-prefix:`sensor/` |-| **jointactuatorfrc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor, measured at a joint. The quantity being sensed is the generalized force
@@ -6688,7 +6689,7 @@ joint or when a single actuator acts on multiple joints. See :ref:`CForceRange`
 
 .. _sensor-tendonactuatorfrc:
 
-|m| :el-prefix:`sensor/` |-| **tendonactuatorfrc**
+:el-prefix:`sensor/` |-| **tendonactuatorfrc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
@@ -6715,7 +6716,7 @@ single tendon. See :ref:`CForceRange` for details.
 
 .. _sensor-ballquat:
 
-|m| :el-prefix:`sensor/` |-| **ballquat**
+:el-prefix:`sensor/` |-| **ballquat** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion.
@@ -6739,7 +6740,7 @@ This element creates a quaternion sensor for a ball joints. It outputs 4 numbers
 
 .. _sensor-ballangvel:
 
-|m| :el-prefix:`sensor/` |-| **ballangvel**
+:el-prefix:`sensor/` |-| **ballangvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of
@@ -6765,7 +6766,7 @@ rotation takes place.
 
 .. _sensor-jointlimitpos:
 
-|m| :el-prefix:`sensor/` |-| **jointlimitpos**
+:el-prefix:`sensor/` |-| **jointlimitpos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for position.
@@ -6792,7 +6793,7 @@ This element creates a joint limit sensor for position.
 
 .. _sensor-jointlimitvel:
 
-|m| :el-prefix:`sensor/` |-| **jointlimitvel**
+:el-prefix:`sensor/` |-| **jointlimitvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for velocity.
@@ -6817,7 +6818,7 @@ This element creates a joint limit sensor for velocity.
 
 .. _sensor-jointlimitfrc:
 
-|m| :el-prefix:`sensor/` |-| **jointlimitfrc**
+:el-prefix:`sensor/` |-| **jointlimitfrc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for constraint force.
@@ -6842,7 +6843,7 @@ This element creates a joint limit sensor for constraint force.
 
 .. _sensor-tendonlimitpos:
 
-|m| :el-prefix:`sensor/` |-| **tendonlimitpos**
+:el-prefix:`sensor/` |-| **tendonlimitpos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for position.
@@ -6867,7 +6868,7 @@ This element creates a tendon limit sensor for position.
 
 .. _sensor-tendonlimitvel:
 
-|m| :el-prefix:`sensor/` |-| **tendonlimitvel**
+:el-prefix:`sensor/` |-| **tendonlimitvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for velocity.
@@ -6892,7 +6893,7 @@ This element creates a tendon limit sensor for velocity.
 
 .. _sensor-tendonlimitfrc:
 
-|m| :el-prefix:`sensor/` |-| **tendonlimitfrc**
+:el-prefix:`sensor/` |-| **tendonlimitfrc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for constraint force.
@@ -6917,7 +6918,7 @@ This element creates a tendon limit sensor for constraint force.
 
 .. _sensor-framepos:
 
-|m| :el-prefix:`sensor/` |-| **framepos**
+:el-prefix:`sensor/` |-| **framepos** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or
@@ -6961,7 +6962,7 @@ optionally with respect to a given frame-of-reference.
 
 .. _sensor-framequat:
 
-|m| :el-prefix:`sensor/` |-| **framequat**
+:el-prefix:`sensor/` |-| **framequat** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the
@@ -7001,7 +7002,7 @@ object, in global coordinates.
 
 .. _sensor-framexaxis:
 
-|m| :el-prefix:`sensor/` |-| **framexaxis**
+:el-prefix:`sensor/` |-| **framexaxis** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the
@@ -7041,7 +7042,7 @@ object, in global coordinates.
 
 .. _sensor-frameyaxis:
 
-|m| :el-prefix:`sensor/` |-| **frameyaxis**
+:el-prefix:`sensor/` |-| **frameyaxis** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the
@@ -7081,7 +7082,7 @@ object, in global coordinates.
 
 .. _sensor-framezaxis:
 
-|m| :el-prefix:`sensor/` |-| **framezaxis**
+:el-prefix:`sensor/` |-| **framezaxis** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the
@@ -7121,7 +7122,7 @@ object, in global coordinates.
 
 .. _sensor-framelinvel:
 
-|m| :el-prefix:`sensor/` |-| **framelinvel**
+:el-prefix:`sensor/` |-| **framelinvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global
@@ -7161,7 +7162,7 @@ coordinates.
 
 .. _sensor-frameangvel:
 
-|m| :el-prefix:`sensor/` |-| **frameangvel**
+:el-prefix:`sensor/` |-| **frameangvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global
@@ -7201,7 +7202,7 @@ coordinates.
 
 .. _sensor-framelinacc:
 
-|m| :el-prefix:`sensor/` |-| **framelinacc**
+:el-prefix:`sensor/` |-| **framelinacc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global
@@ -7233,7 +7234,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-frameangacc:
 
-|m| :el-prefix:`sensor/` |-| **frameangacc**
+:el-prefix:`sensor/` |-| **frameangacc** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global
@@ -7265,7 +7266,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-subtreecom:
 
-|m| :el-prefix:`sensor/` |-| **subtreecom**
+:el-prefix:`sensor/` |-| **subtreecom** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in
@@ -7290,7 +7291,7 @@ global coordinates.
 
 .. _sensor-subtreelinvel:
 
-|m| :el-prefix:`sensor/` |-| **subtreelinvel**
+:el-prefix:`sensor/` |-| **subtreelinvel** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a
@@ -7317,7 +7318,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` d
 
 .. _sensor-subtreeangmom:
 
-|m| :el-prefix:`sensor/` |-| **subtreeangmom**
+:el-prefix:`sensor/` |-| **subtreeangmom** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted
@@ -7344,7 +7345,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` d
 
 .. _sensor-insidesite:
 
-|m| :el-prefix:`sensor/` |-| **insidesite**
+:el-prefix:`sensor/` |-| **insidesite** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element creates a sensor that returns 1 if the given object is inside a site, 0 otherwise.
 It is useful for triggering events in surrounding environment logic.
@@ -7419,7 +7420,7 @@ sequential sensors
 
 .. _sensor-distance:
 
-|m| :el-prefix:`sensor/` |-| **distance**
+:el-prefix:`sensor/` |-| **distance** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the smallest signed distance between the surfaces of two geoms.
@@ -7464,7 +7465,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-normal:
 
-|m| :el-prefix:`sensor/` |-| **normal**
+:el-prefix:`sensor/` |-| **normal** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the normal direction of the smallest signed distance between the surfaces of
@@ -7511,7 +7512,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-fromto:
 
-|m| :el-prefix:`sensor/` |-| **fromto**
+:el-prefix:`sensor/` |-| **fromto** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the segment defining the smallest signed distance between the surfaces of two
@@ -7559,7 +7560,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-contact:
 
-|m| :el-prefix:`sensor/` |-| **contact**
+:el-prefix:`sensor/` |-| **contact** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 **Motivation:** The array of contacts which occur during the main dynamics pipeline is inherently variable-sized. The
@@ -7702,7 +7703,7 @@ Extraction
 
 .. _sensor-tactile:
 
-|m| :el-prefix:`sensor/` |-| **tactile**
+:el-prefix:`sensor/` |-| **tactile** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 .. image:: images/XMLreference/tactile.png
    :align: right
@@ -7738,7 +7739,7 @@ contribute to the sensor output. The sensor can be visualized by enabling the vi
 
 .. _sensor-e_potential:
 
-|m| :el-prefix:`sensor/` |-| **e_potential**
+:el-prefix:`sensor/` |-| **e_potential** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the potential energy.
@@ -7757,7 +7758,7 @@ This element creates sensor that returns the potential energy.
 
 .. _sensor-e_kinetic:
 
-|m| :el-prefix:`sensor/` |-| **e_kinetic**
+:el-prefix:`sensor/` |-| **e_kinetic** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the kinetic energy.
@@ -7776,7 +7777,7 @@ This element creates sensor that returns the kinetic energy.
 
 .. _sensor-clock:
 
-|m| :el-prefix:`sensor/` |-| **clock**
+:el-prefix:`sensor/` |-| **clock** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the simulation time.
@@ -7795,7 +7796,7 @@ This element creates sensor that returns the simulation time.
 
 .. _sensor-user:
 
-|m| :el-prefix:`sensor/` |-| **user**
+:el-prefix:`sensor/` |-| **user** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user
@@ -7851,7 +7852,7 @@ If a user sensor is of :ref:`stage<sensor-user-needstage>` "vel" or "acc", then
 
 .. _sensor-plugin:
 
-|?| :el-prefix:`sensor/` |-| **plugin**
+:el-prefix:`sensor/` |-| **plugin** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Ascociate this sensor with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -7889,7 +7890,7 @@ Ascociate this sensor with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin
 
 .. _keyframe:
 
-|m| **keyframe**
+**keyframe** |m|
 ~~~~~~~~~~~~~~~~
 
 This is a grouping element for keyframe definitions. It does not have attributes. Keyframes can be used to create a
@@ -7904,7 +7905,7 @@ in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a sel
 
 .. _keyframe-key:
 
-|m| :el-prefix:`keyframe/` |-| **key**
+:el-prefix:`keyframe/` |-| **key** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element sets the data for one of the keyframes. They are set in the order in which they appear here. If the number
@@ -7956,7 +7957,7 @@ be set to their values in the default configuration.
 
 .. _visual:
 
-|m| **visual**
+**visual** |m|
 ~~~~~~~~~~~~~~
 
 This element is in one-to-one correspondence with the low level structure mjVisual contained in the field mjModel.vis
@@ -7972,7 +7973,7 @@ coordinated visual settings corresponding to a "theme", and then include this fi
 
 .. _visual-global:
 
-|?| :el-prefix:`visual/` |-| **global**
+:el-prefix:`visual/` |-| **global** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
@@ -8069,7 +8070,7 @@ is effectively a miscellaneous subsection.
 
 .. _visual-quality:
 
-|?| :el-prefix:`visual/` |-| **quality**
+:el-prefix:`visual/` |-| **quality** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies settings that affect the quality of the rendering. Larger values result in higher quality but
@@ -8121,7 +8122,7 @@ visualization should somehow be simplified.
 
 .. _visual-headlight:
 
-|?| :el-prefix:`visual/` |-| **headlight**
+:el-prefix:`visual/` |-| **headlight** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to adjust the properties of the headlight. There is always a built-in headlight, in addition to any
@@ -8154,7 +8155,7 @@ to be reduced.
 
 .. _visual-map:
 
-|?| :el-prefix:`visual/` |-| **map**
+:el-prefix:`visual/` |-| **map** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to specify scaling quantities that affect both the visualization and built-in mouse perturbations.
@@ -8248,7 +8249,7 @@ miscellaneous.
 
 .. _visual-scale:
 
-|?| :el-prefix:`visual/` |-| **scale**
+:el-prefix:`visual/` |-| **scale** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The settings in this element control the spatial extent of various decorative objects. In all cases, the rendered size
@@ -8348,7 +8349,7 @@ documented below.
 
 .. _visual-rgba:
 
-|?| :el-prefix:`visual/` |-| **rgba**
+:el-prefix:`visual/` |-| **rgba** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The settings in this element control the color and transparency (rgba) of various decorative objects. We will call this
@@ -8492,7 +8493,7 @@ disables the rendering of the corresponding object.
 
 .. _default:
 
-|R| **default**
+**default** |R|
 ~~~~~~~~~~~~~~~
 
 This element is used to create a new defaults class; see :ref:`CDefault` above. Defaults classes can be nested,
@@ -8514,7 +8515,7 @@ if omitted.
 
 .. _default-mesh-inertia:
 
-|?| :el-prefix:`default/` |-| **mesh**
+:el-prefix:`default/` |-| **mesh** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
@@ -8543,7 +8544,7 @@ if omitted.
 
 .. _default-material-texuniform:
 
-|?| :el-prefix:`default/` |-| **material**
+:el-prefix:`default/` |-| **material** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class.
@@ -8596,7 +8597,7 @@ if omitted.
 
 .. _default-joint-user:
 
-|?| :el-prefix:`default/` |-| **joint**
+:el-prefix:`default/` |-| **joint** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class.
@@ -8667,7 +8668,7 @@ if omitted.
 
 .. _default-geom-user:
 
-|?| :el-prefix:`default/` |-| **geom**
+:el-prefix:`default/` |-| **geom** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class.
@@ -8702,7 +8703,7 @@ if omitted.
 
 .. _default-site-user:
 
-|?| :el-prefix:`default/` |-| **site**
+:el-prefix:`default/` |-| **site** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
@@ -8745,7 +8746,7 @@ if omitted.
 .. _default-camera:
 
 
-|?| :el-prefix:`default/` |-| **camera**
+:el-prefix:`default/` |-| **camera** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
@@ -8786,7 +8787,7 @@ if omitted.
 
 .. _default-light-mode:
 
-|?| :el-prefix:`default/` |-| **light**
+:el-prefix:`default/` |-| **light** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class.
@@ -8809,7 +8810,7 @@ if omitted.
 
 .. _default-pair-margin:
 
-|?| :el-prefix:`default/` |-| **pair**
+:el-prefix:`default/` |-| **pair** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class.
@@ -8824,7 +8825,7 @@ if omitted.
 
 .. _default-equality-solimp:
 
-|?| :el-prefix:`default/` |-| **equality**
+:el-prefix:`default/` |-| **equality** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual
@@ -8871,7 +8872,7 @@ if omitted.
 
 .. _default-tendon-user:
 
-|?| :el-prefix:`default/` |-| **tendon**
+:el-prefix:`default/` |-| **tendon** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`tendon <tendon>` element of the defaults class. Similar to
@@ -8917,7 +8918,7 @@ if omitted.
 
 .. _default-general-actearly:
 
-|?| :el-prefix:`default/` |-| **general**
+:el-prefix:`default/` |-| **general** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class.
@@ -8943,7 +8944,7 @@ if omitted.
 
 .. _default-motor-group:
 
-|?| :el-prefix:`default/` |-| **motor**
+:el-prefix:`default/` |-| **motor** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using
@@ -8981,7 +8982,7 @@ tendon, slidersite, cranksite.
 
 .. _default-position-timeconst:
 
-|?| :el-prefix:`default/` |-| **position**
+:el-prefix:`default/` |-| **position** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -9008,7 +9009,7 @@ refsite, tendon, slidersite, cranksite.
 
 .. _default-velocity-kv:
 
-|?| :el-prefix:`default/` |-| **velocity**
+:el-prefix:`default/` |-| **velocity** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -9043,7 +9044,7 @@ refsite, tendon, slidersite, cranksite.
 
 .. _default-intvelocity-dampratio:
 
-|?| :el-prefix:`default/` |-| **intvelocity**
+:el-prefix:`default/` |-| **intvelocity** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent,
@@ -9068,7 +9069,7 @@ site, refsite, tendon, slidersite, cranksite.
 
 .. _default-damper-kv:
 
-|?| :el-prefix:`default/` |-| **damper**
+:el-prefix:`default/` |-| **damper** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -9101,7 +9102,7 @@ refsite, tendon, slidersite, cranksite.
 
 .. _default-cylinder-bias:
 
-|?| :el-prefix:`default/` |-| **cylinder**
+:el-prefix:`default/` |-| **cylinder** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -9144,7 +9145,7 @@ refsite, tendon, slidersite, cranksite.
 
 .. _default-muscle-fvmax:
 
-|?| :el-prefix:`default/` |-| **muscle**
+:el-prefix:`default/` |-| **muscle** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -9165,7 +9166,7 @@ refsite, tendon, slidersite, cranksite.
 
 .. _default-adhesion-group:
 
-|?| :el-prefix:`default/` |-| **adhesion**
+:el-prefix:`default/` |-| **adhesion** |?|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body.
@@ -9173,7 +9174,7 @@ All :ref:`adhesion <actuator-adhesion>` attributes are available here except: na
 
 .. _custom:
 
-|m| **custom**
+**custom** |m|
 ~~~~~~~~~~~~~~
 
 This is a grouping element for custom numeric and text elements. It does not have attributes.
@@ -9181,7 +9182,7 @@ This is a grouping element for custom numeric and text elements. It does not hav
 
 .. _custom-numeric:
 
-|m| :el-prefix:`custom/` |-| **numeric**
+:el-prefix:`custom/` |-| **numeric** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom numeric array in mjModel.
@@ -9209,7 +9210,7 @@ This element creates a custom numeric array in mjModel.
 
 .. _custom-text:
 
-|m| :el-prefix:`custom/` |-| **text**
+:el-prefix:`custom/` |-| **text** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and
@@ -9228,7 +9229,7 @@ other custom computations.
 
 .. _custom-tuple:
 
-|m| :el-prefix:`custom/` |-| **tuple**
+:el-prefix:`custom/` |-| **tuple** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired
@@ -9242,7 +9243,7 @@ objects by name.
 
 .. _tuple-element:
 
-|m| :el-prefix:`tuple/` |-| **element**
+:el-prefix:`tuple/` |-| **element** |m|
 '''''''''''''''''''''''''''''''''''''''
 
 This adds an element to the tuple.
@@ -9267,7 +9268,7 @@ This adds an element to the tuple.
 
 .. _extension:
 
-|m| **extension**
+**extension** |m|
 ~~~~~~~~~~~~~~~~~
 
 This is a grouping element for MuJoCo extensions. Extensions allow the user to extend MuJoCo's capabilities with custom
@@ -9276,7 +9277,7 @@ extension type are :ref:`exPlugin`.
 
 .. _extension-plugin:
 
-|m| :el-prefix:`extension/` |-| **plugin**
+:el-prefix:`extension/` |-| **plugin** |m|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies that an engine plugin is required in order to simulate this model.
@@ -9289,7 +9290,7 @@ See :ref:`exPlugin` for more details.
 
 .. _plugin-instance:
 
-|m| :el-prefix:`plugin/` |-| **instance**
+:el-prefix:`plugin/` |-| **instance** |m|
 '''''''''''''''''''''''''''''''''''''''''
 
 Declares a plugin instance. Explicit instances declaration is required when multiple elements are backed by the same
@@ -9305,7 +9306,7 @@ plugin, or when global plugin configuration is desired. See plugin :ref:`declara
 
 .. _instance-config:
 
-|m| :el-prefix:`instance/` |-| **config**
+:el-prefix:`instance/` |-| **config** |m|
 """""""""""""""""""""""""""""""""""""""""
 
 Configuration of a plugin instance. When implicitly declaring a plugin under a model element, configuration is
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 7bfb2d75..e750334e 100755
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -1,2939 +1,5350 @@
-.. dropdown:: :ref:`mujoco<mujoco>`
-   :icon: star
+.. dropdown:: mujoco :octicon:`star`
    :open:
 
-   .. list-table::
-      :class: mjcf-attributes
-      :widths: 25 25 25 25
-
-      * - :ref:`model<mujoco-model>`
-        -
-        -
-        -
-
-   .. dropdown:: :ref:`option<option>`
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`timestep<option-timestep>`
-           - :ref:`impratio<option-impratio>`
-           - :ref:`tolerance<option-tolerance>`
-           - :ref:`ls_tolerance<option-ls_tolerance>`
-         * - :ref:`noslip_tolerance<option-noslip_tolerance>`
-           - :ref:`ccd_tolerance<option-ccd_tolerance>`
-           - :ref:`sleep_tolerance<option-sleep_tolerance>`
-           - :ref:`gravity<option-gravity>`
-         * - :ref:`wind<option-wind>`
-           - :ref:`magnetic<option-magnetic>`
-           - :ref:`density<option-density>`
-           - :ref:`viscosity<option-viscosity>`
-         * - :ref:`o_margin<option-o_margin>`
-           - :ref:`o_solref<option-o_solref>`
-           - :ref:`o_solimp<option-o_solimp>`
-           - :ref:`o_friction<option-o_friction>`
-         * - :ref:`integrator<option-integrator>`
-           - :ref:`cone<option-cone>`
-           - :ref:`jacobian<option-jacobian>`
-           - :ref:`solver<option-solver>`
-         * - :ref:`iterations<option-iterations>`
-           - :ref:`ls_iterations<option-ls_iterations>`
-           - :ref:`noslip_iterations<option-noslip_iterations>`
-           - :ref:`ccd_iterations<option-ccd_iterations>`
-         * - :ref:`sdf_iterations<option-sdf_iterations>`
-           - :ref:`sdf_initpoints<option-sdf_initpoints>`
-           - :ref:`actuatorgroupdisable<option-actuatorgroupdisable>`
-           -
-
-      .. dropdown:: :ref:`flag<option-flag>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`constraint<option-flag-constraint>`
-              - :ref:`equality<option-flag-equality>`
-              - :ref:`frictionloss<option-flag-frictionloss>`
-              - :ref:`limit<option-flag-limit>`
-            * - :ref:`contact<option-flag-contact>`
-              - :ref:`spring<option-flag-spring>`
-              - :ref:`damper<option-flag-damper>`
-              - :ref:`gravity<option-flag-gravity>`
-            * - :ref:`clampctrl<option-flag-clampctrl>`
-              - :ref:`warmstart<option-flag-warmstart>`
-              - :ref:`filterparent<option-flag-filterparent>`
-              - :ref:`actuation<option-flag-actuation>`
-            * - :ref:`refsafe<option-flag-refsafe>`
-              - :ref:`sensor<option-flag-sensor>`
-              - :ref:`midphase<option-flag-midphase>`
-              - :ref:`eulerdamp<option-flag-eulerdamp>`
-            * - :ref:`autoreset<option-flag-autoreset>`
-              - :ref:`nativeccd<option-flag-nativeccd>`
-              - :ref:`island<option-flag-island>`
-              - :ref:`override<option-flag-override>`
-            * - :ref:`energy<option-flag-energy>`
-              - :ref:`fwdinv<option-flag-fwdinv>`
-              - :ref:`invdiscrete<option-flag-invdiscrete>`
-              - :ref:`multiccd<option-flag-multiccd>`
-            * - :ref:`sleep<option-flag-sleep>`
-              -
-              -
-              -
-
-   .. dropdown:: :ref:`compiler<compiler>`
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`autolimits<compiler-autolimits>`
-           - :ref:`boundmass<compiler-boundmass>`
-           - :ref:`boundinertia<compiler-boundinertia>`
-           - :ref:`settotalmass<compiler-settotalmass>`
-         * - :ref:`balanceinertia<compiler-balanceinertia>`
-           - :ref:`strippath<compiler-strippath>`
-           - :ref:`coordinate<compiler-coordinate>`
-           - :ref:`angle<compiler-angle>`
-         * - :ref:`fitaabb<compiler-fitaabb>`
-           - :ref:`eulerseq<compiler-eulerseq>`
-           - :ref:`meshdir<compiler-meshdir>`
-           - :ref:`texturedir<compiler-texturedir>`
-         * - :ref:`discardvisual<compiler-discardvisual>`
-           - :ref:`usethread<compiler-usethread>`
-           - :ref:`fusestatic<compiler-fusestatic>`
-           - :ref:`inertiafromgeom<compiler-inertiafromgeom>`
-         * - :ref:`inertiagrouprange<compiler-inertiagrouprange>`
-           - :ref:`saveinertial<compiler-saveinertial>`
-           - :ref:`assetdir<compiler-assetdir>`
-           - :ref:`alignfree<compiler-alignfree>`
-
-      .. dropdown:: :ref:`lengthrange<compiler-lengthrange>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`mode<compiler-lengthrange-mode>`
-              - :ref:`useexisting<compiler-lengthrange-useexisting>`
-              - :ref:`uselimit<compiler-lengthrange-uselimit>`
-              - :ref:`accel<compiler-lengthrange-accel>`
-            * - :ref:`maxforce<compiler-lengthrange-maxforce>`
-              - :ref:`timeconst<compiler-lengthrange-timeconst>`
-              - :ref:`timestep<compiler-lengthrange-timestep>`
-              - :ref:`inttotal<compiler-lengthrange-inttotal>`
-            * - :ref:`interval<compiler-lengthrange-interval>`
-              - :ref:`tolrange<compiler-lengthrange-tolrange>`
-              -
-              -
-
-   .. dropdown:: :ref:`size<size>`
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`memory<size-memory>`
-           - :ref:`njmax<size-njmax>`
-           - :ref:`nconmax<size-nconmax>`
-           - :ref:`nstack<size-nstack>`
-         * - :ref:`nuserdata<size-nuserdata>`
-           - :ref:`nkey<size-nkey>`
-           - :ref:`nuser_body<size-nuser_body>`
-           - :ref:`nuser_jnt<size-nuser_jnt>`
-         * - :ref:`nuser_geom<size-nuser_geom>`
-           - :ref:`nuser_site<size-nuser_site>`
-           - :ref:`nuser_cam<size-nuser_cam>`
-           - :ref:`nuser_tendon<size-nuser_tendon>`
-         * - :ref:`nuser_actuator<size-nuser_actuator>`
-           - :ref:`nuser_sensor<size-nuser_sensor>`
-           -
-           -
-
-   .. dropdown:: :ref:`statistic<statistic>`
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`meaninertia<statistic-meaninertia>`
-           - :ref:`meanmass<statistic-meanmass>`
-           - :ref:`meansize<statistic-meansize>`
-           - :ref:`extent<statistic-extent>`
-         * - :ref:`center<statistic-center>`
-           -
-           -
-           -
-
-   .. dropdown:: :ref:`asset<asset>`
-
-
-      .. dropdown:: :ref:`mesh<asset-mesh>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-mesh-name>`
-              - :ref:`class<asset-mesh-class>`
-              - :ref:`content_type<asset-mesh-content_type>`
-              - :ref:`file<asset-mesh-file>`
-            * - :ref:`vertex<asset-mesh-vertex>`
-              - :ref:`normal<asset-mesh-normal>`
-              - :ref:`texcoord<asset-mesh-texcoord>`
-              - :ref:`face<asset-mesh-face>`
-            * - :ref:`refpos<asset-mesh-refpos>`
-              - :ref:`refquat<asset-mesh-refquat>`
-              - :ref:`scale<asset-mesh-scale>`
-              - :ref:`smoothnormal<asset-mesh-smoothnormal>`
-            * - :ref:`maxhullvert<asset-mesh-maxhullvert>`
-              - :ref:`inertia<asset-mesh-inertia>`
-              - :ref:`builtin<asset-mesh-builtin>`
-              - :ref:`params<asset-mesh-params>`
-            * - :ref:`material<asset-mesh-material>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`plugin<mesh-plugin>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`plugin<mesh-plugin-plugin>`
-                 - :ref:`instance<mesh-plugin-instance>`
-                 -
-                 -
-
-            .. dropdown:: :ref:`config<plugin-config>`
-
-               .. list-table::
-                  :class: mjcf-attributes
-                  :widths: 25 25 25 25
-
-                  * - :ref:`key<plugin-config-key>`
-                    - :ref:`value<plugin-config-value>`
-                    -
-                    -
-
-      .. dropdown:: :ref:`hfield<asset-hfield>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-hfield-name>`
-              - :ref:`content_type<asset-hfield-content_type>`
-              - :ref:`file<asset-hfield-file>`
-              - :ref:`nrow<asset-hfield-nrow>`
-            * - :ref:`ncol<asset-hfield-ncol>`
-              - :ref:`size<asset-hfield-size>`
-              - :ref:`elevation<asset-hfield-elevation>`
-              -
-
-      .. dropdown:: :ref:`skin<asset-skin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-skin-name>`
-              - :ref:`file<asset-skin-file>`
-              - :ref:`material<asset-skin-material>`
-              - :ref:`rgba<asset-skin-rgba>`
-            * - :ref:`inflate<asset-skin-inflate>`
-              - :ref:`vertex<asset-skin-vertex>`
-              - :ref:`texcoord<asset-skin-texcoord>`
-              - :ref:`face<asset-skin-face>`
-            * - :ref:`group<asset-skin-group>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`bone<skin-bone>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`body<skin-bone-body>`
-                 - :ref:`bindpos<skin-bone-bindpos>`
-                 - :ref:`bindquat<skin-bone-bindquat>`
-                 - :ref:`vertid<skin-bone-vertid>`
-               * - :ref:`vertweight<skin-bone-vertweight>`
-                 -
-                 -
-                 -
-
-      .. dropdown:: :ref:`texture<asset-texture>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-texture-name>`
-              - :ref:`type<asset-texture-type>`
-              - :ref:`colorspace<asset-texture-colorspace>`
-              - :ref:`content_type<asset-texture-content_type>`
-            * - :ref:`file<asset-texture-file>`
-              - :ref:`gridsize<asset-texture-gridsize>`
-              - :ref:`gridlayout<asset-texture-gridlayout>`
-              - :ref:`fileright<asset-texture-fileright>`
-            * - :ref:`fileleft<asset-texture-fileleft>`
-              - :ref:`fileup<asset-texture-fileup>`
-              - :ref:`filedown<asset-texture-filedown>`
-              - :ref:`filefront<asset-texture-filefront>`
-            * - :ref:`fileback<asset-texture-fileback>`
-              - :ref:`builtin<asset-texture-builtin>`
-              - :ref:`rgb1<asset-texture-rgb1>`
-              - :ref:`rgb2<asset-texture-rgb2>`
-            * - :ref:`mark<asset-texture-mark>`
-              - :ref:`markrgb<asset-texture-markrgb>`
-              - :ref:`random<asset-texture-random>`
-              - :ref:`width<asset-texture-width>`
-            * - :ref:`height<asset-texture-height>`
-              - :ref:`hflip<asset-texture-hflip>`
-              - :ref:`vflip<asset-texture-vflip>`
-              - :ref:`nchannel<asset-texture-nchannel>`
-
-      .. dropdown:: :ref:`material<asset-material>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-material-name>`
-              - :ref:`class<asset-material-class>`
-              - :ref:`texture<asset-material-texture>`
-              - :ref:`texrepeat<asset-material-texrepeat>`
-            * - :ref:`texuniform<asset-material-texuniform>`
-              - :ref:`emission<asset-material-emission>`
-              - :ref:`specular<asset-material-specular>`
-              - :ref:`shininess<asset-material-shininess>`
-            * - :ref:`reflectance<asset-material-reflectance>`
-              - :ref:`metallic<asset-material-metallic>`
-              - :ref:`roughness<asset-material-roughness>`
-              - :ref:`rgba<asset-material-rgba>`
-
-         .. dropdown:: :ref:`layer<material-layer>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`texture<material-layer-texture>`
-                 - :ref:`role<material-layer-role>`
-                 -
-                 -
-
-      .. dropdown:: :ref:`model<asset-model>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<asset-model-name>`
-              - :ref:`file<asset-model-file>`
-              - :ref:`content_type<asset-model-content_type>`
-              -
-
-   .. dropdown:: :ref:`(world)body<body>`
-      :icon: sync
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`name<body-name>`
-           - :ref:`childclass<body-childclass>`
-           - :ref:`pos<body-pos>`
-           - :ref:`quat<body-quat>`
-         * - :ref:`mocap<body-mocap>`
-           - :ref:`axisangle<body-axisangle>`
-           - :ref:`xyaxes<body-xyaxes>`
-           - :ref:`zaxis<body-zaxis>`
-         * - :ref:`euler<body-euler>`
-           - :ref:`gravcomp<body-gravcomp>`
-           - :ref:`sleep<body-sleep>`
-           - :ref:`user<body-user>`
-
-      .. dropdown:: :ref:`inertial<body-inertial>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`pos<body-inertial-pos>`
-              - :ref:`quat<body-inertial-quat>`
-              - :ref:`mass<body-inertial-mass>`
-              - :ref:`diaginertia<body-inertial-diaginertia>`
-            * - :ref:`axisangle<body-inertial-axisangle>`
-              - :ref:`xyaxes<body-inertial-xyaxes>`
-              - :ref:`zaxis<body-inertial-zaxis>`
-              - :ref:`euler<body-inertial-euler>`
-            * - :ref:`fullinertia<body-inertial-fullinertia>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`joint<body-joint>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-joint-name>`
-              - :ref:`class<body-joint-class>`
-              - :ref:`type<body-joint-type>`
-              - :ref:`group<body-joint-group>`
-            * - :ref:`pos<body-joint-pos>`
-              - :ref:`axis<body-joint-axis>`
-              - :ref:`springdamper<body-joint-springdamper>`
-              - :ref:`limited<body-joint-limited>`
-            * - :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`
-              - :ref:`solreflimit<body-joint-solreflimit>`
-              - :ref:`solimplimit<body-joint-solimplimit>`
-              - :ref:`solreffriction<body-joint-solreffriction>`
-            * - :ref:`solimpfriction<body-joint-solimpfriction>`
-              - :ref:`stiffness<body-joint-stiffness>`
-              - :ref:`range<body-joint-range>`
-              - :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>`
-            * - :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`
-              - :ref:`margin<body-joint-margin>`
-              - :ref:`ref<body-joint-ref>`
-              - :ref:`springref<body-joint-springref>`
-            * - :ref:`armature<body-joint-armature>`
-              - :ref:`damping<body-joint-damping>`
-              - :ref:`frictionloss<body-joint-frictionloss>`
-              - :ref:`user<body-joint-user>`
-
-      .. dropdown:: :ref:`freejoint<body-freejoint>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-freejoint-name>`
-              - :ref:`group<body-freejoint-group>`
-              - :ref:`align<body-freejoint-align>`
-              -
-
-      .. dropdown:: :ref:`geom<body-geom>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-geom-name>`
-              - :ref:`class<body-geom-class>`
-              - :ref:`type<body-geom-type>`
-              - :ref:`contype<body-geom-contype>`
-            * - :ref:`conaffinity<body-geom-conaffinity>`
-              - :ref:`condim<body-geom-condim>`
-              - :ref:`group<body-geom-group>`
-              - :ref:`priority<body-geom-priority>`
-            * - :ref:`size<body-geom-size>`
-              - :ref:`material<body-geom-material>`
-              - :ref:`friction<body-geom-friction>`
-              - :ref:`mass<body-geom-mass>`
-            * - :ref:`density<body-geom-density>`
-              - :ref:`shellinertia<body-geom-shellinertia>`
-              - :ref:`solmix<body-geom-solmix>`
-              - :ref:`solref<body-geom-solref>`
-            * - :ref:`solimp<body-geom-solimp>`
-              - :ref:`margin<body-geom-margin>`
-              - :ref:`gap<body-geom-gap>`
-              - :ref:`fromto<body-geom-fromto>`
-            * - :ref:`pos<body-geom-pos>`
-              - :ref:`quat<body-geom-quat>`
-              - :ref:`axisangle<body-geom-axisangle>`
-              - :ref:`xyaxes<body-geom-xyaxes>`
-            * - :ref:`zaxis<body-geom-zaxis>`
-              - :ref:`euler<body-geom-euler>`
-              - :ref:`hfield<body-geom-hfield>`
-              - :ref:`mesh<body-geom-mesh>`
-            * - :ref:`fitscale<body-geom-fitscale>`
-              - :ref:`rgba<body-geom-rgba>`
-              - :ref:`fluidshape<body-geom-fluidshape>`
-              - :ref:`fluidcoef<body-geom-fluidcoef>`
-            * - :ref:`user<body-geom-user>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`plugin<geom-plugin>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`plugin<geom-plugin-plugin>`
-                 - :ref:`instance<geom-plugin-instance>`
-                 -
-                 -
-
-            .. dropdown:: :ref:`config<plugin-config>`
-
-               .. list-table::
-                  :class: mjcf-attributes
-                  :widths: 25 25 25 25
-
-                  * - :ref:`key<plugin-config-key>`
-                    - :ref:`value<plugin-config-value>`
-                    -
-                    -
-
-      .. dropdown:: :ref:`attach<body-attach>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`model<body-attach-model>`
-              - :ref:`body<body-attach-body>`
-              - :ref:`prefix<body-attach-prefix>`
-              -
-
-      .. dropdown:: :ref:`site<body-site>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-site-name>`
-              - :ref:`class<body-site-class>`
-              - :ref:`type<body-site-type>`
-              - :ref:`group<body-site-group>`
-            * - :ref:`pos<body-site-pos>`
-              - :ref:`quat<body-site-quat>`
-              - :ref:`material<body-site-material>`
-              - :ref:`size<body-site-size>`
-            * - :ref:`fromto<body-site-fromto>`
-              - :ref:`axisangle<body-site-axisangle>`
-              - :ref:`xyaxes<body-site-xyaxes>`
-              - :ref:`zaxis<body-site-zaxis>`
-            * - :ref:`euler<body-site-euler>`
-              - :ref:`rgba<body-site-rgba>`
-              - :ref:`user<body-site-user>`
-              -
-
-      .. dropdown:: :ref:`camera<body-camera>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-camera-name>`
-              - :ref:`class<body-camera-class>`
-              - :ref:`projection<body-camera-projection>`
-              - :ref:`fovy<body-camera-fovy>`
-            * - :ref:`ipd<body-camera-ipd>`
-              - :ref:`resolution<body-camera-resolution>`
-              - :ref:`pos<body-camera-pos>`
-              - :ref:`quat<body-camera-quat>`
-            * - :ref:`axisangle<body-camera-axisangle>`
-              - :ref:`xyaxes<body-camera-xyaxes>`
-              - :ref:`zaxis<body-camera-zaxis>`
-              - :ref:`euler<body-camera-euler>`
-            * - :ref:`mode<body-camera-mode>`
-              - :ref:`target<body-camera-target>`
-              - :ref:`focal<body-camera-focal>`
-              - :ref:`focalpixel<body-camera-focalpixel>`
-            * - :ref:`principal<body-camera-principal>`
-              - :ref:`principalpixel<body-camera-principalpixel>`
-              - :ref:`sensorsize<body-camera-sensorsize>`
-              - :ref:`user<body-camera-user>`
-
-      .. dropdown:: :ref:`light<body-light>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-light-name>`
-              - :ref:`class<body-light-class>`
-              - :ref:`directional<body-light-directional>`
-              - :ref:`type<body-light-type>`
-            * - :ref:`castshadow<body-light-castshadow>`
-              - :ref:`active<body-light-active>`
-              - :ref:`pos<body-light-pos>`
-              - :ref:`dir<body-light-dir>`
-            * - :ref:`bulbradius<body-light-bulbradius>`
-              - :ref:`intensity<body-light-intensity>`
-              - :ref:`range<body-light-range>`
-              - :ref:`attenuation<body-light-attenuation>`
-            * - :ref:`cutoff<body-light-cutoff>`
-              - :ref:`exponent<body-light-exponent>`
-              - :ref:`ambient<body-light-ambient>`
-              - :ref:`diffuse<body-light-diffuse>`
-            * - :ref:`specular<body-light-specular>`
-              - :ref:`mode<body-light-mode>`
-              - :ref:`target<body-light-target>`
-              - :ref:`texture<body-light-texture>`
-
-      .. dropdown:: :ref:`plugin<body-plugin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`plugin<body-plugin-plugin>`
-              - :ref:`instance<body-plugin-instance>`
-              -
-              -
-
-         .. dropdown:: :ref:`config<plugin-config>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`key<plugin-config-key>`
-                 - :ref:`value<plugin-config-value>`
-                 -
-                 -
-
-      .. dropdown:: :ref:`composite<body-composite>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`prefix<body-composite-prefix>`
-              - :ref:`type<body-composite-type>`
-              - :ref:`count<body-composite-count>`
-              - :ref:`offset<body-composite-offset>`
-            * - :ref:`vertex<body-composite-vertex>`
-              - :ref:`initial<body-composite-initial>`
-              - :ref:`curve<body-composite-curve>`
-              - :ref:`size<body-composite-size>`
-            * - :ref:`quat<body-composite-quat>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`joint<composite-joint>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`kind<composite-joint-kind>`
-                 - :ref:`group<composite-joint-group>`
-                 - :ref:`stiffness<composite-joint-stiffness>`
-                 - :ref:`damping<composite-joint-damping>`
-               * - :ref:`armature<composite-joint-armature>`
-                 - :ref:`solreffix<composite-joint-solreffix>`
-                 - :ref:`solimpfix<composite-joint-solimpfix>`
-                 - :ref:`type<composite-joint-type>`
-               * - :ref:`axis<composite-joint-axis>`
-                 - :ref:`limited<composite-joint-limited>`
-                 - :ref:`range<composite-joint-range>`
-                 - :ref:`margin<composite-joint-margin>`
-               * - :ref:`solreflimit<composite-joint-solreflimit>`
-                 - :ref:`solimplimit<composite-joint-solimplimit>`
-                 - :ref:`frictionloss<composite-joint-frictionloss>`
-                 - :ref:`solreffriction<composite-joint-solreffriction>`
-               * - :ref:`solimpfriction<composite-joint-solimpfriction>`
-                 -
-                 -
-                 -
-
-         .. dropdown:: :ref:`skin<composite-skin>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`texcoord<composite-skin-texcoord>`
-                 - :ref:`material<composite-skin-material>`
-                 - :ref:`group<composite-skin-group>`
-                 - :ref:`rgba<composite-skin-rgba>`
-               * - :ref:`inflate<composite-skin-inflate>`
-                 - :ref:`subgrid<composite-skin-subgrid>`
-                 -
-                 -
-
-         .. dropdown:: :ref:`geom<composite-geom>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`type<composite-geom-type>`
-                 - :ref:`contype<composite-geom-contype>`
-                 - :ref:`conaffinity<composite-geom-conaffinity>`
-                 - :ref:`condim<composite-geom-condim>`
-               * - :ref:`group<composite-geom-group>`
-                 - :ref:`priority<composite-geom-priority>`
-                 - :ref:`size<composite-geom-size>`
-                 - :ref:`material<composite-geom-material>`
-               * - :ref:`rgba<composite-geom-rgba>`
-                 - :ref:`friction<composite-geom-friction>`
-                 - :ref:`mass<composite-geom-mass>`
-                 - :ref:`density<composite-geom-density>`
-               * - :ref:`solmix<composite-geom-solmix>`
-                 - :ref:`solref<composite-geom-solref>`
-                 - :ref:`solimp<composite-geom-solimp>`
-                 - :ref:`margin<composite-geom-margin>`
-               * - :ref:`gap<composite-geom-gap>`
-                 -
-                 -
-                 -
-
-         .. dropdown:: :ref:`site<composite-site>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`group<composite-site-group>`
-                 - :ref:`size<composite-site-size>`
-                 - :ref:`material<composite-site-material>`
-                 - :ref:`rgba<composite-site-rgba>`
-
-         .. dropdown:: :ref:`plugin<composite-plugin>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`plugin<composite-plugin-plugin>`
-                 - :ref:`instance<composite-plugin-instance>`
-                 -
-                 -
-
-            .. dropdown:: :ref:`config<plugin-config>`
-
-               .. list-table::
-                  :class: mjcf-attributes
-                  :widths: 25 25 25 25
-
-                  * - :ref:`key<plugin-config-key>`
-                    - :ref:`value<plugin-config-value>`
-                    -
-                    -
-
-      .. dropdown:: :ref:`flexcomp<body-flexcomp>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<body-flexcomp-name>`
-              - :ref:`type<body-flexcomp-type>`
-              - :ref:`group<body-flexcomp-group>`
-              - :ref:`dim<body-flexcomp-dim>`
-            * - :ref:`dof<body-flexcomp-dof>`
-              - :ref:`count<body-flexcomp-count>`
-              - :ref:`spacing<body-flexcomp-spacing>`
-              - :ref:`radius<body-flexcomp-radius>`
-            * - :ref:`rigid<body-flexcomp-rigid>`
-              - :ref:`mass<body-flexcomp-mass>`
-              - :ref:`inertiabox<body-flexcomp-inertiabox>`
-              - :ref:`scale<body-flexcomp-scale>`
-            * - :ref:`file<body-flexcomp-file>`
-              - :ref:`point<body-flexcomp-point>`
-              - :ref:`element<body-flexcomp-element>`
-              - :ref:`texcoord<body-flexcomp-texcoord>`
-            * - :ref:`material<body-flexcomp-material>`
-              - :ref:`rgba<body-flexcomp-rgba>`
-              - :ref:`flatskin<body-flexcomp-flatskin>`
-              - :ref:`pos<body-flexcomp-pos>`
-            * - :ref:`quat<body-flexcomp-quat>`
-              - :ref:`axisangle<body-flexcomp-axisangle>`
-              - :ref:`xyaxes<body-flexcomp-xyaxes>`
-              - :ref:`zaxis<body-flexcomp-zaxis>`
-            * - :ref:`euler<body-flexcomp-euler>`
-              - :ref:`origin<body-flexcomp-origin>`
-              -
-              -
-
-         .. dropdown:: :ref:`edge<flexcomp-edge>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`equality<flexcomp-edge-equality>`
-                 - :ref:`solref<flexcomp-edge-solref>`
-                 - :ref:`solimp<flexcomp-edge-solimp>`
-                 - :ref:`stiffness<flexcomp-edge-stiffness>`
-               * - :ref:`damping<flexcomp-edge-damping>`
-                 -
-                 -
-                 -
-
-         .. dropdown:: :ref:`elasticity<flexcomp-elasticity>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`young<flexcomp-elasticity-young>`
-                 - :ref:`poisson<flexcomp-elasticity-poisson>`
-                 - :ref:`damping<flexcomp-elasticity-damping>`
-                 - :ref:`thickness<flexcomp-elasticity-thickness>`
-               * - :ref:`elastic2d<flexcomp-elasticity-elastic2d>`
-                 -
-                 -
-                 -
-
-         .. dropdown:: :ref:`contact<flexcomp-contact>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`contype<flexcomp-contact-contype>`
-                 - :ref:`conaffinity<flexcomp-contact-conaffinity>`
-                 - :ref:`condim<flexcomp-contact-condim>`
-                 - :ref:`priority<flexcomp-contact-priority>`
-               * - :ref:`friction<flexcomp-contact-friction>`
-                 - :ref:`solmix<flexcomp-contact-solmix>`
-                 - :ref:`solref<flexcomp-contact-solref>`
-                 - :ref:`solimp<flexcomp-contact-solimp>`
-               * - :ref:`margin<flexcomp-contact-margin>`
-                 - :ref:`gap<flexcomp-contact-gap>`
-                 - :ref:`internal<flexcomp-contact-internal>`
-                 - :ref:`selfcollide<flexcomp-contact-selfcollide>`
-               * - :ref:`activelayers<flexcomp-contact-activelayers>`
-                 - :ref:`vertcollide<flexcomp-contact-vertcollide>`
-                 - :ref:`passive<flexcomp-contact-passive>`
-                 -
-
-         .. dropdown:: :ref:`pin<flexcomp-pin>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`id<flexcomp-pin-id>`
-                 - :ref:`range<flexcomp-pin-range>`
-                 - :ref:`grid<flexcomp-pin-grid>`
-                 - :ref:`gridrange<flexcomp-pin-gridrange>`
-
-         .. dropdown:: :ref:`plugin<flexcomp-plugin>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`plugin<flexcomp-plugin-plugin>`
-                 - :ref:`instance<flexcomp-plugin-instance>`
-                 -
-                 -
-
-            .. dropdown:: :ref:`config<plugin-config>`
-
-               .. list-table::
-                  :class: mjcf-attributes
-                  :widths: 25 25 25 25
-
-                  * - :ref:`key<plugin-config-key>`
-                    - :ref:`value<plugin-config-value>`
-                    -
-                    -
-
-   .. dropdown:: :ref:`deformable<deformable>`
-
-
-      .. dropdown:: :ref:`flex<deformable-flex>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<deformable-flex-name>`
-              - :ref:`group<deformable-flex-group>`
-              - :ref:`dim<deformable-flex-dim>`
-              - :ref:`radius<deformable-flex-radius>`
-            * - :ref:`material<deformable-flex-material>`
-              - :ref:`rgba<deformable-flex-rgba>`
-              - :ref:`flatskin<deformable-flex-flatskin>`
-              - :ref:`body<deformable-flex-body>`
-            * - :ref:`vertex<deformable-flex-vertex>`
-              - :ref:`element<deformable-flex-element>`
-              - :ref:`texcoord<deformable-flex-texcoord>`
-              - :ref:`elemtexcoord<deformable-flex-elemtexcoord>`
-            * - :ref:`node<deformable-flex-node>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`contact<flex-contact>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`contype<flex-contact-contype>`
-                 - :ref:`conaffinity<flex-contact-conaffinity>`
-                 - :ref:`condim<flex-contact-condim>`
-                 - :ref:`priority<flex-contact-priority>`
-               * - :ref:`friction<flex-contact-friction>`
-                 - :ref:`solmix<flex-contact-solmix>`
-                 - :ref:`solref<flex-contact-solref>`
-                 - :ref:`solimp<flex-contact-solimp>`
-               * - :ref:`margin<flex-contact-margin>`
-                 - :ref:`gap<flex-contact-gap>`
-                 - :ref:`internal<flex-contact-internal>`
-                 - :ref:`selfcollide<flex-contact-selfcollide>`
-               * - :ref:`activelayers<flex-contact-activelayers>`
-                 - :ref:`vertcollide<flex-contact-vertcollide>`
-                 - :ref:`passive<flex-contact-passive>`
-                 -
-
-         .. dropdown:: :ref:`edge<flex-edge>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`stiffness<flex-edge-stiffness>`
-                 - :ref:`damping<flex-edge-damping>`
-                 -
-                 -
-
-         .. dropdown:: :ref:`elasticity<flex-elasticity>`
-            :icon: dot
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`young<flex-elasticity-young>`
-                 - :ref:`poisson<flex-elasticity-poisson>`
-                 - :ref:`damping<flex-elasticity-damping>`
-                 - :ref:`thickness<flex-elasticity-thickness>`
-               * - :ref:`elastic2d<flex-elasticity-elastic2d>`
-                 -
-                 -
-                 -
-
-      .. dropdown:: :ref:`skin<deformable-skin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<deformable-skin-name>`
-              - :ref:`file<deformable-skin-file>`
-              - :ref:`material<deformable-skin-material>`
-              - :ref:`rgba<deformable-skin-rgba>`
-            * - :ref:`inflate<deformable-skin-inflate>`
-              - :ref:`vertex<deformable-skin-vertex>`
-              - :ref:`texcoord<deformable-skin-texcoord>`
-              - :ref:`face<deformable-skin-face>`
-            * - :ref:`group<deformable-skin-group>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`bone<skin-bone>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`body<skin-bone-body>`
-                 - :ref:`bindpos<skin-bone-bindpos>`
-                 - :ref:`bindquat<skin-bone-bindquat>`
-                 - :ref:`vertid<skin-bone-vertid>`
-               * - :ref:`vertweight<skin-bone-vertweight>`
-                 -
-                 -
-                 -
-
-   .. dropdown:: :ref:`contact<contact>`
-
-
-      .. dropdown:: :ref:`pair<contact-pair>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<contact-pair-name>`
-              - :ref:`class<contact-pair-class>`
-              - :ref:`geom1<contact-pair-geom1>`
-              - :ref:`geom2<contact-pair-geom2>`
-            * - :ref:`condim<contact-pair-condim>`
-              - :ref:`friction<contact-pair-friction>`
-              - :ref:`solref<contact-pair-solref>`
-              - :ref:`solreffriction<contact-pair-solreffriction>`
-            * - :ref:`solimp<contact-pair-solimp>`
-              - :ref:`gap<contact-pair-gap>`
-              - :ref:`margin<contact-pair-margin>`
-              -
-
-      .. dropdown:: :ref:`exclude<contact-exclude>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<contact-exclude-name>`
-              - :ref:`body1<contact-exclude-body1>`
-              - :ref:`body2<contact-exclude-body2>`
-              -
-
-   .. dropdown:: :ref:`equality<equality>`
-
-
-      .. dropdown:: :ref:`connect<equality-connect>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<equality-connect-name>`
-              - :ref:`class<equality-connect-class>`
-              - :ref:`body1<equality-connect-body1>`
-              - :ref:`body2<equality-connect-body2>`
-            * - :ref:`anchor<equality-connect-anchor>`
-              - :ref:`site1<equality-connect-site1>`
-              - :ref:`site2<equality-connect-site2>`
-              - :ref:`active<equality-connect-active>`
-            * - :ref:`solref<equality-connect-solref>`
-              - :ref:`solimp<equality-connect-solimp>`
-              -
-              -
-
-      .. dropdown:: :ref:`weld<equality-weld>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<equality-weld-name>`
-              - :ref:`class<equality-weld-class>`
-              - :ref:`body1<equality-weld-body1>`
-              - :ref:`body2<equality-weld-body2>`
-            * - :ref:`relpose<equality-weld-relpose>`
-              - :ref:`anchor<equality-weld-anchor>`
-              - :ref:`site1<equality-weld-site1>`
-              - :ref:`site2<equality-weld-site2>`
-            * - :ref:`active<equality-weld-active>`
-              - :ref:`solref<equality-weld-solref>`
-              - :ref:`solimp<equality-weld-solimp>`
-              - :ref:`torquescale<equality-weld-torquescale>`
-
-      .. dropdown:: :ref:`joint<equality-joint>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<equality-joint-name>`
-              - :ref:`class<equality-joint-class>`
-              - :ref:`joint1<equality-joint-joint1>`
-              - :ref:`joint2<equality-joint-joint2>`
-            * - :ref:`polycoef<equality-joint-polycoef>`
-              - :ref:`active<equality-joint-active>`
-              - :ref:`solref<equality-joint-solref>`
-              - :ref:`solimp<equality-joint-solimp>`
-
-      .. dropdown:: :ref:`tendon<equality-tendon>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<equality-tendon-name>`
-              - :ref:`class<equality-tendon-class>`
-              - :ref:`tendon1<equality-tendon-tendon1>`
-              - :ref:`tendon2<equality-tendon-tendon2>`
-            * - :ref:`polycoef<equality-tendon-polycoef>`
-              - :ref:`active<equality-tendon-active>`
-              - :ref:`solref<equality-tendon-solref>`
-              - :ref:`solimp<equality-tendon-solimp>`
-
-      .. dropdown:: :ref:`flex<equality-flex>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<equality-flex-name>`
-              - :ref:`class<equality-flex-class>`
-              - :ref:`flex<equality-flex-flex>`
-              - :ref:`active<equality-flex-active>`
-            * - :ref:`solref<equality-flex-solref>`
-              - :ref:`solimp<equality-flex-solimp>`
-              -
-              -
-
-   .. dropdown:: :ref:`tendon<tendon>`
-
-
-      .. dropdown:: :ref:`spatial<tendon-spatial>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<tendon-spatial-name>`
-              - :ref:`class<tendon-spatial-class>`
-              - :ref:`group<tendon-spatial-group>`
-              - :ref:`limited<tendon-spatial-limited>`
-            * - :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>`
-              - :ref:`range<tendon-spatial-range>`
-              - :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>`
-              - :ref:`solreflimit<tendon-spatial-solreflimit>`
-            * - :ref:`solimplimit<tendon-spatial-solimplimit>`
-              - :ref:`solreffriction<tendon-spatial-solreffriction>`
-              - :ref:`solimpfriction<tendon-spatial-solimpfriction>`
-              - :ref:`frictionloss<tendon-spatial-frictionloss>`
-            * - :ref:`springlength<tendon-spatial-springlength>`
-              - :ref:`width<tendon-spatial-width>`
-              - :ref:`material<tendon-spatial-material>`
-              - :ref:`margin<tendon-spatial-margin>`
-            * - :ref:`stiffness<tendon-spatial-stiffness>`
-              - :ref:`damping<tendon-spatial-damping>`
-              - :ref:`armature<tendon-spatial-armature>`
-              - :ref:`rgba<tendon-spatial-rgba>`
-            * - :ref:`user<tendon-spatial-user>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`site<spatial-site>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`site<spatial-site-site>`
-                 -
-                 -
-                 -
-
-         .. dropdown:: :ref:`geom<spatial-geom>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`geom<spatial-geom-geom>`
-                 - :ref:`sidesite<spatial-geom-sidesite>`
-                 -
-                 -
-
-         .. dropdown:: :ref:`pulley<spatial-pulley>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`divisor<spatial-pulley-divisor>`
-                 -
-                 -
-                 -
-
-      .. dropdown:: :ref:`fixed<tendon-fixed>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<tendon-fixed-name>`
-              - :ref:`class<tendon-fixed-class>`
-              - :ref:`group<tendon-fixed-group>`
-              - :ref:`limited<tendon-fixed-limited>`
-            * - :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>`
-              - :ref:`range<tendon-fixed-range>`
-              - :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>`
-              - :ref:`solreflimit<tendon-fixed-solreflimit>`
-            * - :ref:`solimplimit<tendon-fixed-solimplimit>`
-              - :ref:`solreffriction<tendon-fixed-solreffriction>`
-              - :ref:`solimpfriction<tendon-fixed-solimpfriction>`
-              - :ref:`frictionloss<tendon-fixed-frictionloss>`
-            * - :ref:`springlength<tendon-fixed-springlength>`
-              - :ref:`margin<tendon-fixed-margin>`
-              - :ref:`stiffness<tendon-fixed-stiffness>`
-              - :ref:`damping<tendon-fixed-damping>`
-            * - :ref:`armature<tendon-fixed-armature>`
-              - :ref:`user<tendon-fixed-user>`
-              -
-              -
-
-         .. dropdown:: :ref:`joint<fixed-joint>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`joint<fixed-joint-joint>`
-                 - :ref:`coef<fixed-joint-coef>`
-                 -
-                 -
-
-   .. dropdown:: :ref:`actuator<actuator>`
-
-
-      .. dropdown:: :ref:`general<actuator-general>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-general-name>`
-              - :ref:`class<actuator-general-class>`
-              - :ref:`group<actuator-general-group>`
-              - :ref:`ctrllimited<actuator-general-ctrllimited>`
-            * - :ref:`forcelimited<actuator-general-forcelimited>`
-              - :ref:`actlimited<actuator-general-actlimited>`
-              - :ref:`ctrlrange<actuator-general-ctrlrange>`
-              - :ref:`forcerange<actuator-general-forcerange>`
-            * - :ref:`actrange<actuator-general-actrange>`
-              - :ref:`lengthrange<actuator-general-lengthrange>`
-              - :ref:`gear<actuator-general-gear>`
-              - :ref:`cranklength<actuator-general-cranklength>`
-            * - :ref:`user<actuator-general-user>`
-              - :ref:`joint<actuator-general-joint>`
-              - :ref:`jointinparent<actuator-general-jointinparent>`
-              - :ref:`tendon<actuator-general-tendon>`
-            * - :ref:`slidersite<actuator-general-slidersite>`
-              - :ref:`cranksite<actuator-general-cranksite>`
-              - :ref:`site<actuator-general-site>`
-              - :ref:`refsite<actuator-general-refsite>`
-            * - :ref:`body<actuator-general-body>`
-              - :ref:`actdim<actuator-general-actdim>`
-              - :ref:`dyntype<actuator-general-dyntype>`
-              - :ref:`gaintype<actuator-general-gaintype>`
-            * - :ref:`biastype<actuator-general-biastype>`
-              - :ref:`dynprm<actuator-general-dynprm>`
-              - :ref:`gainprm<actuator-general-gainprm>`
-              - :ref:`biasprm<actuator-general-biasprm>`
-            * - :ref:`actearly<actuator-general-actearly>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`motor<actuator-motor>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-motor-name>`
-              - :ref:`class<actuator-motor-class>`
-              - :ref:`group<actuator-motor-group>`
-              - :ref:`ctrllimited<actuator-motor-ctrllimited>`
-            * - :ref:`forcelimited<actuator-motor-forcelimited>`
-              - :ref:`ctrlrange<actuator-motor-ctrlrange>`
-              - :ref:`forcerange<actuator-motor-forcerange>`
-              - :ref:`lengthrange<actuator-motor-lengthrange>`
-            * - :ref:`gear<actuator-motor-gear>`
-              - :ref:`cranklength<actuator-motor-cranklength>`
-              - :ref:`user<actuator-motor-user>`
-              - :ref:`joint<actuator-motor-joint>`
-            * - :ref:`jointinparent<actuator-motor-jointinparent>`
-              - :ref:`tendon<actuator-motor-tendon>`
-              - :ref:`slidersite<actuator-motor-slidersite>`
-              - :ref:`cranksite<actuator-motor-cranksite>`
-            * - :ref:`site<actuator-motor-site>`
-              - :ref:`refsite<actuator-motor-refsite>`
-              -
-              -
-
-      .. dropdown:: :ref:`position<actuator-position>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-position-name>`
-              - :ref:`class<actuator-position-class>`
-              - :ref:`group<actuator-position-group>`
-              - :ref:`ctrllimited<actuator-position-ctrllimited>`
-            * - :ref:`forcelimited<actuator-position-forcelimited>`
-              - :ref:`ctrlrange<actuator-position-ctrlrange>`
-              - :ref:`inheritrange<actuator-position-inheritrange>`
-              - :ref:`forcerange<actuator-position-forcerange>`
-            * - :ref:`lengthrange<actuator-position-lengthrange>`
-              - :ref:`gear<actuator-position-gear>`
-              - :ref:`cranklength<actuator-position-cranklength>`
-              - :ref:`user<actuator-position-user>`
-            * - :ref:`joint<actuator-position-joint>`
-              - :ref:`jointinparent<actuator-position-jointinparent>`
-              - :ref:`tendon<actuator-position-tendon>`
-              - :ref:`slidersite<actuator-position-slidersite>`
-            * - :ref:`cranksite<actuator-position-cranksite>`
-              - :ref:`site<actuator-position-site>`
-              - :ref:`refsite<actuator-position-refsite>`
-              - :ref:`kp<actuator-position-kp>`
-            * - :ref:`kv<actuator-position-kv>`
-              - :ref:`dampratio<actuator-position-dampratio>`
-              - :ref:`timeconst<actuator-position-timeconst>`
-              -
-
-      .. dropdown:: :ref:`velocity<actuator-velocity>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-velocity-name>`
-              - :ref:`class<actuator-velocity-class>`
-              - :ref:`group<actuator-velocity-group>`
-              - :ref:`ctrllimited<actuator-velocity-ctrllimited>`
-            * - :ref:`forcelimited<actuator-velocity-forcelimited>`
-              - :ref:`ctrlrange<actuator-velocity-ctrlrange>`
-              - :ref:`forcerange<actuator-velocity-forcerange>`
-              - :ref:`lengthrange<actuator-velocity-lengthrange>`
-            * - :ref:`gear<actuator-velocity-gear>`
-              - :ref:`cranklength<actuator-velocity-cranklength>`
-              - :ref:`user<actuator-velocity-user>`
-              - :ref:`joint<actuator-velocity-joint>`
-            * - :ref:`jointinparent<actuator-velocity-jointinparent>`
-              - :ref:`tendon<actuator-velocity-tendon>`
-              - :ref:`slidersite<actuator-velocity-slidersite>`
-              - :ref:`cranksite<actuator-velocity-cranksite>`
-            * - :ref:`site<actuator-velocity-site>`
-              - :ref:`refsite<actuator-velocity-refsite>`
-              - :ref:`kv<actuator-velocity-kv>`
-              -
-
-      .. dropdown:: :ref:`intvelocity<actuator-intvelocity>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-intvelocity-name>`
-              - :ref:`class<actuator-intvelocity-class>`
-              - :ref:`group<actuator-intvelocity-group>`
-              - :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`
-            * - :ref:`forcelimited<actuator-intvelocity-forcelimited>`
-              - :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
-              - :ref:`forcerange<actuator-intvelocity-forcerange>`
-              - :ref:`actrange<actuator-intvelocity-actrange>`
-            * - :ref:`inheritrange<actuator-intvelocity-inheritrange>`
-              - :ref:`lengthrange<actuator-intvelocity-lengthrange>`
-              - :ref:`gear<actuator-intvelocity-gear>`
-              - :ref:`cranklength<actuator-intvelocity-cranklength>`
-            * - :ref:`user<actuator-intvelocity-user>`
-              - :ref:`joint<actuator-intvelocity-joint>`
-              - :ref:`jointinparent<actuator-intvelocity-jointinparent>`
-              - :ref:`tendon<actuator-intvelocity-tendon>`
-            * - :ref:`slidersite<actuator-intvelocity-slidersite>`
-              - :ref:`cranksite<actuator-intvelocity-cranksite>`
-              - :ref:`site<actuator-intvelocity-site>`
-              - :ref:`refsite<actuator-intvelocity-refsite>`
-            * - :ref:`kp<actuator-intvelocity-kp>`
-              - :ref:`kv<actuator-intvelocity-kv>`
-              - :ref:`dampratio<actuator-intvelocity-dampratio>`
-              -
-
-      .. dropdown:: :ref:`damper<actuator-damper>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-damper-name>`
-              - :ref:`class<actuator-damper-class>`
-              - :ref:`group<actuator-damper-group>`
-              - :ref:`forcelimited<actuator-damper-forcelimited>`
-            * - :ref:`ctrlrange<actuator-damper-ctrlrange>`
-              - :ref:`forcerange<actuator-damper-forcerange>`
-              - :ref:`lengthrange<actuator-damper-lengthrange>`
-              - :ref:`gear<actuator-damper-gear>`
-            * - :ref:`cranklength<actuator-damper-cranklength>`
-              - :ref:`user<actuator-damper-user>`
-              - :ref:`joint<actuator-damper-joint>`
-              - :ref:`jointinparent<actuator-damper-jointinparent>`
-            * - :ref:`tendon<actuator-damper-tendon>`
-              - :ref:`slidersite<actuator-damper-slidersite>`
-              - :ref:`cranksite<actuator-damper-cranksite>`
-              - :ref:`site<actuator-damper-site>`
-            * - :ref:`refsite<actuator-damper-refsite>`
-              - :ref:`kv<actuator-damper-kv>`
-              -
-              -
-
-      .. dropdown:: :ref:`cylinder<actuator-cylinder>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-cylinder-name>`
-              - :ref:`class<actuator-cylinder-class>`
-              - :ref:`group<actuator-cylinder-group>`
-              - :ref:`ctrllimited<actuator-cylinder-ctrllimited>`
-            * - :ref:`forcelimited<actuator-cylinder-forcelimited>`
-              - :ref:`ctrlrange<actuator-cylinder-ctrlrange>`
-              - :ref:`forcerange<actuator-cylinder-forcerange>`
-              - :ref:`lengthrange<actuator-cylinder-lengthrange>`
-            * - :ref:`gear<actuator-cylinder-gear>`
-              - :ref:`cranklength<actuator-cylinder-cranklength>`
-              - :ref:`user<actuator-cylinder-user>`
-              - :ref:`joint<actuator-cylinder-joint>`
-            * - :ref:`jointinparent<actuator-cylinder-jointinparent>`
-              - :ref:`tendon<actuator-cylinder-tendon>`
-              - :ref:`slidersite<actuator-cylinder-slidersite>`
-              - :ref:`cranksite<actuator-cylinder-cranksite>`
-            * - :ref:`site<actuator-cylinder-site>`
-              - :ref:`refsite<actuator-cylinder-refsite>`
-              - :ref:`timeconst<actuator-cylinder-timeconst>`
-              - :ref:`area<actuator-cylinder-area>`
-            * - :ref:`diameter<actuator-cylinder-diameter>`
-              - :ref:`bias<actuator-cylinder-bias>`
-              -
-              -
-
-      .. dropdown:: :ref:`muscle<actuator-muscle>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-muscle-name>`
-              - :ref:`class<actuator-muscle-class>`
-              - :ref:`group<actuator-muscle-group>`
-              - :ref:`ctrllimited<actuator-muscle-ctrllimited>`
-            * - :ref:`forcelimited<actuator-muscle-forcelimited>`
-              - :ref:`ctrlrange<actuator-muscle-ctrlrange>`
-              - :ref:`forcerange<actuator-muscle-forcerange>`
-              - :ref:`lengthrange<actuator-muscle-lengthrange>`
-            * - :ref:`gear<actuator-muscle-gear>`
-              - :ref:`cranklength<actuator-muscle-cranklength>`
-              - :ref:`user<actuator-muscle-user>`
-              - :ref:`joint<actuator-muscle-joint>`
-            * - :ref:`jointinparent<actuator-muscle-jointinparent>`
-              - :ref:`tendon<actuator-muscle-tendon>`
-              - :ref:`slidersite<actuator-muscle-slidersite>`
-              - :ref:`cranksite<actuator-muscle-cranksite>`
-            * - :ref:`timeconst<actuator-muscle-timeconst>`
-              - :ref:`tausmooth<actuator-muscle-tausmooth>`
-              - :ref:`range<actuator-muscle-range>`
-              - :ref:`force<actuator-muscle-force>`
-            * - :ref:`scale<actuator-muscle-scale>`
-              - :ref:`lmin<actuator-muscle-lmin>`
-              - :ref:`lmax<actuator-muscle-lmax>`
-              - :ref:`vmax<actuator-muscle-vmax>`
-            * - :ref:`fpmax<actuator-muscle-fpmax>`
-              - :ref:`fvmax<actuator-muscle-fvmax>`
-              -
-              -
-
-      .. dropdown:: :ref:`adhesion<actuator-adhesion>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-adhesion-name>`
-              - :ref:`class<actuator-adhesion-class>`
-              - :ref:`group<actuator-adhesion-group>`
-              - :ref:`forcelimited<actuator-adhesion-forcelimited>`
-            * - :ref:`ctrlrange<actuator-adhesion-ctrlrange>`
-              - :ref:`forcerange<actuator-adhesion-forcerange>`
-              - :ref:`user<actuator-adhesion-user>`
-              - :ref:`body<actuator-adhesion-body>`
-            * - :ref:`gain<actuator-adhesion-gain>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`plugin<actuator-plugin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<actuator-plugin-name>`
-              - :ref:`class<actuator-plugin-class>`
-              - :ref:`plugin<actuator-plugin-plugin>`
-              - :ref:`instance<actuator-plugin-instance>`
-            * - :ref:`group<actuator-plugin-group>`
-              - :ref:`ctrllimited<actuator-plugin-ctrllimited>`
-              - :ref:`forcelimited<actuator-plugin-forcelimited>`
-              - :ref:`actlimited<actuator-plugin-actlimited>`
-            * - :ref:`ctrlrange<actuator-plugin-ctrlrange>`
-              - :ref:`forcerange<actuator-plugin-forcerange>`
-              - :ref:`actrange<actuator-plugin-actrange>`
-              - :ref:`lengthrange<actuator-plugin-lengthrange>`
-            * - :ref:`gear<actuator-plugin-gear>`
-              - :ref:`cranklength<actuator-plugin-cranklength>`
-              - :ref:`joint<actuator-plugin-joint>`
-              - :ref:`jointinparent<actuator-plugin-jointinparent>`
-            * - :ref:`site<actuator-plugin-site>`
-              - :ref:`actdim<actuator-plugin-actdim>`
-              - :ref:`dyntype<actuator-plugin-dyntype>`
-              - :ref:`dynprm<actuator-plugin-dynprm>`
-            * - :ref:`tendon<actuator-plugin-tendon>`
-              - :ref:`cranksite<actuator-plugin-cranksite>`
-              - :ref:`slidersite<actuator-plugin-slidersite>`
-              - :ref:`user<actuator-plugin-user>`
-            * - :ref:`actearly<actuator-plugin-actearly>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`config<plugin-config>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`key<plugin-config-key>`
-                 - :ref:`value<plugin-config-value>`
-                 -
-                 -
-
-   .. dropdown:: :ref:`sensor<sensor>`
-
-
-      .. dropdown:: :ref:`touch<sensor-touch>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-touch-name>`
-              - :ref:`site<sensor-touch-site>`
-              - :ref:`cutoff<sensor-touch-cutoff>`
-              - :ref:`noise<sensor-touch-noise>`
-            * - :ref:`user<sensor-touch-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`accelerometer<sensor-accelerometer>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-accelerometer-name>`
-              - :ref:`site<sensor-accelerometer-site>`
-              - :ref:`cutoff<sensor-accelerometer-cutoff>`
-              - :ref:`noise<sensor-accelerometer-noise>`
-            * - :ref:`user<sensor-accelerometer-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`velocimeter<sensor-velocimeter>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-velocimeter-name>`
-              - :ref:`site<sensor-velocimeter-site>`
-              - :ref:`cutoff<sensor-velocimeter-cutoff>`
-              - :ref:`noise<sensor-velocimeter-noise>`
-            * - :ref:`user<sensor-velocimeter-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`gyro<sensor-gyro>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-gyro-name>`
-              - :ref:`site<sensor-gyro-site>`
-              - :ref:`cutoff<sensor-gyro-cutoff>`
-              - :ref:`noise<sensor-gyro-noise>`
-            * - :ref:`user<sensor-gyro-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`force<sensor-force>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-force-name>`
-              - :ref:`site<sensor-force-site>`
-              - :ref:`cutoff<sensor-force-cutoff>`
-              - :ref:`noise<sensor-force-noise>`
-            * - :ref:`user<sensor-force-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`torque<sensor-torque>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-torque-name>`
-              - :ref:`site<sensor-torque-site>`
-              - :ref:`cutoff<sensor-torque-cutoff>`
-              - :ref:`noise<sensor-torque-noise>`
-            * - :ref:`user<sensor-torque-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`magnetometer<sensor-magnetometer>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-magnetometer-name>`
-              - :ref:`site<sensor-magnetometer-site>`
-              - :ref:`cutoff<sensor-magnetometer-cutoff>`
-              - :ref:`noise<sensor-magnetometer-noise>`
-            * - :ref:`user<sensor-magnetometer-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`camprojection<sensor-camprojection>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-camprojection-name>`
-              - :ref:`site<sensor-camprojection-site>`
-              - :ref:`camera<sensor-camprojection-camera>`
-              - :ref:`cutoff<sensor-camprojection-cutoff>`
-            * - :ref:`noise<sensor-camprojection-noise>`
-              - :ref:`user<sensor-camprojection-user>`
-              -
-              -
-
-      .. dropdown:: :ref:`rangefinder<sensor-rangefinder>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-rangefinder-name>`
-              - :ref:`site<sensor-rangefinder-site>`
-              - :ref:`camera<sensor-rangefinder-camera>`
-              - :ref:`data<sensor-rangefinder-data>`
-            * - :ref:`cutoff<sensor-rangefinder-cutoff>`
-              - :ref:`noise<sensor-rangefinder-noise>`
-              - :ref:`user<sensor-rangefinder-user>`
-              -
-
-      .. dropdown:: :ref:`jointpos<sensor-jointpos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointpos-name>`
-              - :ref:`joint<sensor-jointpos-joint>`
-              - :ref:`cutoff<sensor-jointpos-cutoff>`
-              - :ref:`noise<sensor-jointpos-noise>`
-            * - :ref:`user<sensor-jointpos-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`jointvel<sensor-jointvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointvel-name>`
-              - :ref:`joint<sensor-jointvel-joint>`
-              - :ref:`cutoff<sensor-jointvel-cutoff>`
-              - :ref:`noise<sensor-jointvel-noise>`
-            * - :ref:`user<sensor-jointvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonpos<sensor-tendonpos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonpos-name>`
-              - :ref:`tendon<sensor-tendonpos-tendon>`
-              - :ref:`cutoff<sensor-tendonpos-cutoff>`
-              - :ref:`noise<sensor-tendonpos-noise>`
-            * - :ref:`user<sensor-tendonpos-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonvel<sensor-tendonvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonvel-name>`
-              - :ref:`tendon<sensor-tendonvel-tendon>`
-              - :ref:`cutoff<sensor-tendonvel-cutoff>`
-              - :ref:`noise<sensor-tendonvel-noise>`
-            * - :ref:`user<sensor-tendonvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`actuatorpos<sensor-actuatorpos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-actuatorpos-name>`
-              - :ref:`actuator<sensor-actuatorpos-actuator>`
-              - :ref:`cutoff<sensor-actuatorpos-cutoff>`
-              - :ref:`noise<sensor-actuatorpos-noise>`
-            * - :ref:`user<sensor-actuatorpos-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`actuatorvel<sensor-actuatorvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-actuatorvel-name>`
-              - :ref:`actuator<sensor-actuatorvel-actuator>`
-              - :ref:`cutoff<sensor-actuatorvel-cutoff>`
-              - :ref:`noise<sensor-actuatorvel-noise>`
-            * - :ref:`user<sensor-actuatorvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`actuatorfrc<sensor-actuatorfrc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-actuatorfrc-name>`
-              - :ref:`actuator<sensor-actuatorfrc-actuator>`
-              - :ref:`cutoff<sensor-actuatorfrc-cutoff>`
-              - :ref:`noise<sensor-actuatorfrc-noise>`
-            * - :ref:`user<sensor-actuatorfrc-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`jointactuatorfrc<sensor-jointactuatorfrc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointactuatorfrc-name>`
-              - :ref:`joint<sensor-jointactuatorfrc-joint>`
-              - :ref:`cutoff<sensor-jointactuatorfrc-cutoff>`
-              - :ref:`noise<sensor-jointactuatorfrc-noise>`
-            * - :ref:`user<sensor-jointactuatorfrc-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonactuatorfrc<sensor-tendonactuatorfrc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonactuatorfrc-name>`
-              - :ref:`tendon<sensor-tendonactuatorfrc-tendon>`
-              - :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>`
-              - :ref:`noise<sensor-tendonactuatorfrc-noise>`
-            * - :ref:`user<sensor-tendonactuatorfrc-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`ballquat<sensor-ballquat>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-ballquat-name>`
-              - :ref:`joint<sensor-ballquat-joint>`
-              - :ref:`cutoff<sensor-ballquat-cutoff>`
-              - :ref:`noise<sensor-ballquat-noise>`
-            * - :ref:`user<sensor-ballquat-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`ballangvel<sensor-ballangvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-ballangvel-name>`
-              - :ref:`joint<sensor-ballangvel-joint>`
-              - :ref:`cutoff<sensor-ballangvel-cutoff>`
-              - :ref:`noise<sensor-ballangvel-noise>`
-            * - :ref:`user<sensor-ballangvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`jointlimitpos<sensor-jointlimitpos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointlimitpos-name>`
-              - :ref:`joint<sensor-jointlimitpos-joint>`
-              - :ref:`cutoff<sensor-jointlimitpos-cutoff>`
-              - :ref:`noise<sensor-jointlimitpos-noise>`
-            * - :ref:`user<sensor-jointlimitpos-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`jointlimitvel<sensor-jointlimitvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointlimitvel-name>`
-              - :ref:`joint<sensor-jointlimitvel-joint>`
-              - :ref:`cutoff<sensor-jointlimitvel-cutoff>`
-              - :ref:`noise<sensor-jointlimitvel-noise>`
-            * - :ref:`user<sensor-jointlimitvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`jointlimitfrc<sensor-jointlimitfrc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-jointlimitfrc-name>`
-              - :ref:`joint<sensor-jointlimitfrc-joint>`
-              - :ref:`cutoff<sensor-jointlimitfrc-cutoff>`
-              - :ref:`noise<sensor-jointlimitfrc-noise>`
-            * - :ref:`user<sensor-jointlimitfrc-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonlimitpos<sensor-tendonlimitpos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonlimitpos-name>`
-              - :ref:`tendon<sensor-tendonlimitpos-tendon>`
-              - :ref:`cutoff<sensor-tendonlimitpos-cutoff>`
-              - :ref:`noise<sensor-tendonlimitpos-noise>`
-            * - :ref:`user<sensor-tendonlimitpos-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonlimitvel<sensor-tendonlimitvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonlimitvel-name>`
-              - :ref:`tendon<sensor-tendonlimitvel-tendon>`
-              - :ref:`cutoff<sensor-tendonlimitvel-cutoff>`
-              - :ref:`noise<sensor-tendonlimitvel-noise>`
-            * - :ref:`user<sensor-tendonlimitvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tendonlimitfrc<sensor-tendonlimitfrc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tendonlimitfrc-name>`
-              - :ref:`tendon<sensor-tendonlimitfrc-tendon>`
-              - :ref:`cutoff<sensor-tendonlimitfrc-cutoff>`
-              - :ref:`noise<sensor-tendonlimitfrc-noise>`
-            * - :ref:`user<sensor-tendonlimitfrc-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`framepos<sensor-framepos>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framepos-name>`
-              - :ref:`objtype<sensor-framepos-objtype>`
-              - :ref:`objname<sensor-framepos-objname>`
-              - :ref:`reftype<sensor-framepos-reftype>`
-            * - :ref:`refname<sensor-framepos-refname>`
-              - :ref:`cutoff<sensor-framepos-cutoff>`
-              - :ref:`noise<sensor-framepos-noise>`
-              - :ref:`user<sensor-framepos-user>`
-
-      .. dropdown:: :ref:`framequat<sensor-framequat>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framequat-name>`
-              - :ref:`objtype<sensor-framequat-objtype>`
-              - :ref:`objname<sensor-framequat-objname>`
-              - :ref:`reftype<sensor-framequat-reftype>`
-            * - :ref:`refname<sensor-framequat-refname>`
-              - :ref:`cutoff<sensor-framequat-cutoff>`
-              - :ref:`noise<sensor-framequat-noise>`
-              - :ref:`user<sensor-framequat-user>`
-
-      .. dropdown:: :ref:`framexaxis<sensor-framexaxis>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framexaxis-name>`
-              - :ref:`objtype<sensor-framexaxis-objtype>`
-              - :ref:`objname<sensor-framexaxis-objname>`
-              - :ref:`reftype<sensor-framexaxis-reftype>`
-            * - :ref:`refname<sensor-framexaxis-refname>`
-              - :ref:`cutoff<sensor-framexaxis-cutoff>`
-              - :ref:`noise<sensor-framexaxis-noise>`
-              - :ref:`user<sensor-framexaxis-user>`
-
-      .. dropdown:: :ref:`frameyaxis<sensor-frameyaxis>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-frameyaxis-name>`
-              - :ref:`objtype<sensor-frameyaxis-objtype>`
-              - :ref:`objname<sensor-frameyaxis-objname>`
-              - :ref:`reftype<sensor-frameyaxis-reftype>`
-            * - :ref:`refname<sensor-frameyaxis-refname>`
-              - :ref:`cutoff<sensor-frameyaxis-cutoff>`
-              - :ref:`noise<sensor-frameyaxis-noise>`
-              - :ref:`user<sensor-frameyaxis-user>`
-
-      .. dropdown:: :ref:`framezaxis<sensor-framezaxis>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framezaxis-name>`
-              - :ref:`objtype<sensor-framezaxis-objtype>`
-              - :ref:`objname<sensor-framezaxis-objname>`
-              - :ref:`reftype<sensor-framezaxis-reftype>`
-            * - :ref:`refname<sensor-framezaxis-refname>`
-              - :ref:`cutoff<sensor-framezaxis-cutoff>`
-              - :ref:`noise<sensor-framezaxis-noise>`
-              - :ref:`user<sensor-framezaxis-user>`
-
-      .. dropdown:: :ref:`framelinvel<sensor-framelinvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framelinvel-name>`
-              - :ref:`objtype<sensor-framelinvel-objtype>`
-              - :ref:`objname<sensor-framelinvel-objname>`
-              - :ref:`reftype<sensor-framelinvel-reftype>`
-            * - :ref:`refname<sensor-framelinvel-refname>`
-              - :ref:`cutoff<sensor-framelinvel-cutoff>`
-              - :ref:`noise<sensor-framelinvel-noise>`
-              - :ref:`user<sensor-framelinvel-user>`
-
-      .. dropdown:: :ref:`frameangvel<sensor-frameangvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-frameangvel-name>`
-              - :ref:`objtype<sensor-frameangvel-objtype>`
-              - :ref:`objname<sensor-frameangvel-objname>`
-              - :ref:`reftype<sensor-frameangvel-reftype>`
-            * - :ref:`refname<sensor-frameangvel-refname>`
-              - :ref:`cutoff<sensor-frameangvel-cutoff>`
-              - :ref:`noise<sensor-frameangvel-noise>`
-              - :ref:`user<sensor-frameangvel-user>`
-
-      .. dropdown:: :ref:`framelinacc<sensor-framelinacc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-framelinacc-name>`
-              - :ref:`objtype<sensor-framelinacc-objtype>`
-              - :ref:`objname<sensor-framelinacc-objname>`
-              - :ref:`cutoff<sensor-framelinacc-cutoff>`
-            * - :ref:`noise<sensor-framelinacc-noise>`
-              - :ref:`user<sensor-framelinacc-user>`
-              -
-              -
-
-      .. dropdown:: :ref:`frameangacc<sensor-frameangacc>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-frameangacc-name>`
-              - :ref:`objtype<sensor-frameangacc-objtype>`
-              - :ref:`objname<sensor-frameangacc-objname>`
-              - :ref:`cutoff<sensor-frameangacc-cutoff>`
-            * - :ref:`noise<sensor-frameangacc-noise>`
-              - :ref:`user<sensor-frameangacc-user>`
-              -
-              -
-
-      .. dropdown:: :ref:`subtreecom<sensor-subtreecom>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-subtreecom-name>`
-              - :ref:`body<sensor-subtreecom-body>`
-              - :ref:`cutoff<sensor-subtreecom-cutoff>`
-              - :ref:`noise<sensor-subtreecom-noise>`
-            * - :ref:`user<sensor-subtreecom-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`subtreelinvel<sensor-subtreelinvel>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-subtreelinvel-name>`
-              - :ref:`body<sensor-subtreelinvel-body>`
-              - :ref:`cutoff<sensor-subtreelinvel-cutoff>`
-              - :ref:`noise<sensor-subtreelinvel-noise>`
-            * - :ref:`user<sensor-subtreelinvel-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`subtreeangmom<sensor-subtreeangmom>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-subtreeangmom-name>`
-              - :ref:`body<sensor-subtreeangmom-body>`
-              - :ref:`cutoff<sensor-subtreeangmom-cutoff>`
-              - :ref:`noise<sensor-subtreeangmom-noise>`
-            * - :ref:`user<sensor-subtreeangmom-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`insidesite<sensor-insidesite>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-insidesite-name>`
-              - :ref:`site<sensor-insidesite-site>`
-              - :ref:`objtype<sensor-insidesite-objtype>`
-              - :ref:`objname<sensor-insidesite-objname>`
-            * - :ref:`cutoff<sensor-insidesite-cutoff>`
-              - :ref:`noise<sensor-insidesite-noise>`
-              - :ref:`user<sensor-insidesite-user>`
-              -
-
-      .. dropdown:: :ref:`distance<sensor-distance>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-distance-name>`
-              - :ref:`geom1<sensor-distance-geom1>`
-              - :ref:`geom2<sensor-distance-geom2>`
-              - :ref:`body1<sensor-distance-body1>`
-            * - :ref:`body2<sensor-distance-body2>`
-              - :ref:`cutoff<sensor-distance-cutoff>`
-              - :ref:`noise<sensor-distance-noise>`
-              - :ref:`user<sensor-distance-user>`
-
-      .. dropdown:: :ref:`normal<sensor-normal>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-normal-name>`
-              - :ref:`geom1<sensor-normal-geom1>`
-              - :ref:`geom2<sensor-normal-geom2>`
-              - :ref:`body1<sensor-normal-body1>`
-            * - :ref:`body2<sensor-normal-body2>`
-              - :ref:`cutoff<sensor-normal-cutoff>`
-              - :ref:`noise<sensor-normal-noise>`
-              - :ref:`user<sensor-normal-user>`
-
-      .. dropdown:: :ref:`fromto<sensor-fromto>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-fromto-name>`
-              - :ref:`geom1<sensor-fromto-geom1>`
-              - :ref:`geom2<sensor-fromto-geom2>`
-              - :ref:`body1<sensor-fromto-body1>`
-            * - :ref:`body2<sensor-fromto-body2>`
-              - :ref:`cutoff<sensor-fromto-cutoff>`
-              - :ref:`noise<sensor-fromto-noise>`
-              - :ref:`user<sensor-fromto-user>`
-
-      .. dropdown:: :ref:`contact<sensor-contact>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-contact-name>`
-              - :ref:`geom1<sensor-contact-geom1>`
-              - :ref:`geom2<sensor-contact-geom2>`
-              - :ref:`body1<sensor-contact-body1>`
-            * - :ref:`body2<sensor-contact-body2>`
-              - :ref:`subtree1<sensor-contact-subtree1>`
-              - :ref:`subtree2<sensor-contact-subtree2>`
-              - :ref:`site<sensor-contact-site>`
-            * - :ref:`num<sensor-contact-num>`
-              - :ref:`data<sensor-contact-data>`
-              - :ref:`reduce<sensor-contact-reduce>`
-              - :ref:`cutoff<sensor-contact-cutoff>`
-            * - :ref:`noise<sensor-contact-noise>`
-              - :ref:`user<sensor-contact-user>`
-              -
-              -
-
-      .. dropdown:: :ref:`e_potential<sensor-e_potential>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-e_potential-name>`
-              - :ref:`cutoff<sensor-e_potential-cutoff>`
-              - :ref:`noise<sensor-e_potential-noise>`
-              - :ref:`user<sensor-e_potential-user>`
-
-      .. dropdown:: :ref:`e_kinetic<sensor-e_kinetic>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-e_kinetic-name>`
-              - :ref:`cutoff<sensor-e_kinetic-cutoff>`
-              - :ref:`noise<sensor-e_kinetic-noise>`
-              - :ref:`user<sensor-e_kinetic-user>`
-
-      .. dropdown:: :ref:`clock<sensor-clock>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-clock-name>`
-              - :ref:`cutoff<sensor-clock-cutoff>`
-              - :ref:`noise<sensor-clock-noise>`
-              - :ref:`user<sensor-clock-user>`
-
-      .. dropdown:: :ref:`user<sensor-user>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-user-name>`
-              - :ref:`objtype<sensor-user-objtype>`
-              - :ref:`objname<sensor-user-objname>`
-              - :ref:`datatype<sensor-user-datatype>`
-            * - :ref:`needstage<sensor-user-needstage>`
-              - :ref:`dim<sensor-user-dim>`
-              - :ref:`cutoff<sensor-user-cutoff>`
-              - :ref:`noise<sensor-user-noise>`
-            * - :ref:`user<sensor-user-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`tactile<sensor-tactile>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-tactile-name>`
-              - :ref:`geom<sensor-tactile-geom>`
-              - :ref:`mesh<sensor-tactile-mesh>`
-              - :ref:`user<sensor-tactile-user>`
-
-      .. dropdown:: :ref:`plugin<sensor-plugin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<sensor-plugin-name>`
-              - :ref:`plugin<sensor-plugin-plugin>`
-              - :ref:`instance<sensor-plugin-instance>`
-              - :ref:`cutoff<sensor-plugin-cutoff>`
-            * - :ref:`objtype<sensor-plugin-objtype>`
-              - :ref:`objname<sensor-plugin-objname>`
-              - :ref:`reftype<sensor-plugin-reftype>`
-              - :ref:`refname<sensor-plugin-refname>`
-            * - :ref:`user<sensor-plugin-user>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`config<plugin-config>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`key<plugin-config-key>`
-                 - :ref:`value<plugin-config-value>`
-                 -
-                 -
-
-   .. dropdown:: :ref:`keyframe<keyframe>`
-
-
-      .. dropdown:: :ref:`key<keyframe-key>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<keyframe-key-name>`
-              - :ref:`time<keyframe-key-time>`
-              - :ref:`qpos<keyframe-key-qpos>`
-              - :ref:`qvel<keyframe-key-qvel>`
-            * - :ref:`act<keyframe-key-act>`
-              - :ref:`mpos<keyframe-key-mpos>`
-              - :ref:`mquat<keyframe-key-mquat>`
-              - :ref:`ctrl<keyframe-key-ctrl>`
-
-   .. dropdown:: :ref:`visual<visual>`
-
-
-      .. dropdown:: :ref:`global<visual-global>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`cameraid<visual-global-cameraid>`
-              - :ref:`orthographic<visual-global-orthographic>`
-              - :ref:`fovy<visual-global-fovy>`
-              - :ref:`ipd<visual-global-ipd>`
-            * - :ref:`azimuth<visual-global-azimuth>`
-              - :ref:`elevation<visual-global-elevation>`
-              - :ref:`linewidth<visual-global-linewidth>`
-              - :ref:`glow<visual-global-glow>`
-            * - :ref:`offwidth<visual-global-offwidth>`
-              - :ref:`offheight<visual-global-offheight>`
-              - :ref:`realtime<visual-global-realtime>`
-              - :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`
-            * - :ref:`bvactive<visual-global-bvactive>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`quality<visual-quality>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`shadowsize<visual-quality-shadowsize>`
-              - :ref:`offsamples<visual-quality-offsamples>`
-              - :ref:`numslices<visual-quality-numslices>`
-              - :ref:`numstacks<visual-quality-numstacks>`
-            * - :ref:`numquads<visual-quality-numquads>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`headlight<visual-headlight>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ambient<visual-headlight-ambient>`
-              - :ref:`diffuse<visual-headlight-diffuse>`
-              - :ref:`specular<visual-headlight-specular>`
-              - :ref:`active<visual-headlight-active>`
-
-      .. dropdown:: :ref:`map<visual-map>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`stiffness<visual-map-stiffness>`
-              - :ref:`stiffnessrot<visual-map-stiffnessrot>`
-              - :ref:`force<visual-map-force>`
-              - :ref:`torque<visual-map-torque>`
-            * - :ref:`alpha<visual-map-alpha>`
-              - :ref:`fogstart<visual-map-fogstart>`
-              - :ref:`fogend<visual-map-fogend>`
-              - :ref:`znear<visual-map-znear>`
-            * - :ref:`zfar<visual-map-zfar>`
-              - :ref:`haze<visual-map-haze>`
-              - :ref:`shadowclip<visual-map-shadowclip>`
-              - :ref:`shadowscale<visual-map-shadowscale>`
-            * - :ref:`actuatortendon<visual-map-actuatortendon>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`scale<visual-scale>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`forcewidth<visual-scale-forcewidth>`
-              - :ref:`contactwidth<visual-scale-contactwidth>`
-              - :ref:`contactheight<visual-scale-contactheight>`
-              - :ref:`connect<visual-scale-connect>`
-            * - :ref:`com<visual-scale-com>`
-              - :ref:`camera<visual-scale-camera>`
-              - :ref:`light<visual-scale-light>`
-              - :ref:`selectpoint<visual-scale-selectpoint>`
-            * - :ref:`jointlength<visual-scale-jointlength>`
-              - :ref:`jointwidth<visual-scale-jointwidth>`
-              - :ref:`actuatorlength<visual-scale-actuatorlength>`
-              - :ref:`actuatorwidth<visual-scale-actuatorwidth>`
-            * - :ref:`framelength<visual-scale-framelength>`
-              - :ref:`framewidth<visual-scale-framewidth>`
-              - :ref:`constraint<visual-scale-constraint>`
-              - :ref:`slidercrank<visual-scale-slidercrank>`
-            * - :ref:`frustum<visual-scale-frustum>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`rgba<visual-rgba>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`fog<visual-rgba-fog>`
-              - :ref:`haze<visual-rgba-haze>`
-              - :ref:`force<visual-rgba-force>`
-              - :ref:`inertia<visual-rgba-inertia>`
-            * - :ref:`joint<visual-rgba-joint>`
-              - :ref:`actuator<visual-rgba-actuator>`
-              - :ref:`actuatornegative<visual-rgba-actuatornegative>`
-              - :ref:`actuatorpositive<visual-rgba-actuatorpositive>`
-            * - :ref:`com<visual-rgba-com>`
-              - :ref:`camera<visual-rgba-camera>`
-              - :ref:`light<visual-rgba-light>`
-              - :ref:`selectpoint<visual-rgba-selectpoint>`
-            * - :ref:`connect<visual-rgba-connect>`
-              - :ref:`contactpoint<visual-rgba-contactpoint>`
-              - :ref:`contactforce<visual-rgba-contactforce>`
-              - :ref:`contactfriction<visual-rgba-contactfriction>`
-            * - :ref:`contacttorque<visual-rgba-contacttorque>`
-              - :ref:`contactgap<visual-rgba-contactgap>`
-              - :ref:`rangefinder<visual-rgba-rangefinder>`
-              - :ref:`constraint<visual-rgba-constraint>`
-            * - :ref:`slidercrank<visual-rgba-slidercrank>`
-              - :ref:`crankbroken<visual-rgba-crankbroken>`
-              - :ref:`frustum<visual-rgba-frustum>`
-              - :ref:`bv<visual-rgba-bv>`
-            * - :ref:`bvactive<visual-rgba-bvactive>`
-              -
-              -
-              -
-
-   .. dropdown:: :ref:`default<default>`
-      :icon: sync
-
-      .. list-table::
-         :class: mjcf-attributes
-         :widths: 25 25 25 25
-
-         * - :ref:`class<default-class>`
-           -
-           -
-           -
-
-      .. dropdown:: :ref:`mesh<default-mesh>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`scale<default-mesh-scale>`
-              - :ref:`maxhullvert<default-mesh-maxhullvert>`
-              - :ref:`inertia<default-mesh-inertia>`
-              -
-
-      .. dropdown:: :ref:`material<default-material>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`texture<default-material-texture>`
-              - :ref:`emission<default-material-emission>`
-              - :ref:`specular<default-material-specular>`
-              - :ref:`shininess<default-material-shininess>`
-            * - :ref:`reflectance<default-material-reflectance>`
-              - :ref:`metallic<default-material-metallic>`
-              - :ref:`roughness<default-material-roughness>`
-              - :ref:`rgba<default-material-rgba>`
-            * - :ref:`texrepeat<default-material-texrepeat>`
-              - :ref:`texuniform<default-material-texuniform>`
-              -
-              -
-
-         .. dropdown:: :ref:`layer<material-layer>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`texture<material-layer-texture>`
-                 - :ref:`role<material-layer-role>`
-                 -
-                 -
-
-      .. dropdown:: :ref:`joint<default-joint>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`type<default-joint-type>`
-              - :ref:`group<default-joint-group>`
-              - :ref:`pos<default-joint-pos>`
-              - :ref:`axis<default-joint-axis>`
-            * - :ref:`springdamper<default-joint-springdamper>`
-              - :ref:`limited<default-joint-limited>`
-              - :ref:`actuatorfrclimited<default-joint-actuatorfrclimited>`
-              - :ref:`solreflimit<default-joint-solreflimit>`
-            * - :ref:`solimplimit<default-joint-solimplimit>`
-              - :ref:`solreffriction<default-joint-solreffriction>`
-              - :ref:`solimpfriction<default-joint-solimpfriction>`
-              - :ref:`stiffness<default-joint-stiffness>`
-            * - :ref:`range<default-joint-range>`
-              - :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>`
-              - :ref:`actuatorgravcomp<default-joint-actuatorgravcomp>`
-              - :ref:`margin<default-joint-margin>`
-            * - :ref:`ref<default-joint-ref>`
-              - :ref:`springref<default-joint-springref>`
-              - :ref:`armature<default-joint-armature>`
-              - :ref:`damping<default-joint-damping>`
-            * - :ref:`frictionloss<default-joint-frictionloss>`
-              - :ref:`user<default-joint-user>`
-              -
-              -
-
-      .. dropdown:: :ref:`geom<default-geom>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`type<default-geom-type>`
-              - :ref:`pos<default-geom-pos>`
-              - :ref:`quat<default-geom-quat>`
-              - :ref:`contype<default-geom-contype>`
-            * - :ref:`conaffinity<default-geom-conaffinity>`
-              - :ref:`condim<default-geom-condim>`
-              - :ref:`group<default-geom-group>`
-              - :ref:`priority<default-geom-priority>`
-            * - :ref:`size<default-geom-size>`
-              - :ref:`material<default-geom-material>`
-              - :ref:`friction<default-geom-friction>`
-              - :ref:`mass<default-geom-mass>`
-            * - :ref:`density<default-geom-density>`
-              - :ref:`shellinertia<default-geom-shellinertia>`
-              - :ref:`solmix<default-geom-solmix>`
-              - :ref:`solref<default-geom-solref>`
-            * - :ref:`solimp<default-geom-solimp>`
-              - :ref:`margin<default-geom-margin>`
-              - :ref:`gap<default-geom-gap>`
-              - :ref:`fromto<default-geom-fromto>`
-            * - :ref:`axisangle<default-geom-axisangle>`
-              - :ref:`xyaxes<default-geom-xyaxes>`
-              - :ref:`zaxis<default-geom-zaxis>`
-              - :ref:`euler<default-geom-euler>`
-            * - :ref:`hfield<default-geom-hfield>`
-              - :ref:`mesh<default-geom-mesh>`
-              - :ref:`fitscale<default-geom-fitscale>`
-              - :ref:`rgba<default-geom-rgba>`
-            * - :ref:`fluidshape<default-geom-fluidshape>`
-              - :ref:`fluidcoef<default-geom-fluidcoef>`
-              - :ref:`user<default-geom-user>`
-              -
-
-      .. dropdown:: :ref:`site<default-site>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`type<default-site-type>`
-              - :ref:`group<default-site-group>`
-              - :ref:`pos<default-site-pos>`
-              - :ref:`quat<default-site-quat>`
-            * - :ref:`material<default-site-material>`
-              - :ref:`size<default-site-size>`
-              - :ref:`fromto<default-site-fromto>`
-              - :ref:`axisangle<default-site-axisangle>`
-            * - :ref:`xyaxes<default-site-xyaxes>`
-              - :ref:`zaxis<default-site-zaxis>`
-              - :ref:`euler<default-site-euler>`
-              - :ref:`rgba<default-site-rgba>`
-            * - :ref:`user<default-site-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`camera<default-camera>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`projection<default-camera-projection>`
-              - :ref:`fovy<default-camera-fovy>`
-              - :ref:`ipd<default-camera-ipd>`
-              - :ref:`resolution<default-camera-resolution>`
-            * - :ref:`pos<default-camera-pos>`
-              - :ref:`quat<default-camera-quat>`
-              - :ref:`axisangle<default-camera-axisangle>`
-              - :ref:`xyaxes<default-camera-xyaxes>`
-            * - :ref:`zaxis<default-camera-zaxis>`
-              - :ref:`euler<default-camera-euler>`
-              - :ref:`mode<default-camera-mode>`
-              - :ref:`focal<default-camera-focal>`
-            * - :ref:`focalpixel<default-camera-focalpixel>`
-              - :ref:`principal<default-camera-principal>`
-              - :ref:`principalpixel<default-camera-principalpixel>`
-              - :ref:`sensorsize<default-camera-sensorsize>`
-            * - :ref:`user<default-camera-user>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`light<default-light>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`pos<default-light-pos>`
-              - :ref:`dir<default-light-dir>`
-              - :ref:`bulbradius<default-light-bulbradius>`
-              - :ref:`intensity<default-light-intensity>`
-            * - :ref:`range<default-light-range>`
-              - :ref:`directional<default-light-directional>`
-              - :ref:`type<default-light-type>`
-              - :ref:`castshadow<default-light-castshadow>`
-            * - :ref:`active<default-light-active>`
-              - :ref:`attenuation<default-light-attenuation>`
-              - :ref:`cutoff<default-light-cutoff>`
-              - :ref:`exponent<default-light-exponent>`
-            * - :ref:`ambient<default-light-ambient>`
-              - :ref:`diffuse<default-light-diffuse>`
-              - :ref:`specular<default-light-specular>`
-              - :ref:`mode<default-light-mode>`
-
-      .. dropdown:: :ref:`pair<default-pair>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`condim<default-pair-condim>`
-              - :ref:`friction<default-pair-friction>`
-              - :ref:`solref<default-pair-solref>`
-              - :ref:`solreffriction<default-pair-solreffriction>`
-            * - :ref:`solimp<default-pair-solimp>`
-              - :ref:`gap<default-pair-gap>`
-              - :ref:`margin<default-pair-margin>`
-              -
-
-      .. dropdown:: :ref:`equality<default-equality>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`active<default-equality-active>`
-              - :ref:`solref<default-equality-solref>`
-              - :ref:`solimp<default-equality-solimp>`
-              -
-
-      .. dropdown:: :ref:`tendon<default-tendon>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`group<default-tendon-group>`
-              - :ref:`limited<default-tendon-limited>`
-              - :ref:`range<default-tendon-range>`
-              - :ref:`solreflimit<default-tendon-solreflimit>`
-            * - :ref:`solimplimit<default-tendon-solimplimit>`
-              - :ref:`solreffriction<default-tendon-solreffriction>`
-              - :ref:`solimpfriction<default-tendon-solimpfriction>`
-              - :ref:`frictionloss<default-tendon-frictionloss>`
-            * - :ref:`springlength<default-tendon-springlength>`
-              - :ref:`width<default-tendon-width>`
-              - :ref:`material<default-tendon-material>`
-              - :ref:`margin<default-tendon-margin>`
-            * - :ref:`stiffness<default-tendon-stiffness>`
-              - :ref:`damping<default-tendon-damping>`
-              - :ref:`rgba<default-tendon-rgba>`
-              - :ref:`user<default-tendon-user>`
-
-      .. dropdown:: :ref:`general<default-general>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-general-ctrllimited>`
-              - :ref:`forcelimited<default-general-forcelimited>`
-              - :ref:`actlimited<default-general-actlimited>`
-              - :ref:`ctrlrange<default-general-ctrlrange>`
-            * - :ref:`forcerange<default-general-forcerange>`
-              - :ref:`actrange<default-general-actrange>`
-              - :ref:`gear<default-general-gear>`
-              - :ref:`cranklength<default-general-cranklength>`
-            * - :ref:`user<default-general-user>`
-              - :ref:`group<default-general-group>`
-              - :ref:`actdim<default-general-actdim>`
-              - :ref:`dyntype<default-general-dyntype>`
-            * - :ref:`gaintype<default-general-gaintype>`
-              - :ref:`biastype<default-general-biastype>`
-              - :ref:`dynprm<default-general-dynprm>`
-              - :ref:`gainprm<default-general-gainprm>`
-            * - :ref:`biasprm<default-general-biasprm>`
-              - :ref:`actearly<default-general-actearly>`
-              -
-              -
-
-      .. dropdown:: :ref:`motor<default-motor>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-motor-ctrllimited>`
-              - :ref:`forcelimited<default-motor-forcelimited>`
-              - :ref:`ctrlrange<default-motor-ctrlrange>`
-              - :ref:`forcerange<default-motor-forcerange>`
-            * - :ref:`gear<default-motor-gear>`
-              - :ref:`cranklength<default-motor-cranklength>`
-              - :ref:`user<default-motor-user>`
-              - :ref:`group<default-motor-group>`
-
-      .. dropdown:: :ref:`position<default-position>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-position-ctrllimited>`
-              - :ref:`forcelimited<default-position-forcelimited>`
-              - :ref:`ctrlrange<default-position-ctrlrange>`
-              - :ref:`inheritrange<default-position-inheritrange>`
-            * - :ref:`forcerange<default-position-forcerange>`
-              - :ref:`gear<default-position-gear>`
-              - :ref:`cranklength<default-position-cranklength>`
-              - :ref:`user<default-position-user>`
-            * - :ref:`group<default-position-group>`
-              - :ref:`kp<default-position-kp>`
-              - :ref:`kv<default-position-kv>`
-              - :ref:`dampratio<default-position-dampratio>`
-            * - :ref:`timeconst<default-position-timeconst>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`velocity<default-velocity>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-velocity-ctrllimited>`
-              - :ref:`forcelimited<default-velocity-forcelimited>`
-              - :ref:`ctrlrange<default-velocity-ctrlrange>`
-              - :ref:`forcerange<default-velocity-forcerange>`
-            * - :ref:`gear<default-velocity-gear>`
-              - :ref:`cranklength<default-velocity-cranklength>`
-              - :ref:`user<default-velocity-user>`
-              - :ref:`group<default-velocity-group>`
-            * - :ref:`kv<default-velocity-kv>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`intvelocity<default-intvelocity>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-intvelocity-ctrllimited>`
-              - :ref:`forcelimited<default-intvelocity-forcelimited>`
-              - :ref:`ctrlrange<default-intvelocity-ctrlrange>`
-              - :ref:`forcerange<default-intvelocity-forcerange>`
-            * - :ref:`actrange<default-intvelocity-actrange>`
-              - :ref:`inheritrange<default-intvelocity-inheritrange>`
-              - :ref:`gear<default-intvelocity-gear>`
-              - :ref:`cranklength<default-intvelocity-cranklength>`
-            * - :ref:`user<default-intvelocity-user>`
-              - :ref:`group<default-intvelocity-group>`
-              - :ref:`kp<default-intvelocity-kp>`
-              - :ref:`kv<default-intvelocity-kv>`
-            * - :ref:`dampratio<default-intvelocity-dampratio>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`damper<default-damper>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`forcelimited<default-damper-forcelimited>`
-              - :ref:`ctrlrange<default-damper-ctrlrange>`
-              - :ref:`forcerange<default-damper-forcerange>`
-              - :ref:`gear<default-damper-gear>`
-            * - :ref:`cranklength<default-damper-cranklength>`
-              - :ref:`user<default-damper-user>`
-              - :ref:`group<default-damper-group>`
-              - :ref:`kv<default-damper-kv>`
-
-      .. dropdown:: :ref:`cylinder<default-cylinder>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-cylinder-ctrllimited>`
-              - :ref:`forcelimited<default-cylinder-forcelimited>`
-              - :ref:`ctrlrange<default-cylinder-ctrlrange>`
-              - :ref:`forcerange<default-cylinder-forcerange>`
-            * - :ref:`gear<default-cylinder-gear>`
-              - :ref:`cranklength<default-cylinder-cranklength>`
-              - :ref:`user<default-cylinder-user>`
-              - :ref:`group<default-cylinder-group>`
-            * - :ref:`timeconst<default-cylinder-timeconst>`
-              - :ref:`area<default-cylinder-area>`
-              - :ref:`diameter<default-cylinder-diameter>`
-              - :ref:`bias<default-cylinder-bias>`
-
-      .. dropdown:: :ref:`muscle<default-muscle>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`ctrllimited<default-muscle-ctrllimited>`
-              - :ref:`forcelimited<default-muscle-forcelimited>`
-              - :ref:`ctrlrange<default-muscle-ctrlrange>`
-              - :ref:`forcerange<default-muscle-forcerange>`
-            * - :ref:`gear<default-muscle-gear>`
-              - :ref:`cranklength<default-muscle-cranklength>`
-              - :ref:`user<default-muscle-user>`
-              - :ref:`group<default-muscle-group>`
-            * - :ref:`timeconst<default-muscle-timeconst>`
-              - :ref:`range<default-muscle-range>`
-              - :ref:`force<default-muscle-force>`
-              - :ref:`scale<default-muscle-scale>`
-            * - :ref:`lmin<default-muscle-lmin>`
-              - :ref:`lmax<default-muscle-lmax>`
-              - :ref:`vmax<default-muscle-vmax>`
-              - :ref:`fpmax<default-muscle-fpmax>`
-            * - :ref:`fvmax<default-muscle-fvmax>`
-              -
-              -
-              -
-
-      .. dropdown:: :ref:`adhesion<default-adhesion>`
-         :icon: dot
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`forcelimited<default-adhesion-forcelimited>`
-              - :ref:`ctrlrange<default-adhesion-ctrlrange>`
-              - :ref:`forcerange<default-adhesion-forcerange>`
-              - :ref:`gain<default-adhesion-gain>`
-            * - :ref:`user<default-adhesion-user>`
-              - :ref:`group<default-adhesion-group>`
-              -
-              -
-
-   .. dropdown:: :ref:`custom<custom>`
-
-
-      .. dropdown:: :ref:`numeric<custom-numeric>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<custom-numeric-name>`
-              - :ref:`size<custom-numeric-size>`
-              - :ref:`data<custom-numeric-data>`
-              -
-
-      .. dropdown:: :ref:`text<custom-text>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<custom-text-name>`
-              - :ref:`data<custom-text-data>`
-              -
-              -
-
-      .. dropdown:: :ref:`tuple<custom-tuple>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
-
-            * - :ref:`name<custom-tuple-name>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`element<tuple-element>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`objtype<tuple-element-objtype>`
-                 - :ref:`objname<tuple-element-objname>`
-                 - :ref:`prm<tuple-element-prm>`
-                 -
-
-   .. dropdown:: :ref:`extension<extension>`
-
-
-      .. dropdown:: :ref:`plugin<extension-plugin>`
-
-         .. list-table::
-            :class: mjcf-attributes
-            :widths: 25 25 25 25
+   .. grid:: 2 3 4 4
+      :gutter: 0
 
-            * - :ref:`plugin<extension-plugin-plugin>`
-              -
-              -
-              -
-
-         .. dropdown:: :ref:`instance<plugin-instance>`
-
-            .. list-table::
-               :class: mjcf-attributes
-               :widths: 25 25 25 25
-
-               * - :ref:`name<plugin-instance-name>`
-                 -
-                 -
-                 -
+      .. grid-item::
+         :ref:`model<mujoco-model>`
 
-            .. dropdown:: :ref:`config<instance-config>`
 
-               .. list-table::
-                  :class: mjcf-attributes
-                  :widths: 25 25 25 25
+   .. dropdown:: option |m|
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`timestep<option-timestep>`
+
+         .. grid-item::
+            :ref:`impratio<option-impratio>`
+
+         .. grid-item::
+            :ref:`tolerance<option-tolerance>`
+
+         .. grid-item::
+            :ref:`ls_tolerance<option-ls_tolerance>`
+
+         .. grid-item::
+            :ref:`noslip_tolerance<option-noslip_tolerance>`
+
+         .. grid-item::
+            :ref:`ccd_tolerance<option-ccd_tolerance>`
+
+         .. grid-item::
+            :ref:`sleep_tolerance<option-sleep_tolerance>`
+
+         .. grid-item::
+            :ref:`gravity<option-gravity>`
+
+         .. grid-item::
+            :ref:`wind<option-wind>`
+
+         .. grid-item::
+            :ref:`magnetic<option-magnetic>`
+
+         .. grid-item::
+            :ref:`density<option-density>`
+
+         .. grid-item::
+            :ref:`viscosity<option-viscosity>`
+
+         .. grid-item::
+            :ref:`o_margin<option-o_margin>`
+
+         .. grid-item::
+            :ref:`o_solref<option-o_solref>`
+
+         .. grid-item::
+            :ref:`o_solimp<option-o_solimp>`
+
+         .. grid-item::
+            :ref:`o_friction<option-o_friction>`
+
+         .. grid-item::
+            :ref:`integrator<option-integrator>`
+
+         .. grid-item::
+            :ref:`cone<option-cone>`
+
+         .. grid-item::
+            :ref:`jacobian<option-jacobian>`
+
+         .. grid-item::
+            :ref:`solver<option-solver>`
+
+         .. grid-item::
+            :ref:`iterations<option-iterations>`
+
+         .. grid-item::
+            :ref:`ls_iterations<option-ls_iterations>`
+
+         .. grid-item::
+            :ref:`noslip_iterations<option-noslip_iterations>`
+
+         .. grid-item::
+            :ref:`ccd_iterations<option-ccd_iterations>`
+
+         .. grid-item::
+            :ref:`sdf_iterations<option-sdf_iterations>`
+
+         .. grid-item::
+            :ref:`sdf_initpoints<option-sdf_initpoints>`
+
+         .. grid-item::
+            :ref:`actuatorgroupdisable<option-actuatorgroupdisable>`
+
+
+      .. dropdown:: flag :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`constraint<option-flag-constraint>`
+
+            .. grid-item::
+               :ref:`equality<option-flag-equality>`
+
+            .. grid-item::
+               :ref:`frictionloss<option-flag-frictionloss>`
+
+            .. grid-item::
+               :ref:`limit<option-flag-limit>`
+
+            .. grid-item::
+               :ref:`contact<option-flag-contact>`
+
+            .. grid-item::
+               :ref:`spring<option-flag-spring>`
+
+            .. grid-item::
+               :ref:`damper<option-flag-damper>`
+
+            .. grid-item::
+               :ref:`gravity<option-flag-gravity>`
+
+            .. grid-item::
+               :ref:`clampctrl<option-flag-clampctrl>`
+
+            .. grid-item::
+               :ref:`warmstart<option-flag-warmstart>`
+
+            .. grid-item::
+               :ref:`filterparent<option-flag-filterparent>`
+
+            .. grid-item::
+               :ref:`actuation<option-flag-actuation>`
+
+            .. grid-item::
+               :ref:`refsafe<option-flag-refsafe>`
+
+            .. grid-item::
+               :ref:`sensor<option-flag-sensor>`
+
+            .. grid-item::
+               :ref:`midphase<option-flag-midphase>`
+
+            .. grid-item::
+               :ref:`eulerdamp<option-flag-eulerdamp>`
+
+            .. grid-item::
+               :ref:`autoreset<option-flag-autoreset>`
+
+            .. grid-item::
+               :ref:`nativeccd<option-flag-nativeccd>`
+
+            .. grid-item::
+               :ref:`island<option-flag-island>`
+
+            .. grid-item::
+               :ref:`override<option-flag-override>`
+
+            .. grid-item::
+               :ref:`energy<option-flag-energy>`
+
+            .. grid-item::
+               :ref:`fwdinv<option-flag-fwdinv>`
+
+            .. grid-item::
+               :ref:`invdiscrete<option-flag-invdiscrete>`
+
+            .. grid-item::
+               :ref:`multiccd<option-flag-multiccd>`
+
+            .. grid-item::
+               :ref:`sleep<option-flag-sleep>`
+
+
+   .. dropdown:: compiler |m|
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`autolimits<compiler-autolimits>`
+
+         .. grid-item::
+            :ref:`boundmass<compiler-boundmass>`
+
+         .. grid-item::
+            :ref:`boundinertia<compiler-boundinertia>`
+
+         .. grid-item::
+            :ref:`settotalmass<compiler-settotalmass>`
+
+         .. grid-item::
+            :ref:`balanceinertia<compiler-balanceinertia>`
+
+         .. grid-item::
+            :ref:`strippath<compiler-strippath>`
+
+         .. grid-item::
+            :ref:`coordinate<compiler-coordinate>`
+
+         .. grid-item::
+            :ref:`angle<compiler-angle>`
+
+         .. grid-item::
+            :ref:`fitaabb<compiler-fitaabb>`
+
+         .. grid-item::
+            :ref:`eulerseq<compiler-eulerseq>`
+
+         .. grid-item::
+            :ref:`meshdir<compiler-meshdir>`
+
+         .. grid-item::
+            :ref:`texturedir<compiler-texturedir>`
+
+         .. grid-item::
+            :ref:`discardvisual<compiler-discardvisual>`
+
+         .. grid-item::
+            :ref:`usethread<compiler-usethread>`
+
+         .. grid-item::
+            :ref:`fusestatic<compiler-fusestatic>`
+
+         .. grid-item::
+            :ref:`inertiafromgeom<compiler-inertiafromgeom>`
+
+         .. grid-item::
+            :ref:`inertiagrouprange<compiler-inertiagrouprange>`
+
+         .. grid-item::
+            :ref:`saveinertial<compiler-saveinertial>`
+
+         .. grid-item::
+            :ref:`assetdir<compiler-assetdir>`
+
+         .. grid-item::
+            :ref:`alignfree<compiler-alignfree>`
+
+
+      .. dropdown:: lengthrange :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`mode<compiler-lengthrange-mode>`
+
+            .. grid-item::
+               :ref:`useexisting<compiler-lengthrange-useexisting>`
+
+            .. grid-item::
+               :ref:`uselimit<compiler-lengthrange-uselimit>`
+
+            .. grid-item::
+               :ref:`accel<compiler-lengthrange-accel>`
+
+            .. grid-item::
+               :ref:`maxforce<compiler-lengthrange-maxforce>`
+
+            .. grid-item::
+               :ref:`timeconst<compiler-lengthrange-timeconst>`
+
+            .. grid-item::
+               :ref:`timestep<compiler-lengthrange-timestep>`
+
+            .. grid-item::
+               :ref:`inttotal<compiler-lengthrange-inttotal>`
+
+            .. grid-item::
+               :ref:`interval<compiler-lengthrange-interval>`
+
+            .. grid-item::
+               :ref:`tolrange<compiler-lengthrange-tolrange>`
+
+
+   .. dropdown:: size |m|
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`memory<size-memory>`
+
+         .. grid-item::
+            :ref:`njmax<size-njmax>`
+
+         .. grid-item::
+            :ref:`nconmax<size-nconmax>`
+
+         .. grid-item::
+            :ref:`nstack<size-nstack>`
+
+         .. grid-item::
+            :ref:`nuserdata<size-nuserdata>`
+
+         .. grid-item::
+            :ref:`nkey<size-nkey>`
+
+         .. grid-item::
+            :ref:`nuser_body<size-nuser_body>`
+
+         .. grid-item::
+            :ref:`nuser_jnt<size-nuser_jnt>`
+
+         .. grid-item::
+            :ref:`nuser_geom<size-nuser_geom>`
+
+         .. grid-item::
+            :ref:`nuser_site<size-nuser_site>`
+
+         .. grid-item::
+            :ref:`nuser_cam<size-nuser_cam>`
+
+         .. grid-item::
+            :ref:`nuser_tendon<size-nuser_tendon>`
+
+         .. grid-item::
+            :ref:`nuser_actuator<size-nuser_actuator>`
+
+         .. grid-item::
+            :ref:`nuser_sensor<size-nuser_sensor>`
+
+
+   .. dropdown:: statistic |m|
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`meaninertia<statistic-meaninertia>`
+
+         .. grid-item::
+            :ref:`meanmass<statistic-meanmass>`
+
+         .. grid-item::
+            :ref:`meansize<statistic-meansize>`
+
+         .. grid-item::
+            :ref:`extent<statistic-extent>`
+
+         .. grid-item::
+            :ref:`center<statistic-center>`
+
+
+   .. dropdown:: asset |m|
+
+
+      .. dropdown:: mesh |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-mesh-name>`
+
+            .. grid-item::
+               :ref:`class<asset-mesh-class>`
+
+            .. grid-item::
+               :ref:`content_type<asset-mesh-content_type>`
+
+            .. grid-item::
+               :ref:`file<asset-mesh-file>`
+
+            .. grid-item::
+               :ref:`vertex<asset-mesh-vertex>`
+
+            .. grid-item::
+               :ref:`normal<asset-mesh-normal>`
+
+            .. grid-item::
+               :ref:`texcoord<asset-mesh-texcoord>`
+
+            .. grid-item::
+               :ref:`face<asset-mesh-face>`
+
+            .. grid-item::
+               :ref:`refpos<asset-mesh-refpos>`
+
+            .. grid-item::
+               :ref:`refquat<asset-mesh-refquat>`
+
+            .. grid-item::
+               :ref:`scale<asset-mesh-scale>`
+
+            .. grid-item::
+               :ref:`smoothnormal<asset-mesh-smoothnormal>`
+
+            .. grid-item::
+               :ref:`maxhullvert<asset-mesh-maxhullvert>`
+
+            .. grid-item::
+               :ref:`inertia<asset-mesh-inertia>`
+
+            .. grid-item::
+               :ref:`builtin<asset-mesh-builtin>`
+
+            .. grid-item::
+               :ref:`params<asset-mesh-params>`
+
+            .. grid-item::
+               :ref:`material<asset-mesh-material>`
+
+
+         .. dropdown:: plugin |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`plugin<mesh-plugin-plugin>`
+
+               .. grid-item::
+                  :ref:`instance<mesh-plugin-instance>`
+
+
+            .. dropdown:: config |m|
+
+               .. grid:: 2 3 4 4
+                  :gutter: 0
+
+                  .. grid-item::
+                     :ref:`key<plugin-config-key>`
+
+                  .. grid-item::
+                     :ref:`value<plugin-config-value>`
+
+
+      .. dropdown:: hfield |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-hfield-name>`
+
+            .. grid-item::
+               :ref:`content_type<asset-hfield-content_type>`
+
+            .. grid-item::
+               :ref:`file<asset-hfield-file>`
+
+            .. grid-item::
+               :ref:`nrow<asset-hfield-nrow>`
+
+            .. grid-item::
+               :ref:`ncol<asset-hfield-ncol>`
+
+            .. grid-item::
+               :ref:`size<asset-hfield-size>`
+
+            .. grid-item::
+               :ref:`elevation<asset-hfield-elevation>`
+
+
+      .. dropdown:: skin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-skin-name>`
+
+            .. grid-item::
+               :ref:`file<asset-skin-file>`
+
+            .. grid-item::
+               :ref:`material<asset-skin-material>`
+
+            .. grid-item::
+               :ref:`rgba<asset-skin-rgba>`
+
+            .. grid-item::
+               :ref:`inflate<asset-skin-inflate>`
+
+            .. grid-item::
+               :ref:`vertex<asset-skin-vertex>`
+
+            .. grid-item::
+               :ref:`texcoord<asset-skin-texcoord>`
+
+            .. grid-item::
+               :ref:`face<asset-skin-face>`
+
+            .. grid-item::
+               :ref:`group<asset-skin-group>`
+
+
+         .. dropdown:: bone |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`body<skin-bone-body>`
+
+               .. grid-item::
+                  :ref:`bindpos<skin-bone-bindpos>`
+
+               .. grid-item::
+                  :ref:`bindquat<skin-bone-bindquat>`
+
+               .. grid-item::
+                  :ref:`vertid<skin-bone-vertid>`
+
+               .. grid-item::
+                  :ref:`vertweight<skin-bone-vertweight>`
+
+
+      .. dropdown:: texture |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-texture-name>`
+
+            .. grid-item::
+               :ref:`type<asset-texture-type>`
+
+            .. grid-item::
+               :ref:`colorspace<asset-texture-colorspace>`
+
+            .. grid-item::
+               :ref:`content_type<asset-texture-content_type>`
+
+            .. grid-item::
+               :ref:`file<asset-texture-file>`
+
+            .. grid-item::
+               :ref:`gridsize<asset-texture-gridsize>`
+
+            .. grid-item::
+               :ref:`gridlayout<asset-texture-gridlayout>`
+
+            .. grid-item::
+               :ref:`fileright<asset-texture-fileright>`
+
+            .. grid-item::
+               :ref:`fileleft<asset-texture-fileleft>`
+
+            .. grid-item::
+               :ref:`fileup<asset-texture-fileup>`
+
+            .. grid-item::
+               :ref:`filedown<asset-texture-filedown>`
+
+            .. grid-item::
+               :ref:`filefront<asset-texture-filefront>`
+
+            .. grid-item::
+               :ref:`fileback<asset-texture-fileback>`
+
+            .. grid-item::
+               :ref:`builtin<asset-texture-builtin>`
+
+            .. grid-item::
+               :ref:`rgb1<asset-texture-rgb1>`
+
+            .. grid-item::
+               :ref:`rgb2<asset-texture-rgb2>`
+
+            .. grid-item::
+               :ref:`mark<asset-texture-mark>`
+
+            .. grid-item::
+               :ref:`markrgb<asset-texture-markrgb>`
+
+            .. grid-item::
+               :ref:`random<asset-texture-random>`
+
+            .. grid-item::
+               :ref:`width<asset-texture-width>`
+
+            .. grid-item::
+               :ref:`height<asset-texture-height>`
+
+            .. grid-item::
+               :ref:`hflip<asset-texture-hflip>`
+
+            .. grid-item::
+               :ref:`vflip<asset-texture-vflip>`
+
+            .. grid-item::
+               :ref:`nchannel<asset-texture-nchannel>`
+
+
+      .. dropdown:: material |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-material-name>`
+
+            .. grid-item::
+               :ref:`class<asset-material-class>`
+
+            .. grid-item::
+               :ref:`texture<asset-material-texture>`
+
+            .. grid-item::
+               :ref:`texrepeat<asset-material-texrepeat>`
+
+            .. grid-item::
+               :ref:`texuniform<asset-material-texuniform>`
+
+            .. grid-item::
+               :ref:`emission<asset-material-emission>`
+
+            .. grid-item::
+               :ref:`specular<asset-material-specular>`
+
+            .. grid-item::
+               :ref:`shininess<asset-material-shininess>`
+
+            .. grid-item::
+               :ref:`reflectance<asset-material-reflectance>`
+
+            .. grid-item::
+               :ref:`metallic<asset-material-metallic>`
+
+            .. grid-item::
+               :ref:`roughness<asset-material-roughness>`
+
+            .. grid-item::
+               :ref:`rgba<asset-material-rgba>`
+
+
+         .. dropdown:: layer |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`texture<material-layer-texture>`
+
+               .. grid-item::
+                  :ref:`role<material-layer-role>`
+
+
+      .. dropdown:: model |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<asset-model-name>`
+
+            .. grid-item::
+               :ref:`file<asset-model-file>`
+
+            .. grid-item::
+               :ref:`content_type<asset-model-content_type>`
+
+
+   .. dropdown:: (world)body :octicon:`sync`
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`name<body-name>`
+
+         .. grid-item::
+            :ref:`childclass<body-childclass>`
+
+         .. grid-item::
+            :ref:`pos<body-pos>`
+
+         .. grid-item::
+            :ref:`quat<body-quat>`
+
+         .. grid-item::
+            :ref:`mocap<body-mocap>`
+
+         .. grid-item::
+            :ref:`axisangle<body-axisangle>`
+
+         .. grid-item::
+            :ref:`xyaxes<body-xyaxes>`
+
+         .. grid-item::
+            :ref:`zaxis<body-zaxis>`
+
+         .. grid-item::
+            :ref:`euler<body-euler>`
+
+         .. grid-item::
+            :ref:`gravcomp<body-gravcomp>`
+
+         .. grid-item::
+            :ref:`sleep<body-sleep>`
+
+         .. grid-item::
+            :ref:`user<body-user>`
+
+
+      .. dropdown:: inertial :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`pos<body-inertial-pos>`
+
+            .. grid-item::
+               :ref:`quat<body-inertial-quat>`
+
+            .. grid-item::
+               :ref:`mass<body-inertial-mass>`
+
+            .. grid-item::
+               :ref:`diaginertia<body-inertial-diaginertia>`
+
+            .. grid-item::
+               :ref:`axisangle<body-inertial-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<body-inertial-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<body-inertial-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<body-inertial-euler>`
+
+            .. grid-item::
+               :ref:`fullinertia<body-inertial-fullinertia>`
+
+
+      .. dropdown:: joint |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-joint-name>`
+
+            .. grid-item::
+               :ref:`class<body-joint-class>`
+
+            .. grid-item::
+               :ref:`type<body-joint-type>`
+
+            .. grid-item::
+               :ref:`group<body-joint-group>`
+
+            .. grid-item::
+               :ref:`pos<body-joint-pos>`
+
+            .. grid-item::
+               :ref:`axis<body-joint-axis>`
+
+            .. grid-item::
+               :ref:`springdamper<body-joint-springdamper>`
+
+            .. grid-item::
+               :ref:`limited<body-joint-limited>`
+
+            .. grid-item::
+               :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`
+
+            .. grid-item::
+               :ref:`solreflimit<body-joint-solreflimit>`
+
+            .. grid-item::
+               :ref:`solimplimit<body-joint-solimplimit>`
+
+            .. grid-item::
+               :ref:`solreffriction<body-joint-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimpfriction<body-joint-solimpfriction>`
+
+            .. grid-item::
+               :ref:`stiffness<body-joint-stiffness>`
+
+            .. grid-item::
+               :ref:`range<body-joint-range>`
+
+            .. grid-item::
+               :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>`
+
+            .. grid-item::
+               :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`
+
+            .. grid-item::
+               :ref:`margin<body-joint-margin>`
+
+            .. grid-item::
+               :ref:`ref<body-joint-ref>`
+
+            .. grid-item::
+               :ref:`springref<body-joint-springref>`
+
+            .. grid-item::
+               :ref:`armature<body-joint-armature>`
+
+            .. grid-item::
+               :ref:`damping<body-joint-damping>`
+
+            .. grid-item::
+               :ref:`frictionloss<body-joint-frictionloss>`
+
+            .. grid-item::
+               :ref:`user<body-joint-user>`
+
+
+      .. dropdown:: freejoint |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-freejoint-name>`
+
+            .. grid-item::
+               :ref:`group<body-freejoint-group>`
+
+            .. grid-item::
+               :ref:`align<body-freejoint-align>`
+
+
+      .. dropdown:: geom |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-geom-name>`
+
+            .. grid-item::
+               :ref:`class<body-geom-class>`
+
+            .. grid-item::
+               :ref:`type<body-geom-type>`
+
+            .. grid-item::
+               :ref:`contype<body-geom-contype>`
+
+            .. grid-item::
+               :ref:`conaffinity<body-geom-conaffinity>`
+
+            .. grid-item::
+               :ref:`condim<body-geom-condim>`
+
+            .. grid-item::
+               :ref:`group<body-geom-group>`
+
+            .. grid-item::
+               :ref:`priority<body-geom-priority>`
+
+            .. grid-item::
+               :ref:`size<body-geom-size>`
+
+            .. grid-item::
+               :ref:`material<body-geom-material>`
+
+            .. grid-item::
+               :ref:`friction<body-geom-friction>`
+
+            .. grid-item::
+               :ref:`mass<body-geom-mass>`
+
+            .. grid-item::
+               :ref:`density<body-geom-density>`
+
+            .. grid-item::
+               :ref:`shellinertia<body-geom-shellinertia>`
+
+            .. grid-item::
+               :ref:`solmix<body-geom-solmix>`
+
+            .. grid-item::
+               :ref:`solref<body-geom-solref>`
+
+            .. grid-item::
+               :ref:`solimp<body-geom-solimp>`
+
+            .. grid-item::
+               :ref:`margin<body-geom-margin>`
+
+            .. grid-item::
+               :ref:`gap<body-geom-gap>`
+
+            .. grid-item::
+               :ref:`fromto<body-geom-fromto>`
+
+            .. grid-item::
+               :ref:`pos<body-geom-pos>`
+
+            .. grid-item::
+               :ref:`quat<body-geom-quat>`
+
+            .. grid-item::
+               :ref:`axisangle<body-geom-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<body-geom-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<body-geom-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<body-geom-euler>`
+
+            .. grid-item::
+               :ref:`hfield<body-geom-hfield>`
+
+            .. grid-item::
+               :ref:`mesh<body-geom-mesh>`
+
+            .. grid-item::
+               :ref:`fitscale<body-geom-fitscale>`
+
+            .. grid-item::
+               :ref:`rgba<body-geom-rgba>`
+
+            .. grid-item::
+               :ref:`fluidshape<body-geom-fluidshape>`
+
+            .. grid-item::
+               :ref:`fluidcoef<body-geom-fluidcoef>`
+
+            .. grid-item::
+               :ref:`user<body-geom-user>`
+
+
+         .. dropdown:: plugin |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`plugin<geom-plugin-plugin>`
+
+               .. grid-item::
+                  :ref:`instance<geom-plugin-instance>`
+
+
+            .. dropdown:: config |m|
+
+               .. grid:: 2 3 4 4
+                  :gutter: 0
+
+                  .. grid-item::
+                     :ref:`key<plugin-config-key>`
+
+                  .. grid-item::
+                     :ref:`value<plugin-config-value>`
+
+
+      .. dropdown:: attach |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`model<body-attach-model>`
+
+            .. grid-item::
+               :ref:`body<body-attach-body>`
+
+            .. grid-item::
+               :ref:`prefix<body-attach-prefix>`
+
+
+      .. dropdown:: site |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-site-name>`
+
+            .. grid-item::
+               :ref:`class<body-site-class>`
+
+            .. grid-item::
+               :ref:`type<body-site-type>`
+
+            .. grid-item::
+               :ref:`group<body-site-group>`
+
+            .. grid-item::
+               :ref:`pos<body-site-pos>`
+
+            .. grid-item::
+               :ref:`quat<body-site-quat>`
+
+            .. grid-item::
+               :ref:`material<body-site-material>`
+
+            .. grid-item::
+               :ref:`size<body-site-size>`
+
+            .. grid-item::
+               :ref:`fromto<body-site-fromto>`
+
+            .. grid-item::
+               :ref:`axisangle<body-site-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<body-site-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<body-site-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<body-site-euler>`
+
+            .. grid-item::
+               :ref:`rgba<body-site-rgba>`
+
+            .. grid-item::
+               :ref:`user<body-site-user>`
+
+
+      .. dropdown:: camera |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-camera-name>`
+
+            .. grid-item::
+               :ref:`class<body-camera-class>`
+
+            .. grid-item::
+               :ref:`projection<body-camera-projection>`
+
+            .. grid-item::
+               :ref:`fovy<body-camera-fovy>`
+
+            .. grid-item::
+               :ref:`ipd<body-camera-ipd>`
+
+            .. grid-item::
+               :ref:`resolution<body-camera-resolution>`
+
+            .. grid-item::
+               :ref:`pos<body-camera-pos>`
+
+            .. grid-item::
+               :ref:`quat<body-camera-quat>`
+
+            .. grid-item::
+               :ref:`axisangle<body-camera-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<body-camera-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<body-camera-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<body-camera-euler>`
+
+            .. grid-item::
+               :ref:`mode<body-camera-mode>`
+
+            .. grid-item::
+               :ref:`target<body-camera-target>`
+
+            .. grid-item::
+               :ref:`focal<body-camera-focal>`
+
+            .. grid-item::
+               :ref:`focalpixel<body-camera-focalpixel>`
+
+            .. grid-item::
+               :ref:`principal<body-camera-principal>`
+
+            .. grid-item::
+               :ref:`principalpixel<body-camera-principalpixel>`
+
+            .. grid-item::
+               :ref:`sensorsize<body-camera-sensorsize>`
+
+            .. grid-item::
+               :ref:`user<body-camera-user>`
+
+
+      .. dropdown:: light |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-light-name>`
+
+            .. grid-item::
+               :ref:`class<body-light-class>`
+
+            .. grid-item::
+               :ref:`directional<body-light-directional>`
+
+            .. grid-item::
+               :ref:`type<body-light-type>`
+
+            .. grid-item::
+               :ref:`castshadow<body-light-castshadow>`
+
+            .. grid-item::
+               :ref:`active<body-light-active>`
+
+            .. grid-item::
+               :ref:`pos<body-light-pos>`
+
+            .. grid-item::
+               :ref:`dir<body-light-dir>`
+
+            .. grid-item::
+               :ref:`bulbradius<body-light-bulbradius>`
+
+            .. grid-item::
+               :ref:`intensity<body-light-intensity>`
+
+            .. grid-item::
+               :ref:`range<body-light-range>`
+
+            .. grid-item::
+               :ref:`attenuation<body-light-attenuation>`
+
+            .. grid-item::
+               :ref:`cutoff<body-light-cutoff>`
+
+            .. grid-item::
+               :ref:`exponent<body-light-exponent>`
+
+            .. grid-item::
+               :ref:`ambient<body-light-ambient>`
+
+            .. grid-item::
+               :ref:`diffuse<body-light-diffuse>`
+
+            .. grid-item::
+               :ref:`specular<body-light-specular>`
+
+            .. grid-item::
+               :ref:`mode<body-light-mode>`
+
+            .. grid-item::
+               :ref:`target<body-light-target>`
+
+            .. grid-item::
+               :ref:`texture<body-light-texture>`
+
+
+      .. dropdown:: plugin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`plugin<body-plugin-plugin>`
+
+            .. grid-item::
+               :ref:`instance<body-plugin-instance>`
+
+
+         .. dropdown:: config |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`key<plugin-config-key>`
+
+               .. grid-item::
+                  :ref:`value<plugin-config-value>`
+
+
+      .. dropdown:: composite |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`prefix<body-composite-prefix>`
+
+            .. grid-item::
+               :ref:`type<body-composite-type>`
+
+            .. grid-item::
+               :ref:`count<body-composite-count>`
+
+            .. grid-item::
+               :ref:`offset<body-composite-offset>`
+
+            .. grid-item::
+               :ref:`vertex<body-composite-vertex>`
+
+            .. grid-item::
+               :ref:`initial<body-composite-initial>`
+
+            .. grid-item::
+               :ref:`curve<body-composite-curve>`
+
+            .. grid-item::
+               :ref:`size<body-composite-size>`
+
+            .. grid-item::
+               :ref:`quat<body-composite-quat>`
+
+
+         .. dropdown:: joint |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`kind<composite-joint-kind>`
+
+               .. grid-item::
+                  :ref:`group<composite-joint-group>`
+
+               .. grid-item::
+                  :ref:`stiffness<composite-joint-stiffness>`
+
+               .. grid-item::
+                  :ref:`damping<composite-joint-damping>`
+
+               .. grid-item::
+                  :ref:`armature<composite-joint-armature>`
+
+               .. grid-item::
+                  :ref:`solreffix<composite-joint-solreffix>`
+
+               .. grid-item::
+                  :ref:`solimpfix<composite-joint-solimpfix>`
+
+               .. grid-item::
+                  :ref:`type<composite-joint-type>`
+
+               .. grid-item::
+                  :ref:`axis<composite-joint-axis>`
+
+               .. grid-item::
+                  :ref:`limited<composite-joint-limited>`
+
+               .. grid-item::
+                  :ref:`range<composite-joint-range>`
+
+               .. grid-item::
+                  :ref:`margin<composite-joint-margin>`
+
+               .. grid-item::
+                  :ref:`solreflimit<composite-joint-solreflimit>`
+
+               .. grid-item::
+                  :ref:`solimplimit<composite-joint-solimplimit>`
+
+               .. grid-item::
+                  :ref:`frictionloss<composite-joint-frictionloss>`
+
+               .. grid-item::
+                  :ref:`solreffriction<composite-joint-solreffriction>`
+
+               .. grid-item::
+                  :ref:`solimpfriction<composite-joint-solimpfriction>`
+
+
+         .. dropdown:: skin :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`texcoord<composite-skin-texcoord>`
+
+               .. grid-item::
+                  :ref:`material<composite-skin-material>`
+
+               .. grid-item::
+                  :ref:`group<composite-skin-group>`
+
+               .. grid-item::
+                  :ref:`rgba<composite-skin-rgba>`
+
+               .. grid-item::
+                  :ref:`inflate<composite-skin-inflate>`
+
+               .. grid-item::
+                  :ref:`subgrid<composite-skin-subgrid>`
+
+
+         .. dropdown:: geom :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`type<composite-geom-type>`
+
+               .. grid-item::
+                  :ref:`contype<composite-geom-contype>`
+
+               .. grid-item::
+                  :ref:`conaffinity<composite-geom-conaffinity>`
+
+               .. grid-item::
+                  :ref:`condim<composite-geom-condim>`
+
+               .. grid-item::
+                  :ref:`group<composite-geom-group>`
+
+               .. grid-item::
+                  :ref:`priority<composite-geom-priority>`
+
+               .. grid-item::
+                  :ref:`size<composite-geom-size>`
+
+               .. grid-item::
+                  :ref:`material<composite-geom-material>`
+
+               .. grid-item::
+                  :ref:`rgba<composite-geom-rgba>`
+
+               .. grid-item::
+                  :ref:`friction<composite-geom-friction>`
+
+               .. grid-item::
+                  :ref:`mass<composite-geom-mass>`
+
+               .. grid-item::
+                  :ref:`density<composite-geom-density>`
+
+               .. grid-item::
+                  :ref:`solmix<composite-geom-solmix>`
+
+               .. grid-item::
+                  :ref:`solref<composite-geom-solref>`
+
+               .. grid-item::
+                  :ref:`solimp<composite-geom-solimp>`
+
+               .. grid-item::
+                  :ref:`margin<composite-geom-margin>`
+
+               .. grid-item::
+                  :ref:`gap<composite-geom-gap>`
+
+
+         .. dropdown:: site :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`group<composite-site-group>`
+
+               .. grid-item::
+                  :ref:`size<composite-site-size>`
+
+               .. grid-item::
+                  :ref:`material<composite-site-material>`
+
+               .. grid-item::
+                  :ref:`rgba<composite-site-rgba>`
+
+
+         .. dropdown:: plugin |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`plugin<composite-plugin-plugin>`
+
+               .. grid-item::
+                  :ref:`instance<composite-plugin-instance>`
+
+
+            .. dropdown:: config |m|
+
+               .. grid:: 2 3 4 4
+                  :gutter: 0
+
+                  .. grid-item::
+                     :ref:`key<plugin-config-key>`
+
+                  .. grid-item::
+                     :ref:`value<plugin-config-value>`
+
+
+      .. dropdown:: flexcomp |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<body-flexcomp-name>`
+
+            .. grid-item::
+               :ref:`type<body-flexcomp-type>`
+
+            .. grid-item::
+               :ref:`group<body-flexcomp-group>`
+
+            .. grid-item::
+               :ref:`dim<body-flexcomp-dim>`
+
+            .. grid-item::
+               :ref:`dof<body-flexcomp-dof>`
+
+            .. grid-item::
+               :ref:`count<body-flexcomp-count>`
+
+            .. grid-item::
+               :ref:`spacing<body-flexcomp-spacing>`
+
+            .. grid-item::
+               :ref:`radius<body-flexcomp-radius>`
+
+            .. grid-item::
+               :ref:`rigid<body-flexcomp-rigid>`
+
+            .. grid-item::
+               :ref:`mass<body-flexcomp-mass>`
+
+            .. grid-item::
+               :ref:`inertiabox<body-flexcomp-inertiabox>`
+
+            .. grid-item::
+               :ref:`scale<body-flexcomp-scale>`
+
+            .. grid-item::
+               :ref:`file<body-flexcomp-file>`
+
+            .. grid-item::
+               :ref:`point<body-flexcomp-point>`
+
+            .. grid-item::
+               :ref:`element<body-flexcomp-element>`
+
+            .. grid-item::
+               :ref:`texcoord<body-flexcomp-texcoord>`
+
+            .. grid-item::
+               :ref:`material<body-flexcomp-material>`
+
+            .. grid-item::
+               :ref:`rgba<body-flexcomp-rgba>`
+
+            .. grid-item::
+               :ref:`flatskin<body-flexcomp-flatskin>`
+
+            .. grid-item::
+               :ref:`pos<body-flexcomp-pos>`
+
+            .. grid-item::
+               :ref:`quat<body-flexcomp-quat>`
+
+            .. grid-item::
+               :ref:`axisangle<body-flexcomp-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<body-flexcomp-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<body-flexcomp-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<body-flexcomp-euler>`
+
+            .. grid-item::
+               :ref:`origin<body-flexcomp-origin>`
+
+
+         .. dropdown:: edge :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`equality<flexcomp-edge-equality>`
+
+               .. grid-item::
+                  :ref:`solref<flexcomp-edge-solref>`
+
+               .. grid-item::
+                  :ref:`solimp<flexcomp-edge-solimp>`
+
+               .. grid-item::
+                  :ref:`stiffness<flexcomp-edge-stiffness>`
+
+               .. grid-item::
+                  :ref:`damping<flexcomp-edge-damping>`
+
+
+         .. dropdown:: elasticity :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`young<flexcomp-elasticity-young>`
+
+               .. grid-item::
+                  :ref:`poisson<flexcomp-elasticity-poisson>`
+
+               .. grid-item::
+                  :ref:`damping<flexcomp-elasticity-damping>`
+
+               .. grid-item::
+                  :ref:`thickness<flexcomp-elasticity-thickness>`
+
+               .. grid-item::
+                  :ref:`elastic2d<flexcomp-elasticity-elastic2d>`
+
+
+         .. dropdown:: contact :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`contype<flexcomp-contact-contype>`
+
+               .. grid-item::
+                  :ref:`conaffinity<flexcomp-contact-conaffinity>`
+
+               .. grid-item::
+                  :ref:`condim<flexcomp-contact-condim>`
+
+               .. grid-item::
+                  :ref:`priority<flexcomp-contact-priority>`
+
+               .. grid-item::
+                  :ref:`friction<flexcomp-contact-friction>`
+
+               .. grid-item::
+                  :ref:`solmix<flexcomp-contact-solmix>`
+
+               .. grid-item::
+                  :ref:`solref<flexcomp-contact-solref>`
+
+               .. grid-item::
+                  :ref:`solimp<flexcomp-contact-solimp>`
+
+               .. grid-item::
+                  :ref:`margin<flexcomp-contact-margin>`
+
+               .. grid-item::
+                  :ref:`gap<flexcomp-contact-gap>`
+
+               .. grid-item::
+                  :ref:`internal<flexcomp-contact-internal>`
+
+               .. grid-item::
+                  :ref:`selfcollide<flexcomp-contact-selfcollide>`
+
+               .. grid-item::
+                  :ref:`activelayers<flexcomp-contact-activelayers>`
+
+               .. grid-item::
+                  :ref:`vertcollide<flexcomp-contact-vertcollide>`
+
+               .. grid-item::
+                  :ref:`passive<flexcomp-contact-passive>`
+
+
+         .. dropdown:: pin |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`id<flexcomp-pin-id>`
+
+               .. grid-item::
+                  :ref:`range<flexcomp-pin-range>`
+
+               .. grid-item::
+                  :ref:`grid<flexcomp-pin-grid>`
+
+               .. grid-item::
+                  :ref:`gridrange<flexcomp-pin-gridrange>`
+
+
+         .. dropdown:: plugin |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`plugin<flexcomp-plugin-plugin>`
+
+               .. grid-item::
+                  :ref:`instance<flexcomp-plugin-instance>`
+
+
+            .. dropdown:: config |m|
+
+               .. grid:: 2 3 4 4
+                  :gutter: 0
+
+                  .. grid-item::
+                     :ref:`key<plugin-config-key>`
+
+                  .. grid-item::
+                     :ref:`value<plugin-config-value>`
+
+
+   .. dropdown:: deformable |m|
+
+
+      .. dropdown:: flex |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<deformable-flex-name>`
+
+            .. grid-item::
+               :ref:`group<deformable-flex-group>`
+
+            .. grid-item::
+               :ref:`dim<deformable-flex-dim>`
+
+            .. grid-item::
+               :ref:`radius<deformable-flex-radius>`
+
+            .. grid-item::
+               :ref:`material<deformable-flex-material>`
+
+            .. grid-item::
+               :ref:`rgba<deformable-flex-rgba>`
+
+            .. grid-item::
+               :ref:`flatskin<deformable-flex-flatskin>`
+
+            .. grid-item::
+               :ref:`body<deformable-flex-body>`
+
+            .. grid-item::
+               :ref:`vertex<deformable-flex-vertex>`
+
+            .. grid-item::
+               :ref:`element<deformable-flex-element>`
+
+            .. grid-item::
+               :ref:`texcoord<deformable-flex-texcoord>`
+
+            .. grid-item::
+               :ref:`elemtexcoord<deformable-flex-elemtexcoord>`
+
+            .. grid-item::
+               :ref:`node<deformable-flex-node>`
+
+
+         .. dropdown:: contact :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`contype<flex-contact-contype>`
+
+               .. grid-item::
+                  :ref:`conaffinity<flex-contact-conaffinity>`
+
+               .. grid-item::
+                  :ref:`condim<flex-contact-condim>`
+
+               .. grid-item::
+                  :ref:`priority<flex-contact-priority>`
+
+               .. grid-item::
+                  :ref:`friction<flex-contact-friction>`
+
+               .. grid-item::
+                  :ref:`solmix<flex-contact-solmix>`
+
+               .. grid-item::
+                  :ref:`solref<flex-contact-solref>`
+
+               .. grid-item::
+                  :ref:`solimp<flex-contact-solimp>`
+
+               .. grid-item::
+                  :ref:`margin<flex-contact-margin>`
+
+               .. grid-item::
+                  :ref:`gap<flex-contact-gap>`
+
+               .. grid-item::
+                  :ref:`internal<flex-contact-internal>`
+
+               .. grid-item::
+                  :ref:`selfcollide<flex-contact-selfcollide>`
+
+               .. grid-item::
+                  :ref:`activelayers<flex-contact-activelayers>`
+
+               .. grid-item::
+                  :ref:`vertcollide<flex-contact-vertcollide>`
+
+               .. grid-item::
+                  :ref:`passive<flex-contact-passive>`
+
+
+         .. dropdown:: edge :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`stiffness<flex-edge-stiffness>`
+
+               .. grid-item::
+                  :ref:`damping<flex-edge-damping>`
+
+
+         .. dropdown:: elasticity :octicon:`dot`
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`young<flex-elasticity-young>`
+
+               .. grid-item::
+                  :ref:`poisson<flex-elasticity-poisson>`
+
+               .. grid-item::
+                  :ref:`damping<flex-elasticity-damping>`
+
+               .. grid-item::
+                  :ref:`thickness<flex-elasticity-thickness>`
+
+               .. grid-item::
+                  :ref:`elastic2d<flex-elasticity-elastic2d>`
+
+
+      .. dropdown:: skin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<deformable-skin-name>`
+
+            .. grid-item::
+               :ref:`file<deformable-skin-file>`
+
+            .. grid-item::
+               :ref:`material<deformable-skin-material>`
+
+            .. grid-item::
+               :ref:`rgba<deformable-skin-rgba>`
+
+            .. grid-item::
+               :ref:`inflate<deformable-skin-inflate>`
+
+            .. grid-item::
+               :ref:`vertex<deformable-skin-vertex>`
+
+            .. grid-item::
+               :ref:`texcoord<deformable-skin-texcoord>`
+
+            .. grid-item::
+               :ref:`face<deformable-skin-face>`
+
+            .. grid-item::
+               :ref:`group<deformable-skin-group>`
+
+
+         .. dropdown:: bone |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`body<skin-bone-body>`
+
+               .. grid-item::
+                  :ref:`bindpos<skin-bone-bindpos>`
+
+               .. grid-item::
+                  :ref:`bindquat<skin-bone-bindquat>`
+
+               .. grid-item::
+                  :ref:`vertid<skin-bone-vertid>`
+
+               .. grid-item::
+                  :ref:`vertweight<skin-bone-vertweight>`
+
+
+   .. dropdown:: contact |m|
+
+
+      .. dropdown:: pair |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<contact-pair-name>`
+
+            .. grid-item::
+               :ref:`class<contact-pair-class>`
+
+            .. grid-item::
+               :ref:`geom1<contact-pair-geom1>`
+
+            .. grid-item::
+               :ref:`geom2<contact-pair-geom2>`
+
+            .. grid-item::
+               :ref:`condim<contact-pair-condim>`
+
+            .. grid-item::
+               :ref:`friction<contact-pair-friction>`
+
+            .. grid-item::
+               :ref:`solref<contact-pair-solref>`
+
+            .. grid-item::
+               :ref:`solreffriction<contact-pair-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimp<contact-pair-solimp>`
+
+            .. grid-item::
+               :ref:`gap<contact-pair-gap>`
+
+            .. grid-item::
+               :ref:`margin<contact-pair-margin>`
+
+
+      .. dropdown:: exclude |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<contact-exclude-name>`
+
+            .. grid-item::
+               :ref:`body1<contact-exclude-body1>`
+
+            .. grid-item::
+               :ref:`body2<contact-exclude-body2>`
+
+
+   .. dropdown:: equality |m|
+
+
+      .. dropdown:: connect |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<equality-connect-name>`
+
+            .. grid-item::
+               :ref:`class<equality-connect-class>`
+
+            .. grid-item::
+               :ref:`body1<equality-connect-body1>`
+
+            .. grid-item::
+               :ref:`body2<equality-connect-body2>`
+
+            .. grid-item::
+               :ref:`anchor<equality-connect-anchor>`
+
+            .. grid-item::
+               :ref:`site1<equality-connect-site1>`
+
+            .. grid-item::
+               :ref:`site2<equality-connect-site2>`
+
+            .. grid-item::
+               :ref:`active<equality-connect-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-connect-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-connect-solimp>`
+
+
+      .. dropdown:: weld |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<equality-weld-name>`
+
+            .. grid-item::
+               :ref:`class<equality-weld-class>`
+
+            .. grid-item::
+               :ref:`body1<equality-weld-body1>`
+
+            .. grid-item::
+               :ref:`body2<equality-weld-body2>`
+
+            .. grid-item::
+               :ref:`relpose<equality-weld-relpose>`
+
+            .. grid-item::
+               :ref:`anchor<equality-weld-anchor>`
+
+            .. grid-item::
+               :ref:`site1<equality-weld-site1>`
+
+            .. grid-item::
+               :ref:`site2<equality-weld-site2>`
+
+            .. grid-item::
+               :ref:`active<equality-weld-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-weld-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-weld-solimp>`
+
+            .. grid-item::
+               :ref:`torquescale<equality-weld-torquescale>`
+
+
+      .. dropdown:: joint |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<equality-joint-name>`
+
+            .. grid-item::
+               :ref:`class<equality-joint-class>`
+
+            .. grid-item::
+               :ref:`joint1<equality-joint-joint1>`
+
+            .. grid-item::
+               :ref:`joint2<equality-joint-joint2>`
+
+            .. grid-item::
+               :ref:`polycoef<equality-joint-polycoef>`
+
+            .. grid-item::
+               :ref:`active<equality-joint-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-joint-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-joint-solimp>`
+
+
+      .. dropdown:: tendon |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<equality-tendon-name>`
+
+            .. grid-item::
+               :ref:`class<equality-tendon-class>`
+
+            .. grid-item::
+               :ref:`tendon1<equality-tendon-tendon1>`
+
+            .. grid-item::
+               :ref:`tendon2<equality-tendon-tendon2>`
+
+            .. grid-item::
+               :ref:`polycoef<equality-tendon-polycoef>`
+
+            .. grid-item::
+               :ref:`active<equality-tendon-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-tendon-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-tendon-solimp>`
+
+
+      .. dropdown:: flex |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<equality-flex-name>`
+
+            .. grid-item::
+               :ref:`class<equality-flex-class>`
+
+            .. grid-item::
+               :ref:`flex<equality-flex-flex>`
+
+            .. grid-item::
+               :ref:`active<equality-flex-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-flex-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-flex-solimp>`
+
+
+   .. dropdown:: tendon |m|
+
+
+      .. dropdown:: spatial |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<tendon-spatial-name>`
+
+            .. grid-item::
+               :ref:`class<tendon-spatial-class>`
+
+            .. grid-item::
+               :ref:`group<tendon-spatial-group>`
+
+            .. grid-item::
+               :ref:`limited<tendon-spatial-limited>`
+
+            .. grid-item::
+               :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>`
+
+            .. grid-item::
+               :ref:`range<tendon-spatial-range>`
+
+            .. grid-item::
+               :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>`
+
+            .. grid-item::
+               :ref:`solreflimit<tendon-spatial-solreflimit>`
+
+            .. grid-item::
+               :ref:`solimplimit<tendon-spatial-solimplimit>`
+
+            .. grid-item::
+               :ref:`solreffriction<tendon-spatial-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimpfriction<tendon-spatial-solimpfriction>`
+
+            .. grid-item::
+               :ref:`frictionloss<tendon-spatial-frictionloss>`
+
+            .. grid-item::
+               :ref:`springlength<tendon-spatial-springlength>`
+
+            .. grid-item::
+               :ref:`width<tendon-spatial-width>`
+
+            .. grid-item::
+               :ref:`material<tendon-spatial-material>`
+
+            .. grid-item::
+               :ref:`margin<tendon-spatial-margin>`
+
+            .. grid-item::
+               :ref:`stiffness<tendon-spatial-stiffness>`
+
+            .. grid-item::
+               :ref:`damping<tendon-spatial-damping>`
+
+            .. grid-item::
+               :ref:`armature<tendon-spatial-armature>`
+
+            .. grid-item::
+               :ref:`rgba<tendon-spatial-rgba>`
+
+            .. grid-item::
+               :ref:`user<tendon-spatial-user>`
+
+
+         .. dropdown:: site |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`site<spatial-site-site>`
+
+
+         .. dropdown:: geom |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`geom<spatial-geom-geom>`
+
+               .. grid-item::
+                  :ref:`sidesite<spatial-geom-sidesite>`
+
+
+         .. dropdown:: pulley |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`divisor<spatial-pulley-divisor>`
+
+
+      .. dropdown:: fixed |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<tendon-fixed-name>`
+
+            .. grid-item::
+               :ref:`class<tendon-fixed-class>`
+
+            .. grid-item::
+               :ref:`group<tendon-fixed-group>`
+
+            .. grid-item::
+               :ref:`limited<tendon-fixed-limited>`
+
+            .. grid-item::
+               :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>`
+
+            .. grid-item::
+               :ref:`range<tendon-fixed-range>`
+
+            .. grid-item::
+               :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>`
+
+            .. grid-item::
+               :ref:`solreflimit<tendon-fixed-solreflimit>`
+
+            .. grid-item::
+               :ref:`solimplimit<tendon-fixed-solimplimit>`
+
+            .. grid-item::
+               :ref:`solreffriction<tendon-fixed-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimpfriction<tendon-fixed-solimpfriction>`
+
+            .. grid-item::
+               :ref:`frictionloss<tendon-fixed-frictionloss>`
+
+            .. grid-item::
+               :ref:`springlength<tendon-fixed-springlength>`
+
+            .. grid-item::
+               :ref:`margin<tendon-fixed-margin>`
+
+            .. grid-item::
+               :ref:`stiffness<tendon-fixed-stiffness>`
+
+            .. grid-item::
+               :ref:`damping<tendon-fixed-damping>`
+
+            .. grid-item::
+               :ref:`armature<tendon-fixed-armature>`
+
+            .. grid-item::
+               :ref:`user<tendon-fixed-user>`
+
+
+         .. dropdown:: joint |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`joint<fixed-joint-joint>`
+
+               .. grid-item::
+                  :ref:`coef<fixed-joint-coef>`
+
+
+   .. dropdown:: actuator |m|
+
+
+      .. dropdown:: general |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-general-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-general-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-general-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-general-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-general-forcelimited>`
+
+            .. grid-item::
+               :ref:`actlimited<actuator-general-actlimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-general-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-general-forcerange>`
+
+            .. grid-item::
+               :ref:`actrange<actuator-general-actrange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-general-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-general-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-general-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-general-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-general-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-general-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-general-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-general-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-general-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-general-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-general-refsite>`
+
+            .. grid-item::
+               :ref:`body<actuator-general-body>`
+
+            .. grid-item::
+               :ref:`actdim<actuator-general-actdim>`
+
+            .. grid-item::
+               :ref:`dyntype<actuator-general-dyntype>`
+
+            .. grid-item::
+               :ref:`gaintype<actuator-general-gaintype>`
+
+            .. grid-item::
+               :ref:`biastype<actuator-general-biastype>`
+
+            .. grid-item::
+               :ref:`dynprm<actuator-general-dynprm>`
+
+            .. grid-item::
+               :ref:`gainprm<actuator-general-gainprm>`
+
+            .. grid-item::
+               :ref:`biasprm<actuator-general-biasprm>`
+
+            .. grid-item::
+               :ref:`actearly<actuator-general-actearly>`
+
+
+      .. dropdown:: motor |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-motor-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-motor-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-motor-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-motor-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-motor-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-motor-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-motor-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-motor-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-motor-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-motor-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-motor-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-motor-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-motor-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-motor-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-motor-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-motor-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-motor-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-motor-refsite>`
+
+
+      .. dropdown:: position |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-position-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-position-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-position-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-position-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-position-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-position-ctrlrange>`
+
+            .. grid-item::
+               :ref:`inheritrange<actuator-position-inheritrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-position-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-position-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-position-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-position-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-position-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-position-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-position-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-position-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-position-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-position-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-position-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-position-refsite>`
+
+            .. grid-item::
+               :ref:`kp<actuator-position-kp>`
+
+            .. grid-item::
+               :ref:`kv<actuator-position-kv>`
+
+            .. grid-item::
+               :ref:`dampratio<actuator-position-dampratio>`
+
+            .. grid-item::
+               :ref:`timeconst<actuator-position-timeconst>`
+
+
+      .. dropdown:: velocity |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-velocity-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-velocity-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-velocity-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-velocity-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-velocity-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-velocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-velocity-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-velocity-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-velocity-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-velocity-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-velocity-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-velocity-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-velocity-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-velocity-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-velocity-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-velocity-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-velocity-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-velocity-refsite>`
+
+            .. grid-item::
+               :ref:`kv<actuator-velocity-kv>`
+
+
+      .. dropdown:: intvelocity |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-intvelocity-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-intvelocity-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-intvelocity-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-intvelocity-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-intvelocity-forcerange>`
+
+            .. grid-item::
+               :ref:`actrange<actuator-intvelocity-actrange>`
+
+            .. grid-item::
+               :ref:`inheritrange<actuator-intvelocity-inheritrange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-intvelocity-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-intvelocity-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-intvelocity-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-intvelocity-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-intvelocity-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-intvelocity-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-intvelocity-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-intvelocity-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-intvelocity-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-intvelocity-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-intvelocity-refsite>`
+
+            .. grid-item::
+               :ref:`kp<actuator-intvelocity-kp>`
+
+            .. grid-item::
+               :ref:`kv<actuator-intvelocity-kv>`
+
+            .. grid-item::
+               :ref:`dampratio<actuator-intvelocity-dampratio>`
+
+
+      .. dropdown:: damper |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-damper-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-damper-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-damper-group>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-damper-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-damper-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-damper-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-damper-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-damper-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-damper-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-damper-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-damper-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-damper-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-damper-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-damper-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-damper-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-damper-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-damper-refsite>`
+
+            .. grid-item::
+               :ref:`kv<actuator-damper-kv>`
+
+
+      .. dropdown:: cylinder |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-cylinder-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-cylinder-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-cylinder-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-cylinder-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-cylinder-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-cylinder-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-cylinder-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-cylinder-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-cylinder-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-cylinder-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-cylinder-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-cylinder-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-cylinder-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-cylinder-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-cylinder-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-cylinder-cranksite>`
+
+            .. grid-item::
+               :ref:`site<actuator-cylinder-site>`
+
+            .. grid-item::
+               :ref:`refsite<actuator-cylinder-refsite>`
+
+            .. grid-item::
+               :ref:`timeconst<actuator-cylinder-timeconst>`
+
+            .. grid-item::
+               :ref:`area<actuator-cylinder-area>`
+
+            .. grid-item::
+               :ref:`diameter<actuator-cylinder-diameter>`
+
+            .. grid-item::
+               :ref:`bias<actuator-cylinder-bias>`
+
+
+      .. dropdown:: muscle |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-muscle-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-muscle-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-muscle-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-muscle-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-muscle-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-muscle-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-muscle-forcerange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-muscle-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-muscle-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-muscle-cranklength>`
+
+            .. grid-item::
+               :ref:`user<actuator-muscle-user>`
+
+            .. grid-item::
+               :ref:`joint<actuator-muscle-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-muscle-jointinparent>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-muscle-tendon>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-muscle-slidersite>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-muscle-cranksite>`
+
+            .. grid-item::
+               :ref:`timeconst<actuator-muscle-timeconst>`
+
+            .. grid-item::
+               :ref:`tausmooth<actuator-muscle-tausmooth>`
+
+            .. grid-item::
+               :ref:`range<actuator-muscle-range>`
+
+            .. grid-item::
+               :ref:`force<actuator-muscle-force>`
+
+            .. grid-item::
+               :ref:`scale<actuator-muscle-scale>`
+
+            .. grid-item::
+               :ref:`lmin<actuator-muscle-lmin>`
+
+            .. grid-item::
+               :ref:`lmax<actuator-muscle-lmax>`
+
+            .. grid-item::
+               :ref:`vmax<actuator-muscle-vmax>`
+
+            .. grid-item::
+               :ref:`fpmax<actuator-muscle-fpmax>`
+
+            .. grid-item::
+               :ref:`fvmax<actuator-muscle-fvmax>`
+
+
+      .. dropdown:: adhesion |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-adhesion-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-adhesion-class>`
+
+            .. grid-item::
+               :ref:`group<actuator-adhesion-group>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-adhesion-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-adhesion-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-adhesion-forcerange>`
+
+            .. grid-item::
+               :ref:`user<actuator-adhesion-user>`
+
+            .. grid-item::
+               :ref:`body<actuator-adhesion-body>`
+
+            .. grid-item::
+               :ref:`gain<actuator-adhesion-gain>`
+
+
+      .. dropdown:: plugin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<actuator-plugin-name>`
+
+            .. grid-item::
+               :ref:`class<actuator-plugin-class>`
+
+            .. grid-item::
+               :ref:`plugin<actuator-plugin-plugin>`
+
+            .. grid-item::
+               :ref:`instance<actuator-plugin-instance>`
+
+            .. grid-item::
+               :ref:`group<actuator-plugin-group>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-plugin-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-plugin-forcelimited>`
+
+            .. grid-item::
+               :ref:`actlimited<actuator-plugin-actlimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<actuator-plugin-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-plugin-forcerange>`
+
+            .. grid-item::
+               :ref:`actrange<actuator-plugin-actrange>`
+
+            .. grid-item::
+               :ref:`lengthrange<actuator-plugin-lengthrange>`
+
+            .. grid-item::
+               :ref:`gear<actuator-plugin-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<actuator-plugin-cranklength>`
+
+            .. grid-item::
+               :ref:`joint<actuator-plugin-joint>`
+
+            .. grid-item::
+               :ref:`jointinparent<actuator-plugin-jointinparent>`
+
+            .. grid-item::
+               :ref:`site<actuator-plugin-site>`
+
+            .. grid-item::
+               :ref:`actdim<actuator-plugin-actdim>`
+
+            .. grid-item::
+               :ref:`dyntype<actuator-plugin-dyntype>`
+
+            .. grid-item::
+               :ref:`dynprm<actuator-plugin-dynprm>`
+
+            .. grid-item::
+               :ref:`tendon<actuator-plugin-tendon>`
+
+            .. grid-item::
+               :ref:`cranksite<actuator-plugin-cranksite>`
+
+            .. grid-item::
+               :ref:`slidersite<actuator-plugin-slidersite>`
+
+            .. grid-item::
+               :ref:`user<actuator-plugin-user>`
+
+            .. grid-item::
+               :ref:`actearly<actuator-plugin-actearly>`
+
+
+         .. dropdown:: config |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`key<plugin-config-key>`
+
+               .. grid-item::
+                  :ref:`value<plugin-config-value>`
+
+
+   .. dropdown:: sensor |m|
+
+
+      .. dropdown:: touch |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-touch-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-touch-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-touch-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-touch-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-touch-user>`
+
+
+      .. dropdown:: accelerometer |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-accelerometer-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-accelerometer-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-accelerometer-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-accelerometer-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-accelerometer-user>`
+
+
+      .. dropdown:: velocimeter |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-velocimeter-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-velocimeter-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-velocimeter-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-velocimeter-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-velocimeter-user>`
+
+
+      .. dropdown:: gyro |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-gyro-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-gyro-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-gyro-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-gyro-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-gyro-user>`
+
+
+      .. dropdown:: force |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-force-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-force-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-force-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-force-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-force-user>`
+
+
+      .. dropdown:: torque |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-torque-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-torque-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-torque-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-torque-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-torque-user>`
+
+
+      .. dropdown:: magnetometer |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-magnetometer-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-magnetometer-site>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-magnetometer-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-magnetometer-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-magnetometer-user>`
+
+
+      .. dropdown:: camprojection |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-camprojection-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-camprojection-site>`
+
+            .. grid-item::
+               :ref:`camera<sensor-camprojection-camera>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-camprojection-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-camprojection-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-camprojection-user>`
+
+
+      .. dropdown:: rangefinder |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-rangefinder-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-rangefinder-site>`
+
+            .. grid-item::
+               :ref:`camera<sensor-rangefinder-camera>`
+
+            .. grid-item::
+               :ref:`data<sensor-rangefinder-data>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-rangefinder-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-rangefinder-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-rangefinder-user>`
+
+
+      .. dropdown:: jointpos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointpos-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointpos-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointpos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointpos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointpos-user>`
+
+
+      .. dropdown:: jointvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointvel-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointvel-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointvel-user>`
+
+
+      .. dropdown:: tendonpos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonpos-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonpos-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonpos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonpos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonpos-user>`
+
+
+      .. dropdown:: tendonvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonvel-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonvel-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonvel-user>`
+
+
+      .. dropdown:: actuatorpos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-actuatorpos-name>`
+
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorpos-actuator>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-actuatorpos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-actuatorpos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-actuatorpos-user>`
+
+
+      .. dropdown:: actuatorvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-actuatorvel-name>`
+
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorvel-actuator>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-actuatorvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-actuatorvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-actuatorvel-user>`
+
+
+      .. dropdown:: actuatorfrc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-actuatorfrc-name>`
+
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorfrc-actuator>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-actuatorfrc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-actuatorfrc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-actuatorfrc-user>`
+
+
+      .. dropdown:: jointactuatorfrc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointactuatorfrc-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointactuatorfrc-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointactuatorfrc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointactuatorfrc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointactuatorfrc-user>`
+
+
+      .. dropdown:: tendonactuatorfrc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonactuatorfrc-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonactuatorfrc-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonactuatorfrc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonactuatorfrc-user>`
+
+
+      .. dropdown:: ballquat |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-ballquat-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-ballquat-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-ballquat-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-ballquat-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-ballquat-user>`
+
+
+      .. dropdown:: ballangvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-ballangvel-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-ballangvel-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-ballangvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-ballangvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-ballangvel-user>`
+
+
+      .. dropdown:: jointlimitpos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointlimitpos-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitpos-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointlimitpos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointlimitpos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointlimitpos-user>`
+
+
+      .. dropdown:: jointlimitvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointlimitvel-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitvel-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointlimitvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointlimitvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointlimitvel-user>`
+
+
+      .. dropdown:: jointlimitfrc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-jointlimitfrc-name>`
+
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitfrc-joint>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-jointlimitfrc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-jointlimitfrc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-jointlimitfrc-user>`
+
+
+      .. dropdown:: tendonlimitpos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonlimitpos-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitpos-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonlimitpos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonlimitpos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonlimitpos-user>`
+
+
+      .. dropdown:: tendonlimitvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonlimitvel-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitvel-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonlimitvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonlimitvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonlimitvel-user>`
+
+
+      .. dropdown:: tendonlimitfrc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tendonlimitfrc-name>`
+
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitfrc-tendon>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-tendonlimitfrc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-tendonlimitfrc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-tendonlimitfrc-user>`
+
+
+      .. dropdown:: framepos |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framepos-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framepos-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framepos-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-framepos-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-framepos-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framepos-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framepos-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framepos-user>`
+
+
+      .. dropdown:: framequat |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framequat-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framequat-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framequat-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-framequat-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-framequat-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framequat-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framequat-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framequat-user>`
+
+
+      .. dropdown:: framexaxis |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framexaxis-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framexaxis-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framexaxis-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-framexaxis-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-framexaxis-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framexaxis-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framexaxis-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framexaxis-user>`
+
+
+      .. dropdown:: frameyaxis |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-frameyaxis-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-frameyaxis-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-frameyaxis-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-frameyaxis-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-frameyaxis-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-frameyaxis-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-frameyaxis-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-frameyaxis-user>`
+
+
+      .. dropdown:: framezaxis |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framezaxis-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framezaxis-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framezaxis-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-framezaxis-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-framezaxis-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framezaxis-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framezaxis-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framezaxis-user>`
+
+
+      .. dropdown:: framelinvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framelinvel-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framelinvel-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framelinvel-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-framelinvel-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-framelinvel-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framelinvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framelinvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framelinvel-user>`
+
+
+      .. dropdown:: frameangvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-frameangvel-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-frameangvel-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-frameangvel-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-frameangvel-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-frameangvel-refname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-frameangvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-frameangvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-frameangvel-user>`
+
+
+      .. dropdown:: framelinacc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-framelinacc-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-framelinacc-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framelinacc-objname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-framelinacc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-framelinacc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-framelinacc-user>`
+
+
+      .. dropdown:: frameangacc |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-frameangacc-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-frameangacc-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-frameangacc-objname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-frameangacc-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-frameangacc-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-frameangacc-user>`
+
+
+      .. dropdown:: subtreecom |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-subtreecom-name>`
+
+            .. grid-item::
+               :ref:`body<sensor-subtreecom-body>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-subtreecom-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-subtreecom-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-subtreecom-user>`
+
+
+      .. dropdown:: subtreelinvel |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-subtreelinvel-name>`
+
+            .. grid-item::
+               :ref:`body<sensor-subtreelinvel-body>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-subtreelinvel-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-subtreelinvel-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-subtreelinvel-user>`
+
+
+      .. dropdown:: subtreeangmom |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-subtreeangmom-name>`
+
+            .. grid-item::
+               :ref:`body<sensor-subtreeangmom-body>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-subtreeangmom-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-subtreeangmom-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-subtreeangmom-user>`
+
+
+      .. dropdown:: insidesite |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-insidesite-name>`
+
+            .. grid-item::
+               :ref:`site<sensor-insidesite-site>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-insidesite-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-insidesite-objname>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-insidesite-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-insidesite-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-insidesite-user>`
+
+
+      .. dropdown:: distance |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-distance-name>`
+
+            .. grid-item::
+               :ref:`geom1<sensor-distance-geom1>`
+
+            .. grid-item::
+               :ref:`geom2<sensor-distance-geom2>`
+
+            .. grid-item::
+               :ref:`body1<sensor-distance-body1>`
+
+            .. grid-item::
+               :ref:`body2<sensor-distance-body2>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-distance-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-distance-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-distance-user>`
+
+
+      .. dropdown:: normal |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-normal-name>`
+
+            .. grid-item::
+               :ref:`geom1<sensor-normal-geom1>`
+
+            .. grid-item::
+               :ref:`geom2<sensor-normal-geom2>`
+
+            .. grid-item::
+               :ref:`body1<sensor-normal-body1>`
+
+            .. grid-item::
+               :ref:`body2<sensor-normal-body2>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-normal-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-normal-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-normal-user>`
+
+
+      .. dropdown:: fromto |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-fromto-name>`
+
+            .. grid-item::
+               :ref:`geom1<sensor-fromto-geom1>`
+
+            .. grid-item::
+               :ref:`geom2<sensor-fromto-geom2>`
+
+            .. grid-item::
+               :ref:`body1<sensor-fromto-body1>`
+
+            .. grid-item::
+               :ref:`body2<sensor-fromto-body2>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-fromto-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-fromto-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-fromto-user>`
+
+
+      .. dropdown:: contact |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-contact-name>`
+
+            .. grid-item::
+               :ref:`geom1<sensor-contact-geom1>`
+
+            .. grid-item::
+               :ref:`geom2<sensor-contact-geom2>`
+
+            .. grid-item::
+               :ref:`body1<sensor-contact-body1>`
+
+            .. grid-item::
+               :ref:`body2<sensor-contact-body2>`
+
+            .. grid-item::
+               :ref:`subtree1<sensor-contact-subtree1>`
+
+            .. grid-item::
+               :ref:`subtree2<sensor-contact-subtree2>`
+
+            .. grid-item::
+               :ref:`site<sensor-contact-site>`
+
+            .. grid-item::
+               :ref:`num<sensor-contact-num>`
+
+            .. grid-item::
+               :ref:`data<sensor-contact-data>`
+
+            .. grid-item::
+               :ref:`reduce<sensor-contact-reduce>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-contact-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-contact-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-contact-user>`
+
+
+      .. dropdown:: e_potential |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-e_potential-name>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-e_potential-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-e_potential-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-e_potential-user>`
+
+
+      .. dropdown:: e_kinetic |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-e_kinetic-name>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-e_kinetic-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-e_kinetic-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-e_kinetic-user>`
+
+
+      .. dropdown:: clock |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-clock-name>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-clock-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-clock-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-clock-user>`
+
+
+      .. dropdown:: user |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-user-name>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-user-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-user-objname>`
+
+            .. grid-item::
+               :ref:`datatype<sensor-user-datatype>`
+
+            .. grid-item::
+               :ref:`needstage<sensor-user-needstage>`
+
+            .. grid-item::
+               :ref:`dim<sensor-user-dim>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-user-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-user-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-user-user>`
+
+
+      .. dropdown:: tactile |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-tactile-name>`
+
+            .. grid-item::
+               :ref:`geom<sensor-tactile-geom>`
+
+            .. grid-item::
+               :ref:`mesh<sensor-tactile-mesh>`
+
+            .. grid-item::
+               :ref:`user<sensor-tactile-user>`
+
+
+      .. dropdown:: plugin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<sensor-plugin-name>`
+
+            .. grid-item::
+               :ref:`plugin<sensor-plugin-plugin>`
+
+            .. grid-item::
+               :ref:`instance<sensor-plugin-instance>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-plugin-cutoff>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-plugin-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-plugin-objname>`
+
+            .. grid-item::
+               :ref:`reftype<sensor-plugin-reftype>`
+
+            .. grid-item::
+               :ref:`refname<sensor-plugin-refname>`
+
+            .. grid-item::
+               :ref:`user<sensor-plugin-user>`
+
+
+         .. dropdown:: config |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`key<plugin-config-key>`
+
+               .. grid-item::
+                  :ref:`value<plugin-config-value>`
+
+
+   .. dropdown:: keyframe |m|
+
+
+      .. dropdown:: key |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<keyframe-key-name>`
+
+            .. grid-item::
+               :ref:`time<keyframe-key-time>`
+
+            .. grid-item::
+               :ref:`qpos<keyframe-key-qpos>`
+
+            .. grid-item::
+               :ref:`qvel<keyframe-key-qvel>`
+
+            .. grid-item::
+               :ref:`act<keyframe-key-act>`
+
+            .. grid-item::
+               :ref:`mpos<keyframe-key-mpos>`
+
+            .. grid-item::
+               :ref:`mquat<keyframe-key-mquat>`
+
+            .. grid-item::
+               :ref:`ctrl<keyframe-key-ctrl>`
+
+
+   .. dropdown:: visual |m|
+
+
+      .. dropdown:: global :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`cameraid<visual-global-cameraid>`
+
+            .. grid-item::
+               :ref:`orthographic<visual-global-orthographic>`
+
+            .. grid-item::
+               :ref:`fovy<visual-global-fovy>`
+
+            .. grid-item::
+               :ref:`ipd<visual-global-ipd>`
+
+            .. grid-item::
+               :ref:`azimuth<visual-global-azimuth>`
+
+            .. grid-item::
+               :ref:`elevation<visual-global-elevation>`
+
+            .. grid-item::
+               :ref:`linewidth<visual-global-linewidth>`
+
+            .. grid-item::
+               :ref:`glow<visual-global-glow>`
+
+            .. grid-item::
+               :ref:`offwidth<visual-global-offwidth>`
+
+            .. grid-item::
+               :ref:`offheight<visual-global-offheight>`
+
+            .. grid-item::
+               :ref:`realtime<visual-global-realtime>`
+
+            .. grid-item::
+               :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`
+
+            .. grid-item::
+               :ref:`bvactive<visual-global-bvactive>`
+
+
+      .. dropdown:: quality :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`shadowsize<visual-quality-shadowsize>`
+
+            .. grid-item::
+               :ref:`offsamples<visual-quality-offsamples>`
+
+            .. grid-item::
+               :ref:`numslices<visual-quality-numslices>`
+
+            .. grid-item::
+               :ref:`numstacks<visual-quality-numstacks>`
+
+            .. grid-item::
+               :ref:`numquads<visual-quality-numquads>`
+
+
+      .. dropdown:: headlight :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ambient<visual-headlight-ambient>`
+
+            .. grid-item::
+               :ref:`diffuse<visual-headlight-diffuse>`
+
+            .. grid-item::
+               :ref:`specular<visual-headlight-specular>`
+
+            .. grid-item::
+               :ref:`active<visual-headlight-active>`
+
+
+      .. dropdown:: map :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`stiffness<visual-map-stiffness>`
+
+            .. grid-item::
+               :ref:`stiffnessrot<visual-map-stiffnessrot>`
+
+            .. grid-item::
+               :ref:`force<visual-map-force>`
+
+            .. grid-item::
+               :ref:`torque<visual-map-torque>`
+
+            .. grid-item::
+               :ref:`alpha<visual-map-alpha>`
+
+            .. grid-item::
+               :ref:`fogstart<visual-map-fogstart>`
+
+            .. grid-item::
+               :ref:`fogend<visual-map-fogend>`
+
+            .. grid-item::
+               :ref:`znear<visual-map-znear>`
+
+            .. grid-item::
+               :ref:`zfar<visual-map-zfar>`
+
+            .. grid-item::
+               :ref:`haze<visual-map-haze>`
+
+            .. grid-item::
+               :ref:`shadowclip<visual-map-shadowclip>`
+
+            .. grid-item::
+               :ref:`shadowscale<visual-map-shadowscale>`
+
+            .. grid-item::
+               :ref:`actuatortendon<visual-map-actuatortendon>`
+
+
+      .. dropdown:: scale :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`forcewidth<visual-scale-forcewidth>`
+
+            .. grid-item::
+               :ref:`contactwidth<visual-scale-contactwidth>`
+
+            .. grid-item::
+               :ref:`contactheight<visual-scale-contactheight>`
+
+            .. grid-item::
+               :ref:`connect<visual-scale-connect>`
+
+            .. grid-item::
+               :ref:`com<visual-scale-com>`
+
+            .. grid-item::
+               :ref:`camera<visual-scale-camera>`
+
+            .. grid-item::
+               :ref:`light<visual-scale-light>`
+
+            .. grid-item::
+               :ref:`selectpoint<visual-scale-selectpoint>`
+
+            .. grid-item::
+               :ref:`jointlength<visual-scale-jointlength>`
+
+            .. grid-item::
+               :ref:`jointwidth<visual-scale-jointwidth>`
+
+            .. grid-item::
+               :ref:`actuatorlength<visual-scale-actuatorlength>`
+
+            .. grid-item::
+               :ref:`actuatorwidth<visual-scale-actuatorwidth>`
+
+            .. grid-item::
+               :ref:`framelength<visual-scale-framelength>`
+
+            .. grid-item::
+               :ref:`framewidth<visual-scale-framewidth>`
+
+            .. grid-item::
+               :ref:`constraint<visual-scale-constraint>`
+
+            .. grid-item::
+               :ref:`slidercrank<visual-scale-slidercrank>`
+
+            .. grid-item::
+               :ref:`frustum<visual-scale-frustum>`
+
+
+      .. dropdown:: rgba :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`fog<visual-rgba-fog>`
+
+            .. grid-item::
+               :ref:`haze<visual-rgba-haze>`
+
+            .. grid-item::
+               :ref:`force<visual-rgba-force>`
+
+            .. grid-item::
+               :ref:`inertia<visual-rgba-inertia>`
+
+            .. grid-item::
+               :ref:`joint<visual-rgba-joint>`
+
+            .. grid-item::
+               :ref:`actuator<visual-rgba-actuator>`
+
+            .. grid-item::
+               :ref:`actuatornegative<visual-rgba-actuatornegative>`
+
+            .. grid-item::
+               :ref:`actuatorpositive<visual-rgba-actuatorpositive>`
+
+            .. grid-item::
+               :ref:`com<visual-rgba-com>`
+
+            .. grid-item::
+               :ref:`camera<visual-rgba-camera>`
+
+            .. grid-item::
+               :ref:`light<visual-rgba-light>`
+
+            .. grid-item::
+               :ref:`selectpoint<visual-rgba-selectpoint>`
+
+            .. grid-item::
+               :ref:`connect<visual-rgba-connect>`
+
+            .. grid-item::
+               :ref:`contactpoint<visual-rgba-contactpoint>`
+
+            .. grid-item::
+               :ref:`contactforce<visual-rgba-contactforce>`
+
+            .. grid-item::
+               :ref:`contactfriction<visual-rgba-contactfriction>`
+
+            .. grid-item::
+               :ref:`contacttorque<visual-rgba-contacttorque>`
+
+            .. grid-item::
+               :ref:`contactgap<visual-rgba-contactgap>`
+
+            .. grid-item::
+               :ref:`rangefinder<visual-rgba-rangefinder>`
+
+            .. grid-item::
+               :ref:`constraint<visual-rgba-constraint>`
+
+            .. grid-item::
+               :ref:`slidercrank<visual-rgba-slidercrank>`
+
+            .. grid-item::
+               :ref:`crankbroken<visual-rgba-crankbroken>`
+
+            .. grid-item::
+               :ref:`frustum<visual-rgba-frustum>`
+
+            .. grid-item::
+               :ref:`bv<visual-rgba-bv>`
+
+            .. grid-item::
+               :ref:`bvactive<visual-rgba-bvactive>`
+
+
+   .. dropdown:: default :octicon:`sync`
+
+      .. grid:: 2 3 4 4
+         :gutter: 0
+
+         .. grid-item::
+            :ref:`class<default-class>`
+
+
+      .. dropdown:: mesh :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`scale<default-mesh-scale>`
+
+            .. grid-item::
+               :ref:`maxhullvert<default-mesh-maxhullvert>`
+
+            .. grid-item::
+               :ref:`inertia<default-mesh-inertia>`
+
+
+      .. dropdown:: material :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`texture<default-material-texture>`
+
+            .. grid-item::
+               :ref:`emission<default-material-emission>`
+
+            .. grid-item::
+               :ref:`specular<default-material-specular>`
+
+            .. grid-item::
+               :ref:`shininess<default-material-shininess>`
+
+            .. grid-item::
+               :ref:`reflectance<default-material-reflectance>`
+
+            .. grid-item::
+               :ref:`metallic<default-material-metallic>`
+
+            .. grid-item::
+               :ref:`roughness<default-material-roughness>`
+
+            .. grid-item::
+               :ref:`rgba<default-material-rgba>`
+
+            .. grid-item::
+               :ref:`texrepeat<default-material-texrepeat>`
+
+            .. grid-item::
+               :ref:`texuniform<default-material-texuniform>`
+
+
+         .. dropdown:: layer |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`texture<material-layer-texture>`
+
+               .. grid-item::
+                  :ref:`role<material-layer-role>`
+
+
+      .. dropdown:: joint :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`type<default-joint-type>`
+
+            .. grid-item::
+               :ref:`group<default-joint-group>`
+
+            .. grid-item::
+               :ref:`pos<default-joint-pos>`
+
+            .. grid-item::
+               :ref:`axis<default-joint-axis>`
+
+            .. grid-item::
+               :ref:`springdamper<default-joint-springdamper>`
+
+            .. grid-item::
+               :ref:`limited<default-joint-limited>`
+
+            .. grid-item::
+               :ref:`actuatorfrclimited<default-joint-actuatorfrclimited>`
+
+            .. grid-item::
+               :ref:`solreflimit<default-joint-solreflimit>`
+
+            .. grid-item::
+               :ref:`solimplimit<default-joint-solimplimit>`
+
+            .. grid-item::
+               :ref:`solreffriction<default-joint-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimpfriction<default-joint-solimpfriction>`
+
+            .. grid-item::
+               :ref:`stiffness<default-joint-stiffness>`
+
+            .. grid-item::
+               :ref:`range<default-joint-range>`
+
+            .. grid-item::
+               :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>`
+
+            .. grid-item::
+               :ref:`actuatorgravcomp<default-joint-actuatorgravcomp>`
+
+            .. grid-item::
+               :ref:`margin<default-joint-margin>`
+
+            .. grid-item::
+               :ref:`ref<default-joint-ref>`
+
+            .. grid-item::
+               :ref:`springref<default-joint-springref>`
+
+            .. grid-item::
+               :ref:`armature<default-joint-armature>`
+
+            .. grid-item::
+               :ref:`damping<default-joint-damping>`
+
+            .. grid-item::
+               :ref:`frictionloss<default-joint-frictionloss>`
+
+            .. grid-item::
+               :ref:`user<default-joint-user>`
+
+
+      .. dropdown:: geom :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`type<default-geom-type>`
+
+            .. grid-item::
+               :ref:`pos<default-geom-pos>`
+
+            .. grid-item::
+               :ref:`quat<default-geom-quat>`
+
+            .. grid-item::
+               :ref:`contype<default-geom-contype>`
+
+            .. grid-item::
+               :ref:`conaffinity<default-geom-conaffinity>`
+
+            .. grid-item::
+               :ref:`condim<default-geom-condim>`
+
+            .. grid-item::
+               :ref:`group<default-geom-group>`
+
+            .. grid-item::
+               :ref:`priority<default-geom-priority>`
+
+            .. grid-item::
+               :ref:`size<default-geom-size>`
+
+            .. grid-item::
+               :ref:`material<default-geom-material>`
+
+            .. grid-item::
+               :ref:`friction<default-geom-friction>`
+
+            .. grid-item::
+               :ref:`mass<default-geom-mass>`
+
+            .. grid-item::
+               :ref:`density<default-geom-density>`
+
+            .. grid-item::
+               :ref:`shellinertia<default-geom-shellinertia>`
+
+            .. grid-item::
+               :ref:`solmix<default-geom-solmix>`
+
+            .. grid-item::
+               :ref:`solref<default-geom-solref>`
+
+            .. grid-item::
+               :ref:`solimp<default-geom-solimp>`
+
+            .. grid-item::
+               :ref:`margin<default-geom-margin>`
+
+            .. grid-item::
+               :ref:`gap<default-geom-gap>`
+
+            .. grid-item::
+               :ref:`fromto<default-geom-fromto>`
+
+            .. grid-item::
+               :ref:`axisangle<default-geom-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<default-geom-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<default-geom-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<default-geom-euler>`
+
+            .. grid-item::
+               :ref:`hfield<default-geom-hfield>`
+
+            .. grid-item::
+               :ref:`mesh<default-geom-mesh>`
+
+            .. grid-item::
+               :ref:`fitscale<default-geom-fitscale>`
+
+            .. grid-item::
+               :ref:`rgba<default-geom-rgba>`
+
+            .. grid-item::
+               :ref:`fluidshape<default-geom-fluidshape>`
+
+            .. grid-item::
+               :ref:`fluidcoef<default-geom-fluidcoef>`
+
+            .. grid-item::
+               :ref:`user<default-geom-user>`
+
+
+      .. dropdown:: site :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`type<default-site-type>`
+
+            .. grid-item::
+               :ref:`group<default-site-group>`
+
+            .. grid-item::
+               :ref:`pos<default-site-pos>`
+
+            .. grid-item::
+               :ref:`quat<default-site-quat>`
+
+            .. grid-item::
+               :ref:`material<default-site-material>`
+
+            .. grid-item::
+               :ref:`size<default-site-size>`
+
+            .. grid-item::
+               :ref:`fromto<default-site-fromto>`
+
+            .. grid-item::
+               :ref:`axisangle<default-site-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<default-site-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<default-site-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<default-site-euler>`
+
+            .. grid-item::
+               :ref:`rgba<default-site-rgba>`
+
+            .. grid-item::
+               :ref:`user<default-site-user>`
+
+
+      .. dropdown:: camera :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`projection<default-camera-projection>`
+
+            .. grid-item::
+               :ref:`fovy<default-camera-fovy>`
+
+            .. grid-item::
+               :ref:`ipd<default-camera-ipd>`
+
+            .. grid-item::
+               :ref:`resolution<default-camera-resolution>`
+
+            .. grid-item::
+               :ref:`pos<default-camera-pos>`
+
+            .. grid-item::
+               :ref:`quat<default-camera-quat>`
+
+            .. grid-item::
+               :ref:`axisangle<default-camera-axisangle>`
+
+            .. grid-item::
+               :ref:`xyaxes<default-camera-xyaxes>`
+
+            .. grid-item::
+               :ref:`zaxis<default-camera-zaxis>`
+
+            .. grid-item::
+               :ref:`euler<default-camera-euler>`
+
+            .. grid-item::
+               :ref:`mode<default-camera-mode>`
+
+            .. grid-item::
+               :ref:`focal<default-camera-focal>`
+
+            .. grid-item::
+               :ref:`focalpixel<default-camera-focalpixel>`
+
+            .. grid-item::
+               :ref:`principal<default-camera-principal>`
+
+            .. grid-item::
+               :ref:`principalpixel<default-camera-principalpixel>`
+
+            .. grid-item::
+               :ref:`sensorsize<default-camera-sensorsize>`
+
+            .. grid-item::
+               :ref:`user<default-camera-user>`
+
+
+      .. dropdown:: light :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`pos<default-light-pos>`
+
+            .. grid-item::
+               :ref:`dir<default-light-dir>`
+
+            .. grid-item::
+               :ref:`bulbradius<default-light-bulbradius>`
+
+            .. grid-item::
+               :ref:`intensity<default-light-intensity>`
+
+            .. grid-item::
+               :ref:`range<default-light-range>`
+
+            .. grid-item::
+               :ref:`directional<default-light-directional>`
+
+            .. grid-item::
+               :ref:`type<default-light-type>`
+
+            .. grid-item::
+               :ref:`castshadow<default-light-castshadow>`
+
+            .. grid-item::
+               :ref:`active<default-light-active>`
+
+            .. grid-item::
+               :ref:`attenuation<default-light-attenuation>`
+
+            .. grid-item::
+               :ref:`cutoff<default-light-cutoff>`
+
+            .. grid-item::
+               :ref:`exponent<default-light-exponent>`
+
+            .. grid-item::
+               :ref:`ambient<default-light-ambient>`
+
+            .. grid-item::
+               :ref:`diffuse<default-light-diffuse>`
+
+            .. grid-item::
+               :ref:`specular<default-light-specular>`
+
+            .. grid-item::
+               :ref:`mode<default-light-mode>`
+
+
+      .. dropdown:: pair :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`condim<default-pair-condim>`
+
+            .. grid-item::
+               :ref:`friction<default-pair-friction>`
+
+            .. grid-item::
+               :ref:`solref<default-pair-solref>`
+
+            .. grid-item::
+               :ref:`solreffriction<default-pair-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimp<default-pair-solimp>`
+
+            .. grid-item::
+               :ref:`gap<default-pair-gap>`
+
+            .. grid-item::
+               :ref:`margin<default-pair-margin>`
+
+
+      .. dropdown:: equality :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`active<default-equality-active>`
+
+            .. grid-item::
+               :ref:`solref<default-equality-solref>`
+
+            .. grid-item::
+               :ref:`solimp<default-equality-solimp>`
+
+
+      .. dropdown:: tendon :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`group<default-tendon-group>`
+
+            .. grid-item::
+               :ref:`limited<default-tendon-limited>`
+
+            .. grid-item::
+               :ref:`range<default-tendon-range>`
+
+            .. grid-item::
+               :ref:`solreflimit<default-tendon-solreflimit>`
+
+            .. grid-item::
+               :ref:`solimplimit<default-tendon-solimplimit>`
+
+            .. grid-item::
+               :ref:`solreffriction<default-tendon-solreffriction>`
+
+            .. grid-item::
+               :ref:`solimpfriction<default-tendon-solimpfriction>`
+
+            .. grid-item::
+               :ref:`frictionloss<default-tendon-frictionloss>`
+
+            .. grid-item::
+               :ref:`springlength<default-tendon-springlength>`
+
+            .. grid-item::
+               :ref:`width<default-tendon-width>`
+
+            .. grid-item::
+               :ref:`material<default-tendon-material>`
+
+            .. grid-item::
+               :ref:`margin<default-tendon-margin>`
+
+            .. grid-item::
+               :ref:`stiffness<default-tendon-stiffness>`
+
+            .. grid-item::
+               :ref:`damping<default-tendon-damping>`
+
+            .. grid-item::
+               :ref:`rgba<default-tendon-rgba>`
+
+            .. grid-item::
+               :ref:`user<default-tendon-user>`
+
+
+      .. dropdown:: general :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-general-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-general-forcelimited>`
+
+            .. grid-item::
+               :ref:`actlimited<default-general-actlimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-general-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-general-forcerange>`
+
+            .. grid-item::
+               :ref:`actrange<default-general-actrange>`
+
+            .. grid-item::
+               :ref:`gear<default-general-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-general-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-general-user>`
+
+            .. grid-item::
+               :ref:`group<default-general-group>`
+
+            .. grid-item::
+               :ref:`actdim<default-general-actdim>`
+
+            .. grid-item::
+               :ref:`dyntype<default-general-dyntype>`
+
+            .. grid-item::
+               :ref:`gaintype<default-general-gaintype>`
+
+            .. grid-item::
+               :ref:`biastype<default-general-biastype>`
+
+            .. grid-item::
+               :ref:`dynprm<default-general-dynprm>`
+
+            .. grid-item::
+               :ref:`gainprm<default-general-gainprm>`
+
+            .. grid-item::
+               :ref:`biasprm<default-general-biasprm>`
+
+            .. grid-item::
+               :ref:`actearly<default-general-actearly>`
+
+
+      .. dropdown:: motor :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-motor-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-motor-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-motor-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-motor-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-motor-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-motor-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-motor-user>`
+
+            .. grid-item::
+               :ref:`group<default-motor-group>`
+
+
+      .. dropdown:: position :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-position-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-position-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-position-ctrlrange>`
+
+            .. grid-item::
+               :ref:`inheritrange<default-position-inheritrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-position-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-position-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-position-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-position-user>`
+
+            .. grid-item::
+               :ref:`group<default-position-group>`
+
+            .. grid-item::
+               :ref:`kp<default-position-kp>`
+
+            .. grid-item::
+               :ref:`kv<default-position-kv>`
+
+            .. grid-item::
+               :ref:`dampratio<default-position-dampratio>`
+
+            .. grid-item::
+               :ref:`timeconst<default-position-timeconst>`
+
+
+      .. dropdown:: velocity :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-velocity-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-velocity-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-velocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-velocity-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-velocity-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-velocity-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-velocity-user>`
+
+            .. grid-item::
+               :ref:`group<default-velocity-group>`
+
+            .. grid-item::
+               :ref:`kv<default-velocity-kv>`
+
+
+      .. dropdown:: intvelocity :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-intvelocity-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-intvelocity-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-intvelocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-intvelocity-forcerange>`
+
+            .. grid-item::
+               :ref:`actrange<default-intvelocity-actrange>`
+
+            .. grid-item::
+               :ref:`inheritrange<default-intvelocity-inheritrange>`
+
+            .. grid-item::
+               :ref:`gear<default-intvelocity-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-intvelocity-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-intvelocity-user>`
+
+            .. grid-item::
+               :ref:`group<default-intvelocity-group>`
+
+            .. grid-item::
+               :ref:`kp<default-intvelocity-kp>`
+
+            .. grid-item::
+               :ref:`kv<default-intvelocity-kv>`
+
+            .. grid-item::
+               :ref:`dampratio<default-intvelocity-dampratio>`
+
+
+      .. dropdown:: damper :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`forcelimited<default-damper-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-damper-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-damper-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-damper-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-damper-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-damper-user>`
+
+            .. grid-item::
+               :ref:`group<default-damper-group>`
+
+            .. grid-item::
+               :ref:`kv<default-damper-kv>`
+
+
+      .. dropdown:: cylinder :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-cylinder-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-cylinder-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-cylinder-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-cylinder-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-cylinder-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-cylinder-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-cylinder-user>`
+
+            .. grid-item::
+               :ref:`group<default-cylinder-group>`
+
+            .. grid-item::
+               :ref:`timeconst<default-cylinder-timeconst>`
+
+            .. grid-item::
+               :ref:`area<default-cylinder-area>`
+
+            .. grid-item::
+               :ref:`diameter<default-cylinder-diameter>`
+
+            .. grid-item::
+               :ref:`bias<default-cylinder-bias>`
+
+
+      .. dropdown:: muscle :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`ctrllimited<default-muscle-ctrllimited>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-muscle-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-muscle-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-muscle-forcerange>`
+
+            .. grid-item::
+               :ref:`gear<default-muscle-gear>`
+
+            .. grid-item::
+               :ref:`cranklength<default-muscle-cranklength>`
+
+            .. grid-item::
+               :ref:`user<default-muscle-user>`
+
+            .. grid-item::
+               :ref:`group<default-muscle-group>`
+
+            .. grid-item::
+               :ref:`timeconst<default-muscle-timeconst>`
+
+            .. grid-item::
+               :ref:`range<default-muscle-range>`
+
+            .. grid-item::
+               :ref:`force<default-muscle-force>`
+
+            .. grid-item::
+               :ref:`scale<default-muscle-scale>`
+
+            .. grid-item::
+               :ref:`lmin<default-muscle-lmin>`
+
+            .. grid-item::
+               :ref:`lmax<default-muscle-lmax>`
+
+            .. grid-item::
+               :ref:`vmax<default-muscle-vmax>`
+
+            .. grid-item::
+               :ref:`fpmax<default-muscle-fpmax>`
+
+            .. grid-item::
+               :ref:`fvmax<default-muscle-fvmax>`
+
+
+      .. dropdown:: adhesion :octicon:`dot`
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`forcelimited<default-adhesion-forcelimited>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-adhesion-ctrlrange>`
+
+            .. grid-item::
+               :ref:`forcerange<default-adhesion-forcerange>`
+
+            .. grid-item::
+               :ref:`gain<default-adhesion-gain>`
+
+            .. grid-item::
+               :ref:`user<default-adhesion-user>`
+
+            .. grid-item::
+               :ref:`group<default-adhesion-group>`
+
+
+   .. dropdown:: custom |m|
+
+
+      .. dropdown:: numeric |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<custom-numeric-name>`
+
+            .. grid-item::
+               :ref:`size<custom-numeric-size>`
+
+            .. grid-item::
+               :ref:`data<custom-numeric-data>`
+
+
+      .. dropdown:: text |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<custom-text-name>`
+
+            .. grid-item::
+               :ref:`data<custom-text-data>`
+
+
+      .. dropdown:: tuple |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`name<custom-tuple-name>`
+
+
+         .. dropdown:: element |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`objtype<tuple-element-objtype>`
+
+               .. grid-item::
+                  :ref:`objname<tuple-element-objname>`
+
+               .. grid-item::
+                  :ref:`prm<tuple-element-prm>`
+
+
+   .. dropdown:: extension |m|
+
+
+      .. dropdown:: plugin |m|
+
+         .. grid:: 2 3 4 4
+            :gutter: 0
+
+            .. grid-item::
+               :ref:`plugin<extension-plugin-plugin>`
+
+
+         .. dropdown:: instance |m|
+
+            .. grid:: 2 3 4 4
+               :gutter: 0
+
+               .. grid-item::
+                  :ref:`name<plugin-instance-name>`
+
+
+            .. dropdown:: config |m|
+
+               .. grid:: 2 3 4 4
+                  :gutter: 0
+
+                  .. grid-item::
+                     :ref:`key<instance-config-key>`
+
+                  .. grid-item::
+                     :ref:`value<instance-config-value>`
 
-                  * - :ref:`key<instance-config-key>`
-                    - :ref:`value<instance-config-value>`
-                    -
-                    -
 
diff --git a/doc/css/theme_overrides.css b/doc/css/theme_overrides.css
index ca54602c..6df21b1a 100644
--- a/doc/css/theme_overrides.css
+++ b/doc/css/theme_overrides.css
@@ -38,14 +38,14 @@ body[data-theme="dark"] table.docutils:not(.mjcf-attributes) {
   }
 }
 
-.schema-small {
-  font-size: 93%;
-}
-
 .caption-small {
   font-size: 85%;
 }
 
+.table-small {
+  font-size: 93%;
+}
+
 .small-centered {
   font-size: 93%;
 }
@@ -310,16 +310,23 @@ details summary {
   font-weight: 600;
 }
 
-/* Compact schema dropdowns */
+/* ==========================================================================
+   Schema display styling (.schema-small)
+   Used in: XMLreference.rst (dropdowns + grids)
+   ========================================================================== */
+
+/* Base: smaller font for compact display */
+.schema-small {
+  font-size: 93%;
+}
+
+/* Dropdown styling: compact margins and padding */
 .schema-small details.sd-dropdown {
   margin-bottom: 0.15em !important;
   margin-top: 0 !important;
 }
 
-.schema-small .sd-card-header {
-  padding: 0.25em 0.5em !important;
-}
-
+.schema-small .sd-card-header,
 .schema-small .sd-card-body {
   padding: 0.25em 0.5em !important;
 }
@@ -329,19 +336,13 @@ details summary {
   margin: 0 !important;
 }
 
-/* Prevent visited link color change in schema - use brand color */
-.schema-small a:visited {
-  color: var(--color-brand-primary) !important;
-}
-
-/* Hierarchy visualization - left border for all dropdowns including top-level */
+/* Dropdown hierarchy: left border visualization */
 .schema-small .sd-dropdown,
 .schema-small > .sd-dropdown,
 .schema-small details.sd-dropdown {
   border-left: 2px solid #5671cf;
 }
 
-/* Dark mode - slightly brighter blue for visibility */
 body[data-theme="dark"] .schema-small .sd-dropdown,
 body[data-theme="dark"] .schema-small > .sd-dropdown,
 body[data-theme="dark"] .schema-small details.sd-dropdown {
@@ -355,3 +356,31 @@ body[data-theme="dark"] .schema-small details.sd-dropdown {
     border-left-color: #7b93e8;
   }
 }
+
+/* Link styling: prevent visited color change */
+.schema-small a:visited {
+  color: var(--color-brand-primary) !important;
+}
+
+/* Grid styling: compact rows for attribute lists */
+.schema-small .sd-row {
+  row-gap: 0 !important;
+  --sd-gutter-x: 0.5rem !important;
+  --sd-gutter-y: 0 !important;
+}
+
+.schema-small .sd-col,
+.schema-small [class*="sd-col-"] {
+  padding-top: 0 !important;
+  padding-bottom: 0.1em !important;
+}
+
+.schema-small .sd-container-fluid {
+  padding: 0 !important;
+}
+
+/* Remove paragraph margin inside grid items */
+.schema-small .sd-container-fluid .sd-col p,
+.admonition .sd-container-fluid .sd-col p {
+  margin-bottom: 0 !important;
+}
diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
index 5897f522..502e34cf 100644
--- a/doc/programming/simulation.rst
+++ b/doc/programming/simulation.rst
@@ -652,7 +652,7 @@ Exceptions to the general rule that **integer** types are **not safe to change**
 .. list-table::
    :widths: 1 1 4
    :header-rows: 1
-   :class: schema-small
+   :class: table-small
 
    * - Field
      - Modifiability
@@ -693,7 +693,7 @@ Exceptions to the general rule that **real-valued** types **are safe to change**
 .. list-table::
    :widths: 1 1 4
    :header-rows: 1
-   :class: schema-small
+   :class: table-small
 
    * - Field
      - Modifiability