diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index e940fb5f..e8fd477d 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -167,6 +167,9 @@
             .. grid-item::
                :ref:`island<option-flag-island>`
 
+            .. grid-item::
+               :ref:`multiccd<option-flag-multiccd>`
+
             .. grid-item::
                :ref:`override<option-flag-override>`
 
@@ -179,9 +182,6 @@
             .. grid-item::
                :ref:`invdiscrete<option-flag-invdiscrete>`
 
-            .. grid-item::
-               :ref:`multiccd<option-flag-multiccd>`
-
             .. grid-item::
                :ref:`sleep<option-flag-sleep>`
 
@@ -692,9 +692,6 @@
          .. grid-item::
             :ref:`quat<body-quat>`
 
-         .. grid-item::
-            :ref:`mocap<body-mocap>`
-
          .. grid-item::
             :ref:`axisangle<body-axisangle>`
 
@@ -707,6 +704,9 @@
          .. grid-item::
             :ref:`euler<body-euler>`
 
+         .. grid-item::
+            :ref:`mocap<body-mocap>`
+
          .. grid-item::
             :ref:`gravcomp<body-gravcomp>`
 
@@ -1022,15 +1022,6 @@
             .. 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>`
 
@@ -1043,6 +1034,15 @@
             .. grid-item::
                :ref:`euler<body-site-euler>`
 
+            .. grid-item::
+               :ref:`material<body-site-material>`
+
+            .. grid-item::
+               :ref:`size<body-site-size>`
+
+            .. grid-item::
+               :ref:`fromto<body-site-fromto>`
+
             .. grid-item::
                :ref:`rgba<body-site-rgba>`
 
@@ -1910,6 +1910,15 @@
             .. grid-item::
                :ref:`class<equality-connect-class>`
 
+            .. grid-item::
+               :ref:`active<equality-connect-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-connect-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-connect-solimp>`
+
             .. grid-item::
                :ref:`body1<equality-connect-body1>`
 
@@ -1925,15 +1934,6 @@
             .. 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:: :ref:`weld<equality-weld>` |*|
 
@@ -1946,6 +1946,15 @@
             .. grid-item::
                :ref:`class<equality-weld-class>`
 
+            .. grid-item::
+               :ref:`active<equality-weld-active>`
+
+            .. grid-item::
+               :ref:`solref<equality-weld-solref>`
+
+            .. grid-item::
+               :ref:`solimp<equality-weld-solimp>`
+
             .. grid-item::
                :ref:`body1<equality-weld-body1>`
 
@@ -1964,15 +1973,6 @@
             .. 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>`
 
@@ -1988,15 +1988,6 @@
             .. 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>`
 
@@ -2006,6 +1997,15 @@
             .. grid-item::
                :ref:`solimp<equality-joint-solimp>`
 
+            .. grid-item::
+               :ref:`joint1<equality-joint-joint1>`
+
+            .. grid-item::
+               :ref:`joint2<equality-joint-joint2>`
+
+            .. grid-item::
+               :ref:`polycoef<equality-joint-polycoef>`
+
 
       .. dropdown:: :ref:`tendon<equality-tendon>` |*|
 
@@ -2018,15 +2018,6 @@
             .. 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>`
 
@@ -2036,6 +2027,15 @@
             .. grid-item::
                :ref:`solimp<equality-tendon-solimp>`
 
+            .. grid-item::
+               :ref:`tendon1<equality-tendon-tendon1>`
+
+            .. grid-item::
+               :ref:`tendon2<equality-tendon-tendon2>`
+
+            .. grid-item::
+               :ref:`polycoef<equality-tendon-polycoef>`
+
 
       .. dropdown:: :ref:`flex<equality-flex>` |*|
 
@@ -2048,9 +2048,6 @@
             .. grid-item::
                :ref:`class<equality-flex-class>`
 
-            .. grid-item::
-               :ref:`flex<equality-flex-flex>`
-
             .. grid-item::
                :ref:`active<equality-flex-active>`
 
@@ -2060,6 +2057,9 @@
             .. grid-item::
                :ref:`solimp<equality-flex-solimp>`
 
+            .. grid-item::
+               :ref:`flex<equality-flex-flex>`
+
 
       .. dropdown:: :ref:`flexvert<equality-flexvert>` |*|
 
@@ -2072,9 +2072,6 @@
             .. grid-item::
                :ref:`class<equality-flexvert-class>`
 
-            .. grid-item::
-               :ref:`flex<equality-flexvert-flex>`
-
             .. grid-item::
                :ref:`active<equality-flexvert-active>`
 
@@ -2084,6 +2081,9 @@
             .. grid-item::
                :ref:`solimp<equality-flexvert-solimp>`
 
+            .. grid-item::
+               :ref:`flex<equality-flexvert-flex>`
+
 
       .. dropdown:: :ref:`flexstrain<equality-flexstrain>` |*|
 
@@ -2096,12 +2096,6 @@
             .. grid-item::
                :ref:`class<equality-flexstrain-class>`
 
-            .. grid-item::
-               :ref:`flex<equality-flexstrain-flex>`
-
-            .. grid-item::
-               :ref:`cell<equality-flexstrain-cell>`
-
             .. grid-item::
                :ref:`active<equality-flexstrain-active>`
 
@@ -2111,6 +2105,12 @@
             .. grid-item::
                :ref:`solimp<equality-flexstrain-solimp>`
 
+            .. grid-item::
+               :ref:`flex<equality-flexstrain-flex>`
+
+            .. grid-item::
+               :ref:`cell<equality-flexstrain-cell>`
+
 
    .. dropdown:: :ref:`tendon<tendon>` |*|
 
@@ -2312,6 +2312,12 @@
             .. grid-item::
                :ref:`delay<actuator-general-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-general-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-general-user>`
+
             .. grid-item::
                :ref:`ctrllimited<actuator-general-ctrllimited>`
 
@@ -2321,9 +2327,6 @@
             .. grid-item::
                :ref:`actlimited<actuator-general-actlimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<actuator-general-ctrlrange>`
-
             .. grid-item::
                :ref:`forcerange<actuator-general-forcerange>`
 
@@ -2345,9 +2348,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-general-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-general-user>`
-
             .. grid-item::
                :ref:`joint<actuator-general-joint>`
 
@@ -2429,15 +2429,18 @@
             .. grid-item::
                :ref:`delay<actuator-motor-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-motor-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-motor-user>`
+
             .. 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>`
 
@@ -2456,9 +2459,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-motor-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-motor-user>`
-
             .. grid-item::
                :ref:`joint<actuator-motor-joint>`
 
@@ -2504,15 +2504,18 @@
             .. grid-item::
                :ref:`delay<actuator-position-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-position-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-position-user>`
+
             .. 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>`
 
@@ -2534,9 +2537,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-position-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-position-user>`
-
             .. grid-item::
                :ref:`joint<actuator-position-joint>`
 
@@ -2594,15 +2594,18 @@
             .. grid-item::
                :ref:`delay<actuator-velocity-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-velocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-velocity-user>`
+
             .. 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>`
 
@@ -2621,9 +2624,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-velocity-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-velocity-user>`
-
             .. grid-item::
                :ref:`joint<actuator-velocity-joint>`
 
@@ -2672,6 +2672,12 @@
             .. grid-item::
                :ref:`delay<actuator-intvelocity-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-intvelocity-user>`
+
             .. grid-item::
                :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`
 
@@ -2681,9 +2687,6 @@
             .. grid-item::
                :ref:`actlimited<actuator-intvelocity-actlimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
-
             .. grid-item::
                :ref:`forcerange<actuator-intvelocity-forcerange>`
 
@@ -2708,9 +2711,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-intvelocity-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-intvelocity-user>`
-
             .. grid-item::
                :ref:`joint<actuator-intvelocity-joint>`
 
@@ -2765,17 +2765,17 @@
             .. grid-item::
                :ref:`delay<actuator-orientation-delay>`
 
-            .. grid-item::
-               :ref:`forcelimited<actuator-orientation-forcelimited>`
-
             .. grid-item::
                :ref:`ctrlrange<actuator-orientation-ctrlrange>`
 
             .. grid-item::
-               :ref:`forcerange<actuator-orientation-forcerange>`
+               :ref:`user<actuator-orientation-user>`
 
             .. grid-item::
-               :ref:`user<actuator-orientation-user>`
+               :ref:`forcelimited<actuator-orientation-forcelimited>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-orientation-forcerange>`
 
             .. grid-item::
                :ref:`joint<actuator-orientation-joint>`
@@ -2822,15 +2822,18 @@
             .. grid-item::
                :ref:`delay<actuator-pid-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-pid-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-pid-user>`
+
             .. grid-item::
                :ref:`ctrllimited<actuator-pid-ctrllimited>`
 
             .. grid-item::
                :ref:`forcelimited<actuator-pid-forcelimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<actuator-pid-ctrlrange>`
-
             .. grid-item::
                :ref:`posrange<actuator-pid-posrange>`
 
@@ -2861,9 +2864,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-pid-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-pid-user>`
-
             .. grid-item::
                :ref:`joint<actuator-pid-joint>`
 
@@ -2931,10 +2931,13 @@
                :ref:`delay<actuator-damper-delay>`
 
             .. grid-item::
-               :ref:`forcelimited<actuator-damper-forcelimited>`
+               :ref:`ctrlrange<actuator-damper-ctrlrange>`
 
             .. grid-item::
-               :ref:`ctrlrange<actuator-damper-ctrlrange>`
+               :ref:`user<actuator-damper-user>`
+
+            .. grid-item::
+               :ref:`forcelimited<actuator-damper-forcelimited>`
 
             .. grid-item::
                :ref:`forcerange<actuator-damper-forcerange>`
@@ -2954,9 +2957,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-damper-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-damper-user>`
-
             .. grid-item::
                :ref:`joint<actuator-damper-joint>`
 
@@ -3005,15 +3005,18 @@
             .. grid-item::
                :ref:`delay<actuator-cylinder-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-cylinder-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-cylinder-user>`
+
             .. 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>`
 
@@ -3032,9 +3035,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-cylinder-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-cylinder-user>`
-
             .. grid-item::
                :ref:`joint<actuator-cylinder-joint>`
 
@@ -3092,15 +3092,18 @@
             .. grid-item::
                :ref:`delay<actuator-muscle-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-muscle-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-muscle-user>`
+
             .. 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>`
 
@@ -3119,9 +3122,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-muscle-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-muscle-user>`
-
             .. grid-item::
                :ref:`joint<actuator-muscle-joint>`
 
@@ -3191,17 +3191,17 @@
             .. grid-item::
                :ref:`delay<actuator-adhesion-delay>`
 
-            .. grid-item::
-               :ref:`forcelimited<actuator-adhesion-forcelimited>`
-
             .. grid-item::
                :ref:`ctrlrange<actuator-adhesion-ctrlrange>`
 
             .. grid-item::
-               :ref:`forcerange<actuator-adhesion-forcerange>`
+               :ref:`user<actuator-adhesion-user>`
 
             .. grid-item::
-               :ref:`user<actuator-adhesion-user>`
+               :ref:`forcelimited<actuator-adhesion-forcelimited>`
+
+            .. grid-item::
+               :ref:`forcerange<actuator-adhesion-forcerange>`
 
             .. grid-item::
                :ref:`body<actuator-adhesion-body>`
@@ -3234,10 +3234,13 @@
                :ref:`delay<actuator-dcmotor-delay>`
 
             .. grid-item::
-               :ref:`ctrllimited<actuator-dcmotor-ctrllimited>`
+               :ref:`ctrlrange<actuator-dcmotor-ctrlrange>`
 
             .. grid-item::
-               :ref:`ctrlrange<actuator-dcmotor-ctrlrange>`
+               :ref:`user<actuator-dcmotor-user>`
+
+            .. grid-item::
+               :ref:`ctrllimited<actuator-dcmotor-ctrllimited>`
 
             .. grid-item::
                :ref:`lengthrange<actuator-dcmotor-lengthrange>`
@@ -3254,9 +3257,6 @@
             .. grid-item::
                :ref:`cranklength<actuator-dcmotor-cranklength>`
 
-            .. grid-item::
-               :ref:`user<actuator-dcmotor-user>`
-
             .. grid-item::
                :ref:`joint<actuator-dcmotor-joint>`
 
@@ -3320,12 +3320,6 @@
             .. 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>`
 
@@ -3338,6 +3332,18 @@
             .. grid-item::
                :ref:`delay<actuator-plugin-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<actuator-plugin-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<actuator-plugin-user>`
+
+            .. grid-item::
+               :ref:`plugin<actuator-plugin-plugin>`
+
+            .. grid-item::
+               :ref:`instance<actuator-plugin-instance>`
+
             .. grid-item::
                :ref:`ctrllimited<actuator-plugin-ctrllimited>`
 
@@ -3347,9 +3353,6 @@
             .. grid-item::
                :ref:`actlimited<actuator-plugin-actlimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<actuator-plugin-ctrlrange>`
-
             .. grid-item::
                :ref:`forcerange<actuator-plugin-forcerange>`
 
@@ -3398,9 +3401,6 @@
             .. grid-item::
                :ref:`slidersite<actuator-plugin-slidersite>`
 
-            .. grid-item::
-               :ref:`user<actuator-plugin-user>`
-
             .. grid-item::
                :ref:`actearly<actuator-plugin-actearly>`
 
@@ -3428,9 +3428,6 @@
             .. grid-item::
                :ref:`name<sensor-touch-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-touch-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-touch-nsample>`
 
@@ -3452,6 +3449,9 @@
             .. grid-item::
                :ref:`user<sensor-touch-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-touch-site>`
+
 
       .. dropdown:: :ref:`accelerometer<sensor-accelerometer>` |*|
 
@@ -3461,9 +3461,6 @@
             .. grid-item::
                :ref:`name<sensor-accelerometer-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-accelerometer-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-accelerometer-nsample>`
 
@@ -3485,6 +3482,9 @@
             .. grid-item::
                :ref:`user<sensor-accelerometer-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-accelerometer-site>`
+
 
       .. dropdown:: :ref:`velocimeter<sensor-velocimeter>` |*|
 
@@ -3494,9 +3494,6 @@
             .. grid-item::
                :ref:`name<sensor-velocimeter-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-velocimeter-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-velocimeter-nsample>`
 
@@ -3518,6 +3515,9 @@
             .. grid-item::
                :ref:`user<sensor-velocimeter-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-velocimeter-site>`
+
 
       .. dropdown:: :ref:`gyro<sensor-gyro>` |*|
 
@@ -3527,9 +3527,6 @@
             .. grid-item::
                :ref:`name<sensor-gyro-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-gyro-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-gyro-nsample>`
 
@@ -3551,6 +3548,9 @@
             .. grid-item::
                :ref:`user<sensor-gyro-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-gyro-site>`
+
 
       .. dropdown:: :ref:`force<sensor-force>` |*|
 
@@ -3560,9 +3560,6 @@
             .. grid-item::
                :ref:`name<sensor-force-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-force-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-force-nsample>`
 
@@ -3584,6 +3581,9 @@
             .. grid-item::
                :ref:`user<sensor-force-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-force-site>`
+
 
       .. dropdown:: :ref:`torque<sensor-torque>` |*|
 
@@ -3593,9 +3593,6 @@
             .. grid-item::
                :ref:`name<sensor-torque-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-torque-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-torque-nsample>`
 
@@ -3617,6 +3614,9 @@
             .. grid-item::
                :ref:`user<sensor-torque-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-torque-site>`
+
 
       .. dropdown:: :ref:`magnetometer<sensor-magnetometer>` |*|
 
@@ -3626,9 +3626,6 @@
             .. grid-item::
                :ref:`name<sensor-magnetometer-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-magnetometer-site>`
-
             .. grid-item::
                :ref:`nsample<sensor-magnetometer-nsample>`
 
@@ -3650,6 +3647,9 @@
             .. grid-item::
                :ref:`user<sensor-magnetometer-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-magnetometer-site>`
+
 
       .. dropdown:: :ref:`camprojection<sensor-camprojection>` |*|
 
@@ -3659,12 +3659,6 @@
             .. grid-item::
                :ref:`name<sensor-camprojection-name>`
 
-            .. grid-item::
-               :ref:`site<sensor-camprojection-site>`
-
-            .. grid-item::
-               :ref:`camera<sensor-camprojection-camera>`
-
             .. grid-item::
                :ref:`nsample<sensor-camprojection-nsample>`
 
@@ -3686,6 +3680,12 @@
             .. grid-item::
                :ref:`user<sensor-camprojection-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-camprojection-site>`
+
+            .. grid-item::
+               :ref:`camera<sensor-camprojection-camera>`
+
 
       .. dropdown:: :ref:`rangefinder<sensor-rangefinder>` |*|
 
@@ -3695,15 +3695,6 @@
             .. 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:`nsample<sensor-rangefinder-nsample>`
 
@@ -3725,6 +3716,15 @@
             .. grid-item::
                :ref:`user<sensor-rangefinder-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-rangefinder-site>`
+
+            .. grid-item::
+               :ref:`camera<sensor-rangefinder-camera>`
+
+            .. grid-item::
+               :ref:`data<sensor-rangefinder-data>`
+
 
       .. dropdown:: :ref:`jointpos<sensor-jointpos>` |*|
 
@@ -3734,9 +3734,6 @@
             .. grid-item::
                :ref:`name<sensor-jointpos-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointpos-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointpos-nsample>`
 
@@ -3758,6 +3755,9 @@
             .. grid-item::
                :ref:`user<sensor-jointpos-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointpos-joint>`
+
 
       .. dropdown:: :ref:`jointvel<sensor-jointvel>` |*|
 
@@ -3767,9 +3767,6 @@
             .. grid-item::
                :ref:`name<sensor-jointvel-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointvel-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointvel-nsample>`
 
@@ -3791,6 +3788,9 @@
             .. grid-item::
                :ref:`user<sensor-jointvel-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointvel-joint>`
+
 
       .. dropdown:: :ref:`tendonpos<sensor-tendonpos>` |*|
 
@@ -3800,9 +3800,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonpos-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonpos-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonpos-nsample>`
 
@@ -3824,6 +3821,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonpos-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonpos-tendon>`
+
 
       .. dropdown:: :ref:`tendonvel<sensor-tendonvel>` |*|
 
@@ -3833,9 +3833,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonvel-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonvel-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonvel-nsample>`
 
@@ -3857,6 +3854,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonvel-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonvel-tendon>`
+
 
       .. dropdown:: :ref:`actuatorpos<sensor-actuatorpos>` |*|
 
@@ -3866,9 +3866,6 @@
             .. grid-item::
                :ref:`name<sensor-actuatorpos-name>`
 
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorpos-actuator>`
-
             .. grid-item::
                :ref:`nsample<sensor-actuatorpos-nsample>`
 
@@ -3890,6 +3887,9 @@
             .. grid-item::
                :ref:`user<sensor-actuatorpos-user>`
 
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorpos-actuator>`
+
 
       .. dropdown:: :ref:`actuatorvel<sensor-actuatorvel>` |*|
 
@@ -3899,9 +3899,6 @@
             .. grid-item::
                :ref:`name<sensor-actuatorvel-name>`
 
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorvel-actuator>`
-
             .. grid-item::
                :ref:`nsample<sensor-actuatorvel-nsample>`
 
@@ -3923,6 +3920,9 @@
             .. grid-item::
                :ref:`user<sensor-actuatorvel-user>`
 
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorvel-actuator>`
+
 
       .. dropdown:: :ref:`actuatorfrc<sensor-actuatorfrc>` |*|
 
@@ -3932,9 +3932,6 @@
             .. grid-item::
                :ref:`name<sensor-actuatorfrc-name>`
 
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorfrc-actuator>`
-
             .. grid-item::
                :ref:`nsample<sensor-actuatorfrc-nsample>`
 
@@ -3956,6 +3953,9 @@
             .. grid-item::
                :ref:`user<sensor-actuatorfrc-user>`
 
+            .. grid-item::
+               :ref:`actuator<sensor-actuatorfrc-actuator>`
+
 
       .. dropdown:: :ref:`jointactuatorfrc<sensor-jointactuatorfrc>` |*|
 
@@ -3965,9 +3965,6 @@
             .. grid-item::
                :ref:`name<sensor-jointactuatorfrc-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointactuatorfrc-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointactuatorfrc-nsample>`
 
@@ -3989,6 +3986,9 @@
             .. grid-item::
                :ref:`user<sensor-jointactuatorfrc-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointactuatorfrc-joint>`
+
 
       .. dropdown:: :ref:`tendonactuatorfrc<sensor-tendonactuatorfrc>` |*|
 
@@ -3998,9 +3998,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonactuatorfrc-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonactuatorfrc-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonactuatorfrc-nsample>`
 
@@ -4022,6 +4019,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonactuatorfrc-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonactuatorfrc-tendon>`
+
 
       .. dropdown:: :ref:`ballquat<sensor-ballquat>` |*|
 
@@ -4031,9 +4031,6 @@
             .. grid-item::
                :ref:`name<sensor-ballquat-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-ballquat-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-ballquat-nsample>`
 
@@ -4055,6 +4052,9 @@
             .. grid-item::
                :ref:`user<sensor-ballquat-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-ballquat-joint>`
+
 
       .. dropdown:: :ref:`ballangvel<sensor-ballangvel>` |*|
 
@@ -4064,9 +4064,6 @@
             .. grid-item::
                :ref:`name<sensor-ballangvel-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-ballangvel-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-ballangvel-nsample>`
 
@@ -4088,6 +4085,9 @@
             .. grid-item::
                :ref:`user<sensor-ballangvel-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-ballangvel-joint>`
+
 
       .. dropdown:: :ref:`jointlimitpos<sensor-jointlimitpos>` |*|
 
@@ -4097,9 +4097,6 @@
             .. grid-item::
                :ref:`name<sensor-jointlimitpos-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitpos-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointlimitpos-nsample>`
 
@@ -4121,6 +4118,9 @@
             .. grid-item::
                :ref:`user<sensor-jointlimitpos-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitpos-joint>`
+
 
       .. dropdown:: :ref:`jointlimitvel<sensor-jointlimitvel>` |*|
 
@@ -4130,9 +4130,6 @@
             .. grid-item::
                :ref:`name<sensor-jointlimitvel-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitvel-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointlimitvel-nsample>`
 
@@ -4154,6 +4151,9 @@
             .. grid-item::
                :ref:`user<sensor-jointlimitvel-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitvel-joint>`
+
 
       .. dropdown:: :ref:`jointlimitfrc<sensor-jointlimitfrc>` |*|
 
@@ -4163,9 +4163,6 @@
             .. grid-item::
                :ref:`name<sensor-jointlimitfrc-name>`
 
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitfrc-joint>`
-
             .. grid-item::
                :ref:`nsample<sensor-jointlimitfrc-nsample>`
 
@@ -4187,6 +4184,9 @@
             .. grid-item::
                :ref:`user<sensor-jointlimitfrc-user>`
 
+            .. grid-item::
+               :ref:`joint<sensor-jointlimitfrc-joint>`
+
 
       .. dropdown:: :ref:`tendonlimitpos<sensor-tendonlimitpos>` |*|
 
@@ -4196,9 +4196,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonlimitpos-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitpos-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonlimitpos-nsample>`
 
@@ -4220,6 +4217,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonlimitpos-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitpos-tendon>`
+
 
       .. dropdown:: :ref:`tendonlimitvel<sensor-tendonlimitvel>` |*|
 
@@ -4229,9 +4229,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonlimitvel-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitvel-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonlimitvel-nsample>`
 
@@ -4253,6 +4250,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonlimitvel-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitvel-tendon>`
+
 
       .. dropdown:: :ref:`tendonlimitfrc<sensor-tendonlimitfrc>` |*|
 
@@ -4262,9 +4262,6 @@
             .. grid-item::
                :ref:`name<sensor-tendonlimitfrc-name>`
 
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitfrc-tendon>`
-
             .. grid-item::
                :ref:`nsample<sensor-tendonlimitfrc-nsample>`
 
@@ -4286,6 +4283,9 @@
             .. grid-item::
                :ref:`user<sensor-tendonlimitfrc-user>`
 
+            .. grid-item::
+               :ref:`tendon<sensor-tendonlimitfrc-tendon>`
+
 
       .. dropdown:: :ref:`framepos<sensor-framepos>` |*|
 
@@ -4295,18 +4295,6 @@
             .. 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:`nsample<sensor-framepos-nsample>`
 
@@ -4328,6 +4316,18 @@
             .. grid-item::
                :ref:`user<sensor-framepos-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`framequat<sensor-framequat>` |*|
 
@@ -4337,18 +4337,6 @@
             .. 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:`nsample<sensor-framequat-nsample>`
 
@@ -4370,6 +4358,18 @@
             .. grid-item::
                :ref:`user<sensor-framequat-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`framexaxis<sensor-framexaxis>` |*|
 
@@ -4379,18 +4379,6 @@
             .. 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:`nsample<sensor-framexaxis-nsample>`
 
@@ -4412,6 +4400,18 @@
             .. grid-item::
                :ref:`user<sensor-framexaxis-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`frameyaxis<sensor-frameyaxis>` |*|
 
@@ -4421,18 +4421,6 @@
             .. 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:`nsample<sensor-frameyaxis-nsample>`
 
@@ -4454,6 +4442,18 @@
             .. grid-item::
                :ref:`user<sensor-frameyaxis-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`framezaxis<sensor-framezaxis>` |*|
 
@@ -4463,18 +4463,6 @@
             .. 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:`nsample<sensor-framezaxis-nsample>`
 
@@ -4496,6 +4484,18 @@
             .. grid-item::
                :ref:`user<sensor-framezaxis-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`framelinvel<sensor-framelinvel>` |*|
 
@@ -4505,18 +4505,6 @@
             .. 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:`nsample<sensor-framelinvel-nsample>`
 
@@ -4538,6 +4526,18 @@
             .. grid-item::
                :ref:`user<sensor-framelinvel-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`frameangvel<sensor-frameangvel>` |*|
 
@@ -4547,18 +4547,6 @@
             .. 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:`nsample<sensor-frameangvel-nsample>`
 
@@ -4580,6 +4568,18 @@
             .. grid-item::
                :ref:`user<sensor-frameangvel-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`framelinacc<sensor-framelinacc>` |*|
 
@@ -4589,12 +4589,6 @@
             .. grid-item::
                :ref:`name<sensor-framelinacc-name>`
 
-            .. grid-item::
-               :ref:`objtype<sensor-framelinacc-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framelinacc-objname>`
-
             .. grid-item::
                :ref:`nsample<sensor-framelinacc-nsample>`
 
@@ -4616,6 +4610,12 @@
             .. grid-item::
                :ref:`user<sensor-framelinacc-user>`
 
+            .. grid-item::
+               :ref:`objtype<sensor-framelinacc-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-framelinacc-objname>`
+
 
       .. dropdown:: :ref:`frameangacc<sensor-frameangacc>` |*|
 
@@ -4625,12 +4625,6 @@
             .. grid-item::
                :ref:`name<sensor-frameangacc-name>`
 
-            .. grid-item::
-               :ref:`objtype<sensor-frameangacc-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-frameangacc-objname>`
-
             .. grid-item::
                :ref:`nsample<sensor-frameangacc-nsample>`
 
@@ -4652,6 +4646,12 @@
             .. grid-item::
                :ref:`user<sensor-frameangacc-user>`
 
+            .. grid-item::
+               :ref:`objtype<sensor-frameangacc-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-frameangacc-objname>`
+
 
       .. dropdown:: :ref:`subtreecom<sensor-subtreecom>` |*|
 
@@ -4661,9 +4661,6 @@
             .. grid-item::
                :ref:`name<sensor-subtreecom-name>`
 
-            .. grid-item::
-               :ref:`body<sensor-subtreecom-body>`
-
             .. grid-item::
                :ref:`nsample<sensor-subtreecom-nsample>`
 
@@ -4685,6 +4682,9 @@
             .. grid-item::
                :ref:`user<sensor-subtreecom-user>`
 
+            .. grid-item::
+               :ref:`body<sensor-subtreecom-body>`
+
 
       .. dropdown:: :ref:`subtreelinvel<sensor-subtreelinvel>` |*|
 
@@ -4694,9 +4694,6 @@
             .. grid-item::
                :ref:`name<sensor-subtreelinvel-name>`
 
-            .. grid-item::
-               :ref:`body<sensor-subtreelinvel-body>`
-
             .. grid-item::
                :ref:`nsample<sensor-subtreelinvel-nsample>`
 
@@ -4718,6 +4715,9 @@
             .. grid-item::
                :ref:`user<sensor-subtreelinvel-user>`
 
+            .. grid-item::
+               :ref:`body<sensor-subtreelinvel-body>`
+
 
       .. dropdown:: :ref:`subtreeangmom<sensor-subtreeangmom>` |*|
 
@@ -4727,9 +4727,6 @@
             .. grid-item::
                :ref:`name<sensor-subtreeangmom-name>`
 
-            .. grid-item::
-               :ref:`body<sensor-subtreeangmom-body>`
-
             .. grid-item::
                :ref:`nsample<sensor-subtreeangmom-nsample>`
 
@@ -4751,6 +4748,9 @@
             .. grid-item::
                :ref:`user<sensor-subtreeangmom-user>`
 
+            .. grid-item::
+               :ref:`body<sensor-subtreeangmom-body>`
+
 
       .. dropdown:: :ref:`insidesite<sensor-insidesite>` |*|
 
@@ -4760,15 +4760,6 @@
             .. 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:`nsample<sensor-insidesite-nsample>`
 
@@ -4790,6 +4781,15 @@
             .. grid-item::
                :ref:`user<sensor-insidesite-user>`
 
+            .. grid-item::
+               :ref:`site<sensor-insidesite-site>`
+
+            .. grid-item::
+               :ref:`objtype<sensor-insidesite-objtype>`
+
+            .. grid-item::
+               :ref:`objname<sensor-insidesite-objname>`
+
 
       .. dropdown:: :ref:`distance<sensor-distance>` |*|
 
@@ -4799,18 +4799,6 @@
             .. 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:`nsample<sensor-distance-nsample>`
 
@@ -4832,6 +4820,18 @@
             .. grid-item::
                :ref:`user<sensor-distance-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`normal<sensor-normal>` |*|
 
@@ -4841,18 +4841,6 @@
             .. 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:`nsample<sensor-normal-nsample>`
 
@@ -4874,6 +4862,18 @@
             .. grid-item::
                :ref:`user<sensor-normal-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`fromto<sensor-fromto>` |*|
 
@@ -4883,18 +4883,6 @@
             .. 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:`nsample<sensor-fromto-nsample>`
 
@@ -4916,6 +4904,18 @@
             .. grid-item::
                :ref:`user<sensor-fromto-user>`
 
+            .. 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>`
+
 
       .. dropdown:: :ref:`contact<sensor-contact>` |*|
 
@@ -4925,6 +4925,27 @@
             .. grid-item::
                :ref:`name<sensor-contact-name>`
 
+            .. grid-item::
+               :ref:`nsample<sensor-contact-nsample>`
+
+            .. grid-item::
+               :ref:`interp<sensor-contact-interp>`
+
+            .. grid-item::
+               :ref:`delay<sensor-contact-delay>`
+
+            .. grid-item::
+               :ref:`interval<sensor-contact-interval>`
+
+            .. grid-item::
+               :ref:`cutoff<sensor-contact-cutoff>`
+
+            .. grid-item::
+               :ref:`noise<sensor-contact-noise>`
+
+            .. grid-item::
+               :ref:`user<sensor-contact-user>`
+
             .. grid-item::
                :ref:`geom1<sensor-contact-geom1>`
 
@@ -4955,27 +4976,6 @@
             .. grid-item::
                :ref:`reduce<sensor-contact-reduce>`
 
-            .. grid-item::
-               :ref:`nsample<sensor-contact-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-contact-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-contact-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-contact-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-contact-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-contact-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-contact-user>`
-
 
       .. dropdown:: :ref:`e_potential<sensor-e_potential>` |*|
 
@@ -5510,6 +5510,12 @@
             .. grid-item::
                :ref:`texture<default-material-texture>`
 
+            .. grid-item::
+               :ref:`texrepeat<default-material-texrepeat>`
+
+            .. grid-item::
+               :ref:`texuniform<default-material-texuniform>`
+
             .. grid-item::
                :ref:`emission<default-material-emission>`
 
@@ -5531,12 +5537,6 @@
             .. grid-item::
                :ref:`rgba<default-material-rgba>`
 
-            .. grid-item::
-               :ref:`texrepeat<default-material-texrepeat>`
-
-            .. grid-item::
-               :ref:`texuniform<default-material-texuniform>`
-
 
          .. dropdown:: :ref:`layer<material-layer>` |*|
 
@@ -5630,12 +5630,6 @@
             .. 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>`
 
@@ -5693,6 +5687,12 @@
             .. grid-item::
                :ref:`fromto<default-geom-fromto>`
 
+            .. grid-item::
+               :ref:`pos<default-geom-pos>`
+
+            .. grid-item::
+               :ref:`quat<default-geom-quat>`
+
             .. grid-item::
                :ref:`axisangle<default-geom-axisangle>`
 
@@ -5744,15 +5744,6 @@
             .. 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>`
 
@@ -5765,6 +5756,15 @@
             .. grid-item::
                :ref:`euler<default-site-euler>`
 
+            .. grid-item::
+               :ref:`material<default-site-material>`
+
+            .. grid-item::
+               :ref:`size<default-site-size>`
+
+            .. grid-item::
+               :ref:`fromto<default-site-fromto>`
+
             .. grid-item::
                :ref:`rgba<default-site-rgba>`
 
@@ -5837,6 +5837,18 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. 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:`pos<default-light-pos>`
 
@@ -5852,18 +5864,6 @@
             .. 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>`
 
@@ -5990,6 +5990,24 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-general-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-general-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-general-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-general-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-general-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-general-user>`
+
             .. grid-item::
                :ref:`ctrllimited<default-general-ctrllimited>`
 
@@ -5999,9 +6017,6 @@
             .. grid-item::
                :ref:`actlimited<default-general-actlimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<default-general-ctrlrange>`
-
             .. grid-item::
                :ref:`forcerange<default-general-forcerange>`
 
@@ -6020,21 +6035,6 @@
             .. grid-item::
                :ref:`cranklength<default-general-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-general-user>`
-
-            .. grid-item::
-               :ref:`group<default-general-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-general-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-general-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-general-delay>`
-
             .. grid-item::
                :ref:`actdim<default-general-actdim>`
 
@@ -6074,15 +6074,30 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-motor-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-motor-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-motor-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-motor-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-motor-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-motor-user>`
+
             .. 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>`
 
@@ -6098,36 +6113,36 @@
             .. grid-item::
                :ref:`cranklength<default-motor-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-motor-user>`
-
-            .. grid-item::
-               :ref:`group<default-motor-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-motor-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-motor-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-motor-delay>`
-
 
       .. dropdown:: :ref:`position<default-position>` :octicon:`dot`
 
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-position-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-position-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-position-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-position-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-position-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-position-user>`
+
             .. 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>`
 
@@ -6146,21 +6161,6 @@
             .. grid-item::
                :ref:`cranklength<default-position-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-position-user>`
-
-            .. grid-item::
-               :ref:`group<default-position-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-position-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-position-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-position-delay>`
-
             .. grid-item::
                :ref:`kp<default-position-kp>`
 
@@ -6179,15 +6179,30 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-velocity-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-velocity-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-velocity-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-velocity-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-velocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-velocity-user>`
+
             .. 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>`
 
@@ -6203,21 +6218,6 @@
             .. grid-item::
                :ref:`cranklength<default-velocity-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-velocity-user>`
-
-            .. grid-item::
-               :ref:`group<default-velocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-velocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-velocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-velocity-delay>`
-
             .. grid-item::
                :ref:`kv<default-velocity-kv>`
 
@@ -6227,6 +6227,24 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-intvelocity-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-intvelocity-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-intvelocity-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-intvelocity-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-intvelocity-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-intvelocity-user>`
+
             .. grid-item::
                :ref:`ctrllimited<default-intvelocity-ctrllimited>`
 
@@ -6236,9 +6254,6 @@
             .. grid-item::
                :ref:`actlimited<default-intvelocity-actlimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<default-intvelocity-ctrlrange>`
-
             .. grid-item::
                :ref:`forcerange<default-intvelocity-forcerange>`
 
@@ -6260,21 +6275,6 @@
             .. grid-item::
                :ref:`cranklength<default-intvelocity-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-intvelocity-user>`
-
-            .. grid-item::
-               :ref:`group<default-intvelocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-intvelocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-intvelocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-intvelocity-delay>`
-
             .. grid-item::
                :ref:`kp<default-intvelocity-kp>`
 
@@ -6290,18 +6290,6 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
-            .. grid-item::
-               :ref:`forcelimited<default-orientation-forcelimited>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-orientation-ctrlrange>`
-
-            .. grid-item::
-               :ref:`forcerange<default-orientation-forcerange>`
-
-            .. grid-item::
-               :ref:`user<default-orientation-user>`
-
             .. grid-item::
                :ref:`group<default-orientation-group>`
 
@@ -6314,6 +6302,18 @@
             .. grid-item::
                :ref:`delay<default-orientation-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<default-orientation-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-orientation-user>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-orientation-forcelimited>`
+
+            .. grid-item::
+               :ref:`forcerange<default-orientation-forcerange>`
+
             .. grid-item::
                :ref:`kp<default-orientation-kp>`
 
@@ -6332,15 +6332,30 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-pid-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-pid-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-pid-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-pid-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-pid-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-pid-user>`
+
             .. grid-item::
                :ref:`ctrllimited<default-pid-ctrllimited>`
 
             .. grid-item::
                :ref:`forcelimited<default-pid-forcelimited>`
 
-            .. grid-item::
-               :ref:`ctrlrange<default-pid-ctrlrange>`
-
             .. grid-item::
                :ref:`posrange<default-pid-posrange>`
 
@@ -6368,21 +6383,6 @@
             .. grid-item::
                :ref:`cranklength<default-pid-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-pid-user>`
-
-            .. grid-item::
-               :ref:`group<default-pid-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-pid-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-pid-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-pid-delay>`
-
             .. grid-item::
                :ref:`kp<default-pid-kp>`
 
@@ -6411,11 +6411,26 @@
             :gutter: 0
 
             .. grid-item::
-               :ref:`forcelimited<default-damper-forcelimited>`
+               :ref:`group<default-damper-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-damper-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-damper-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-damper-delay>`
 
             .. grid-item::
                :ref:`ctrlrange<default-damper-ctrlrange>`
 
+            .. grid-item::
+               :ref:`user<default-damper-user>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-damper-forcelimited>`
+
             .. grid-item::
                :ref:`forcerange<default-damper-forcerange>`
 
@@ -6431,21 +6446,6 @@
             .. grid-item::
                :ref:`cranklength<default-damper-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-damper-user>`
-
-            .. grid-item::
-               :ref:`group<default-damper-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-damper-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-damper-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-damper-delay>`
-
             .. grid-item::
                :ref:`kv<default-damper-kv>`
 
@@ -6455,15 +6455,30 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-cylinder-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-cylinder-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-cylinder-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-cylinder-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-cylinder-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-cylinder-user>`
+
             .. 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>`
 
@@ -6479,21 +6494,6 @@
             .. grid-item::
                :ref:`cranklength<default-cylinder-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-cylinder-user>`
-
-            .. grid-item::
-               :ref:`group<default-cylinder-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-cylinder-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-cylinder-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-cylinder-delay>`
-
             .. grid-item::
                :ref:`timeconst<default-cylinder-timeconst>`
 
@@ -6512,15 +6512,30 @@
          .. grid:: 2 3 4 4
             :gutter: 0
 
+            .. grid-item::
+               :ref:`group<default-muscle-group>`
+
+            .. grid-item::
+               :ref:`nsample<default-muscle-nsample>`
+
+            .. grid-item::
+               :ref:`interp<default-muscle-interp>`
+
+            .. grid-item::
+               :ref:`delay<default-muscle-delay>`
+
+            .. grid-item::
+               :ref:`ctrlrange<default-muscle-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-muscle-user>`
+
             .. 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>`
 
@@ -6536,21 +6551,6 @@
             .. grid-item::
                :ref:`cranklength<default-muscle-cranklength>`
 
-            .. grid-item::
-               :ref:`user<default-muscle-user>`
-
-            .. grid-item::
-               :ref:`group<default-muscle-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-muscle-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-muscle-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-muscle-delay>`
-
             .. grid-item::
                :ref:`timeconst<default-muscle-timeconst>`
 
@@ -6584,21 +6584,6 @@
          .. 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>`
 
@@ -6611,33 +6596,27 @@
             .. grid-item::
                :ref:`delay<default-adhesion-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<default-adhesion-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-adhesion-user>`
+
+            .. grid-item::
+               :ref:`forcelimited<default-adhesion-forcelimited>`
+
+            .. grid-item::
+               :ref:`forcerange<default-adhesion-forcerange>`
+
+            .. grid-item::
+               :ref:`gain<default-adhesion-gain>`
+
 
       .. dropdown:: :ref:`dcmotor<default-dcmotor>` :octicon:`dot`
 
          .. grid:: 2 3 4 4
             :gutter: 0
 
-            .. grid-item::
-               :ref:`ctrllimited<default-dcmotor-ctrllimited>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-dcmotor-ctrlrange>`
-
-            .. grid-item::
-               :ref:`gear<default-dcmotor-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-dcmotor-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-dcmotor-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-dcmotor-cranklength>`
-
-            .. grid-item::
-               :ref:`user<default-dcmotor-user>`
-
             .. grid-item::
                :ref:`group<default-dcmotor-group>`
 
@@ -6650,6 +6629,27 @@
             .. grid-item::
                :ref:`delay<default-dcmotor-delay>`
 
+            .. grid-item::
+               :ref:`ctrlrange<default-dcmotor-ctrlrange>`
+
+            .. grid-item::
+               :ref:`user<default-dcmotor-user>`
+
+            .. grid-item::
+               :ref:`ctrllimited<default-dcmotor-ctrllimited>`
+
+            .. grid-item::
+               :ref:`gear<default-dcmotor-gear>`
+
+            .. grid-item::
+               :ref:`damping<default-dcmotor-damping>`
+
+            .. grid-item::
+               :ref:`armature<default-dcmotor-armature>`
+
+            .. grid-item::
+               :ref:`cranklength<default-dcmotor-cranklength>`
+
             .. grid-item::
                :ref:`motorconst<default-dcmotor-motorconst>`
 
@@ -6671,15 +6671,15 @@
             .. grid-item::
                :ref:`controller<default-dcmotor-controller>`
 
-            .. grid-item::
-               :ref:`input<default-dcmotor-input>`
-
             .. grid-item::
                :ref:`thermal<default-dcmotor-thermal>`
 
             .. grid-item::
                :ref:`lugre<default-dcmotor-lugre>`
 
+            .. grid-item::
+               :ref:`input<default-dcmotor-input>`
+
 
    .. dropdown:: :ref:`custom<custom>` |*|
 
@@ -6766,5 +6766,3 @@
 
                   .. grid-item::
                      :ref:`value<instance-config-value>`
-
-
diff --git a/doc/generate/generate_mjcf_table.py b/doc/generate/generate_mjcf_table.py
new file mode 100644
index 00000000..b2f5e537
--- /dev/null
+++ b/doc/generate/generate_mjcf_table.py
@@ -0,0 +1,181 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Generates the MJCF[] grammar table from src/xml/mjcf.schema.
+
+The table (src/xml/mjcf_table.inc) is the element tree consumed by the
+mjXSchema validator: rows of {name, cardinality, attributes...} with
+{"<"}/{">"} nesting markers. It is checked in and gated by
+test/doc/doc_test.py, which regenerates it from the schema and diffs.
+"""
+
+import sys
+
+import os
+_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, _SCRIPT_DIR)
+import mjcf_schema
+_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
+SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
+
+_HEADER = '''\
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
+// doc/generate/generate_mjcf_table.py; test/doc/doc_test.py checks freshness.
+//
+// The MJCF grammar table consumed by mjXSchema: rows of {name, cardinality,
+// attributes...} with {"<"}/{">"} nesting markers. worldbody, frame and
+// replicate have no rows: mjXSchema::NameMatch validates them against the
+// body row (see the alias= facets in mjcf.schema).
+
+// clang-format off
+'''
+
+_WIDTH = 100
+
+
+def _wrap_row(parts: list[str], indent: int) -> list[str]:
+  """One {...}, initializer, wrapped at _WIDTH with hanging indent."""
+  lines = []
+  line = ' ' * indent + '{' + parts[0]
+  for part in parts[1:]:
+    candidate = f'{line}, {part}'
+    if len(candidate) + 2 > _WIDTH:  # room for "},"
+      lines.append(line + ',')
+      line = ' ' * (indent + 4) + part
+    else:
+      line = candidate
+  lines.append(line + '},')
+  return lines
+
+
+KIND_CHAR = {'exclusive': 'e', 'together': 't', 'requires': 'r',
+             'oneof': 'o'}
+
+
+def _element_constraints(schema, element):
+  """Element's own constraints plus those of transitively used groups."""
+  cons = list(element.constraints())
+  visited = set()
+  stack = [m.group for m in element.members
+           if isinstance(m, mjcf_schema.Use)]
+  while stack:
+    name = stack.pop()
+    if name in visited:
+      continue
+    visited.add(name)
+    group = schema.groups[name]
+    for member in group.members:
+      if isinstance(member, mjcf_schema.Constraint):
+        cons.append(member)
+      elif isinstance(member, mjcf_schema.Use):
+        stack.append(member.group)
+  return cons
+
+
+def generate() -> str:
+  """Generates the C++ grammar table header file contents from mjcf.schema."""
+  schema = mjcf_schema.parse_file(SCHEMA_PATH)
+  out = []
+  constraints = []
+  count = 0
+
+  def emit_entry(lines: list[str]):
+    nonlocal count
+    out.extend(lines)
+    count += 1
+
+  def visit(element: mjcf_schema.Element, card: str, indent: int,
+            project: bool):
+    # a row in default context is the element's defaultable projection
+    attrs = [a for a in schema.expanded_attrs(element)]
+    if project:
+      attrs = [a for a in attrs
+               if a.name not in ('name', 'class')
+               and not a.facets.get('nodefault')]
+    parts = [f'"{element.xml_name()}"', f'"{card}"']
+    parts += [f'"{a.name}"' for a in attrs]
+    row_index = count
+    emit_entry(_wrap_row(parts, indent))
+
+    # presence constraints whose attributes all survive in this row
+    row_attrs = {a.name for a in attrs}
+    for con in _element_constraints(schema, element):
+      if all(all(n in row_attrs for n in b) for b in con.bundles):
+        spec = '|'.join(' '.join(b) for b in con.bundles)
+        constraints.append(f"  {{{row_index}, '{KIND_CHAR[con.kind]}', "
+                           f'"{spec}"}},')
+
+    children = [c for c in element.children() if c.name != element.name]
+    if project:
+      # plugin configuration is not settable per-class
+      children = [c for c in children if c.name != 'plugin']
+    if not children:
+      return
+    emit_entry([' ' * indent + '{"<"},'])
+    for child in children:
+      decl = schema.elements[child.name]
+      child_project = project or (
+          element.name == 'default' and not child.name.startswith('default_'))
+      visit(decl, child.card, indent + 4, child_project)
+      if indent == 0:
+        out.append('')
+    emit_entry([' ' * indent + '{">"},'])
+
+  visit(schema.elements['mujoco'], '!', 0, False)
+
+  body = '\n'.join(out)
+  con_body = '\n'.join(constraints)
+  return (_HEADER +
+          'std::vector<const char*> MJCF[] = {\n' + body + '\n};\n'
+          '// clang-format on\n\n'
+          'const int nMJCF = sizeof(MJCF) / sizeof(MJCF[0]);\n\n'
+          '// presence constraints, indexed into MJCF[]; enforced by\n'
+          '// mjXSchema::Check. spec: attribute bundles, space-joined,\n'
+          "// '|'-separated; kind: e=exclusive t=together r=requires o=oneof\n"
+          '// clang-format off\n'
+          'const mjXConstraintDef MJCF_constraints[] = {\n' + con_body +
+          '\n};\n'
+          '// clang-format on\n\n'
+          'const int nMJCF_constraints = '
+          'sizeof(MJCF_constraints) / sizeof(MJCF_constraints[0]);\n')
+
+
+def main() -> int:
+  if len(sys.argv) > 2:
+    sys.exit('usage: generate_mjcf_table.py [output.inc]')
+  text = generate()
+  if len(sys.argv) == 2:
+    with open(sys.argv[1], 'w', encoding='utf-8') as file:
+      file.write(text)
+  else:
+    sys.stdout.write(text)
+  return 0
+
+
+if __name__ == '__main__':
+  sys.exit(main())
diff --git a/doc/generate/generate_schema.py b/doc/generate/generate_schema.py
index 71a1e8c1..ba213cc7 100644
--- a/doc/generate/generate_schema.py
+++ b/doc/generate/generate_schema.py
@@ -113,18 +113,18 @@ def generate_dropdown(
 
 
 def generate() -> str:
-  """Generates XMLschema.rst by parsing xml_native_reader.cc.
+  """Generates XMLschema.rst by parsing mjcf_table.inc.
 
-  The schema is defined in xml_native_reader.cc as a nested structure called
-  MJCF[nMJCF]. This function parses that structure and generates nested
-  dropdown directives with list-tables for attributes.
+  The schema is defined in mjcf_table.inc (generated from mjcf.schema) as a
+  nested structure called MJCF[]. This function parses that structure and
+  generates nested dropdown directives with list-tables for attributes.
 
   Returns:
     RST content with nested dropdown directives for the MJCF schema.
   """
   script_dir = os.path.dirname(os.path.abspath(__file__))
   repo_root = os.path.dirname(os.path.dirname(script_dir))
-  filepath = os.path.join(repo_root, 'src', 'xml', 'xml_native_reader.cc')
+  filepath = os.path.join(repo_root, 'src', 'xml', 'mjcf_table.inc')
   xmlfile = os.path.join(repo_root, 'doc', 'XMLreference.rst')
 
   # Collect all link targets from XMLreference.rst for validation.
@@ -159,7 +159,7 @@ def generate() -> str:
 
       # Skip to the MJCF schema definition in the C++ source.
       for line in file:
-        if 'std::vector<const char*> MJCF[nMJCF] = {' in line.strip():
+        if 'std::vector<const char*> MJCF[] = {' in line.strip():
           break
 
       # Parse the schema structure.
@@ -224,7 +224,8 @@ def generate() -> str:
             parent[level + 1] = element[0]
           element = []
 
-  return output
+  # single newline at end of file
+  return output.rstrip('\n') + '\n'
 
 
 def main() -> int:
diff --git a/src/xml/mjcf_table.inc b/src/xml/mjcf_table.inc
new file mode 100644
index 00000000..ebc97710
--- /dev/null
+++ b/src/xml/mjcf_table.inc
@@ -0,0 +1,542 @@
+// Copyright 2026 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
+// doc/generate/generate_mjcf_table.py; test/doc/doc_test.py checks freshness.
+//
+// The MJCF grammar table consumed by mjXSchema: rows of {name, cardinality,
+// attributes...} with {"<"}/{">"} nesting markers. worldbody, frame and
+// replicate have no rows: mjXSchema::NameMatch validates them against the
+// body row (see the alias= facets in mjcf.schema).
+
+// clang-format off
+std::vector<const char*> MJCF[] = {
+{"mujoco", "!", "model"},
+{"<"},
+    {"compiler", "*", "autolimits", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
+        "strippath", "coordinate", "angle", "fitaabb", "eulerseq", "meshdir", "texturedir",
+        "discardvisual", "usethread", "fusestatic", "inertiafromgeom", "inertiagrouprange",
+        "saveinertial", "assetdir", "alignfree", "conflict"},
+    {"<"},
+        {"lengthrange", "?", "mode", "useexisting", "uselimit", "accel", "maxforce", "timeconst",
+            "timestep", "inttotal", "interval", "tolrange"},
+    {">"},
+
+    {"option", "*", "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
+        "ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
+        "o_margin", "o_solref", "o_solimp", "o_friction", "integrator", "cone", "jacobian",
+        "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
+        "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
+    {"<"},
+        {"flag", "?", "constraint", "equality", "frictionloss", "limit", "contact", "spring",
+            "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation", "refsafe",
+            "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island", "multiccd",
+            "override", "energy", "fwdinv", "invdiscrete", "sleep", "diagexact"},
+    {">"},
+
+    {"size", "*", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey", "nuser_body",
+        "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam", "nuser_tendon", "nuser_actuator",
+        "nuser_sensor"},
+
+    {"statistic", "*", "meaninertia", "meanmass", "meansize", "extent", "center"},
+
+    {"visual", "*"},
+    {"<"},
+        {"global", "?", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
+            "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
+            "bvactive"},
+        {"quality", "?", "shadowsize", "offsamples", "numslices", "numstacks", "numquads"},
+        {"headlight", "?", "ambient", "diffuse", "specular", "active"},
+        {"map", "?", "stiffness", "stiffnessrot", "force", "torque", "alpha", "fogstart", "fogend",
+            "znear", "zfar", "haze", "shadowclip", "shadowscale", "actuatortendon"},
+        {"scale", "?", "forcewidth", "contactwidth", "contactheight", "connect", "com", "camera",
+            "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength", "actuatorwidth",
+            "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
+        {"rgba", "?", "fog", "haze", "force", "inertia", "joint", "actuator", "actuatornegative",
+            "actuatorpositive", "com", "camera", "light", "selectpoint", "connect", "contactpoint",
+            "contactforce", "contactfriction", "contacttorque", "contactgap", "rangefinder",
+            "constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
+    {">"},
+
+    {"default", "R", "class"},
+    {"<"},
+        {"mesh", "?", "scale", "maxhullvert", "inertia"},
+        {"material", "?", "texture", "texrepeat", "texuniform", "emission", "specular",
+            "shininess", "reflectance", "metallic", "roughness", "rgba"},
+        {"<"},
+            {"layer", "*", "texture", "role"},
+        {">"},
+        {"joint", "?", "type", "group", "pos", "axis", "springdamper", "limited",
+            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
+            "springref", "armature", "damping", "frictionloss", "user"},
+        {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
+            "material", "friction", "mass", "density", "shellinertia", "solmix", "solref",
+            "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto", "pos", "quat",
+            "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale", "rgba",
+            "fluidshape", "fluidcoef", "user"},
+        {"site", "?", "type", "group", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
+            "material", "size", "fromto", "rgba", "user"},
+        {"camera", "?", "projection", "fovy", "ipd", "resolution", "output", "pos", "quat",
+            "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel", "principal",
+            "principalpixel", "sensorsize", "user"},
+        {"light", "?", "directional", "type", "castshadow", "active", "pos", "dir", "bulbradius",
+            "intensity", "range", "attenuation", "cutoff", "exponent", "ambient", "diffuse",
+            "specular", "mode"},
+        {"pair", "?", "condim", "friction", "solref", "solreffriction", "solimp", "gap", "margin",
+            "adhesion"},
+        {"equality", "?", "active", "solref", "solimp"},
+        {"tendon", "?", "group", "limited", "range", "solreflimit", "solimplimit",
+            "solreffriction", "solimpfriction", "frictionloss", "springlength", "width",
+            "material", "margin", "stiffness", "damping", "rgba", "user"},
+        {"general", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
+            "forcelimited", "actlimited", "forcerange", "actrange", "gear", "damping", "armature",
+            "cranklength", "actdim", "input", "velrange", "ffrange", "dyntype", "gaintype",
+            "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
+        {"motor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
+            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength"},
+        {"position", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "inheritrange", "forcerange", "gear", "damping",
+            "armature", "cranklength", "kp", "kv", "dampratio", "timeconst"},
+        {"velocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
+            "cranklength", "kv"},
+        {"intvelocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange", "inheritrange",
+            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio"},
+        {"orientation", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "forcelimited", "forcerange", "kp", "kv", "dampratio", "input"},
+        {"pid", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
+            "forcelimited", "posrange", "velrange", "ffrange", "forcerange", "inheritrange",
+            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio", "ki", "imax",
+            "slewmax", "input"},
+        {"damper", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "forcelimited",
+            "forcerange", "gear", "damping", "armature", "cranklength", "kv"},
+        {"cylinder", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
+            "cranklength", "timeconst", "area", "diameter", "bias"},
+        {"muscle", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
+            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength",
+            "timeconst", "range", "force", "scale", "lmin", "lmax", "vmax", "fpmax", "fvmax"},
+        {"adhesion", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "forcelimited", "forcerange", "gain"},
+        {"dcmotor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
+            "gear", "damping", "armature", "cranklength", "motorconst", "resistance", "nominal",
+            "saturation", "inductance", "cogging", "controller", "thermal", "lugre", "input"},
+    {">"},
+
+    {"extension", "*"},
+    {"<"},
+        {"plugin", "*", "plugin"},
+        {"<"},
+            {"instance", "*", "name"},
+            {"<"},
+                {"config", "*", "key", "value"},
+            {">"},
+        {">"},
+    {">"},
+
+    {"asset", "*"},
+    {"<"},
+        {"mesh", "*", "name", "class", "content_type", "file", "vertex", "normal", "texcoord",
+            "face", "refpos", "refquat", "scale", "smoothnormal", "maxhullvert", "inertia",
+            "builtin", "params", "material"},
+        {"<"},
+            {"plugin", "*", "plugin", "instance"},
+            {"<"},
+                {"config", "*", "key", "value"},
+            {">"},
+        {">"},
+        {"hfield", "*", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
+        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
+            "group"},
+        {"<"},
+            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
+        {">"},
+        {"texture", "*", "name", "type", "colorspace", "content_type", "file", "gridsize",
+            "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
+            "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height", "hflip",
+            "vflip", "nchannel"},
+        {"material", "*", "name", "class", "texture", "texrepeat", "texuniform", "emission",
+            "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
+        {"<"},
+            {"layer", "*", "texture", "role"},
+        {">"},
+        {"model", "*", "name", "file", "content_type"},
+    {">"},
+
+    {"body", "R", "name", "childclass", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
+        "mocap", "gravcomp", "sleep", "simple", "user"},
+    {"<"},
+        {"inertial", "?", "pos", "quat", "mass", "diaginertia", "axisangle", "xyaxes", "zaxis",
+            "euler", "fullinertia"},
+        {"joint", "*", "name", "class", "type", "group", "pos", "axis", "springdamper", "limited",
+            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
+            "springref", "armature", "damping", "frictionloss", "user"},
+        {"freejoint", "*", "name", "group", "align"},
+        {"geom", "*", "name", "class", "type", "contype", "conaffinity", "condim", "group",
+            "priority", "size", "material", "friction", "mass", "density", "shellinertia",
+            "solmix", "solref", "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto",
+            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale",
+            "rgba", "fluidshape", "fluidcoef", "user"},
+        {"<"},
+            {"plugin", "*", "plugin", "instance"},
+            {"<"},
+                {"config", "*", "key", "value"},
+            {">"},
+        {">"},
+        {"attach", "*", "model", "body", "frame", "prefix"},
+        {"site", "*", "name", "class", "type", "group", "pos", "quat", "axisangle", "xyaxes",
+            "zaxis", "euler", "material", "size", "fromto", "rgba", "user"},
+        {"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "output",
+            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "focal",
+            "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
+        {"light", "*", "name", "class", "directional", "type", "castshadow", "active", "pos",
+            "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff", "exponent",
+            "ambient", "diffuse", "specular", "mode", "target", "texture"},
+        {"plugin", "*", "plugin", "instance"},
+        {"<"},
+            {"config", "*", "key", "value"},
+        {">"},
+        {"composite", "*", "prefix", "type", "count", "offset", "vertex", "initial", "curve",
+            "size", "quat"},
+        {"<"},
+            {"joint", "*", "kind", "group", "stiffness", "damping", "armature", "solreffix",
+                "solimpfix", "type", "axis", "limited", "range", "margin", "solreflimit",
+                "solimplimit", "frictionloss", "solreffriction", "solimpfriction"},
+            {"skin", "?", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
+            {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
+                "material", "rgba", "friction", "mass", "density", "solmix", "solref", "solimp",
+                "margin", "gap", "surfacevel", "adhesion"},
+            {"site", "?", "group", "size", "material", "rgba"},
+            {"plugin", "*", "plugin", "instance"},
+            {"<"},
+                {"config", "*", "key", "value"},
+            {">"},
+        {">"},
+        {"flexcomp", "*", "name", "type", "group", "dim", "dof", "count", "cellcount", "spacing",
+            "radius", "rigid", "mass", "inertiabox", "scale", "file", "point", "element",
+            "texcoord", "material", "rgba", "flatskin", "pos", "quat", "axisangle", "xyaxes",
+            "zaxis", "euler", "origin"},
+        {"<"},
+            {"edge", "?", "equality", "solref", "solimp", "stiffness", "damping"},
+            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
+            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
+                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
+                "passive"},
+            {"pin", "*", "id", "range", "grid", "gridrange"},
+            {"plugin", "*", "plugin", "instance"},
+            {"<"},
+                {"config", "*", "key", "value"},
+            {">"},
+        {">"},
+    {">"},
+
+    {"deformable", "*"},
+    {"<"},
+        {"flex", "*", "name", "group", "dim", "radius", "material", "rgba", "flatskin", "body",
+            "vertex", "element", "texcoord", "elemtexcoord", "node", "cellcount", "dof"},
+        {"<"},
+            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
+                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
+                "passive"},
+            {"edge", "?", "stiffness", "damping"},
+            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
+        {">"},
+        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
+            "group"},
+        {"<"},
+            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
+        {">"},
+    {">"},
+
+    {"contact", "*"},
+    {"<"},
+        {"pair", "*", "name", "class", "geom1", "geom2", "condim", "friction", "solref",
+            "solreffriction", "solimp", "gap", "margin", "adhesion"},
+        {"exclude", "*", "name", "body1", "body2"},
+    {">"},
+
+    {"tendon", "*"},
+    {"<"},
+        {"spatial", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
+            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+            "frictionloss", "springlength", "width", "material", "margin", "stiffness", "damping",
+            "armature", "rgba", "user"},
+        {"<"},
+            {"site", "*", "site"},
+            {"geom", "*", "geom", "sidesite"},
+            {"pulley", "*", "divisor"},
+        {">"},
+        {"fixed", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
+            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+            "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
+        {"<"},
+            {"joint", "*", "joint", "coef"},
+        {">"},
+    {">"},
+
+    {"equality", "*"},
+    {"<"},
+        {"connect", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "anchor",
+            "site1", "site2"},
+        {"weld", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "relpose",
+            "anchor", "site1", "site2", "torquescale"},
+        {"joint", "*", "name", "class", "active", "solref", "solimp", "joint1", "joint2",
+            "polycoef"},
+        {"tendon", "*", "name", "class", "active", "solref", "solimp", "tendon1", "tendon2",
+            "polycoef"},
+        {"flex", "*", "name", "class", "active", "solref", "solimp", "flex"},
+        {"flexvert", "*", "name", "class", "active", "solref", "solimp", "flex"},
+        {"flexstrain", "*", "name", "class", "active", "solref", "solimp", "flex", "cell"},
+    {">"},
+
+    {"actuator", "*"},
+    {"<"},
+        {"general", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
+            "lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
+            "tendon", "slidersite", "cranksite", "site", "refsite", "body", "actdim", "input",
+            "velrange", "ffrange", "dyntype", "gaintype", "biastype", "dynprm", "gainprm",
+            "biasprm", "actearly"},
+        {"motor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
+            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
+            "cranksite", "site", "refsite"},
+        {"position", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "inheritrange", "forcerange", "lengthrange",
+            "gear", "damping", "armature", "cranklength", "joint", "jointinparent", "tendon",
+            "slidersite", "cranksite", "site", "refsite", "kp", "kv", "dampratio", "timeconst"},
+        {"velocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
+            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
+            "cranksite", "site", "refsite", "kv"},
+        {"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
+            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
+            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
+            "dampratio"},
+        {"orientation", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "forcelimited", "forcerange", "joint", "site", "refsite", "kp", "kv",
+            "dampratio", "input"},
+        {"pid", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
+            "ctrllimited", "forcelimited", "posrange", "velrange", "ffrange", "forcerange",
+            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
+            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
+            "dampratio", "ki", "imax", "slewmax", "input"},
+        {"damper", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "forcelimited", "forcerange", "lengthrange", "gear", "damping", "armature",
+            "cranklength", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
+            "refsite", "kv"},
+        {"cylinder", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
+            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
+            "cranksite", "site", "refsite", "timeconst", "area", "diameter", "bias"},
+        {"muscle", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
+            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
+            "cranksite", "timeconst", "tausmooth", "range", "force", "scale", "lmin", "lmax",
+            "vmax", "fpmax", "fvmax"},
+        {"adhesion", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "forcelimited", "forcerange", "body", "gain"},
+        {"dcmotor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "ctrllimited", "lengthrange", "gear", "damping", "armature", "cranklength",
+            "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
+            "motorconst", "resistance", "nominal", "saturation", "inductance", "cogging",
+            "controller", "thermal", "lugre", "input"},
+        {"plugin", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
+            "user", "plugin", "instance", "ctrllimited", "forcelimited", "actlimited",
+            "forcerange", "actrange", "lengthrange", "gear", "damping", "armature", "cranklength",
+            "joint", "jointinparent", "site", "actdim", "dyntype", "dynprm", "tendon", "cranksite",
+            "slidersite", "actearly"},
+        {"<"},
+            {"config", "*", "key", "value"},
+        {">"},
+    {">"},
+
+    {"sensor", "*"},
+    {"<"},
+        {"touch", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
+            "site"},
+        {"accelerometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site"},
+        {"velocimeter", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site"},
+        {"gyro", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
+            "site"},
+        {"force", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
+            "site"},
+        {"torque", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site"},
+        {"magnetometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site"},
+        {"camprojection", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site", "camera"},
+        {"rangefinder", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site", "camera", "data"},
+        {"jointpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"jointvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"tendonpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "tendon"},
+        {"tendonvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "tendon"},
+        {"actuatorpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "actuator"},
+        {"actuatorvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "actuator"},
+        {"actuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "actuator"},
+        {"jointactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
+            "noise", "user", "joint"},
+        {"tendonactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
+            "noise", "user", "tendon"},
+        {"ballquat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"ballangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"jointlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"jointlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"jointlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "joint"},
+        {"tendonlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
+            "noise", "user", "tendon"},
+        {"tendonlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
+            "noise", "user", "tendon"},
+        {"tendonlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
+            "noise", "user", "tendon"},
+        {"framepos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"framequat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"framexaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"frameyaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"framezaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"framelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"frameangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname", "reftype", "refname"},
+        {"framelinacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname"},
+        {"frameangacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "objtype", "objname"},
+        {"subtreecom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "body"},
+        {"subtreelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "body"},
+        {"subtreeangmom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "body"},
+        {"insidesite", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "site", "objtype", "objname"},
+        {"distance", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "geom1", "geom2", "body1", "body2"},
+        {"normal", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "geom1", "geom2", "body1", "body2"},
+        {"fromto", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "geom1", "geom2", "body1", "body2"},
+        {"contact", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site", "num",
+            "data", "reduce"},
+        {"e_potential", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user"},
+        {"e_kinetic", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
+            "user"},
+        {"clock", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
+        {"tactile", "*", "name", "geom", "mesh", "nsample", "interp", "delay", "interval", "user"},
+        {"user", "*", "name", "objtype", "objname", "datatype", "needstage", "dim", "cutoff",
+            "noise", "user"},
+        {"plugin", "*", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype",
+            "refname", "user"},
+        {"<"},
+            {"config", "*", "key", "value"},
+        {">"},
+    {">"},
+
+    {"custom", "*"},
+    {"<"},
+        {"numeric", "*", "name", "size", "data"},
+        {"text", "*", "name", "data"},
+        {"tuple", "*", "name"},
+        {"<"},
+            {"element", "*", "objtype", "objname", "prm"},
+        {">"},
+    {">"},
+
+    {"keyframe", "*"},
+    {"<"},
+        {"key", "*", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
+    {">"},
+
+{">"},
+};
+// clang-format on
+
+const int nMJCF = sizeof(MJCF) / sizeof(MJCF[0]);
+
+// presence constraints, indexed into MJCF[]; enforced by
+// mjXSchema::Check. spec: attribute bundles, space-joined,
+// '|'-separated; kind: e=exclusive t=together r=requires o=oneof
+// clang-format off
+const mjXConstraintDef MJCF_constraints[] = {
+  {10, 'e', "memory|nstack"},
+  {10, 'e', "memory|njmax"},
+  {31, 'e', "fovy|sensorsize"},
+  {32, 'e', "directional|type"},
+  {61, 'e', "builtin|file"},
+  {61, 'e', "builtin|vertex"},
+  {82, 'e', "fullinertia|quat|axisangle|xyaxes|zaxis|euler"},
+  {92, 'e', "body|frame"},
+  {94, 'e', "fovy|sensorsize"},
+  {95, 'e', "directional|type"},
+  {156, 'e', "site1 site2|body1 body2 anchor"},
+  {156, 'o', "site1 site2|body1 anchor"},
+  {156, 't', "site1|site2"},
+  {157, 'e', "site1 site2|body1 body2 anchor relpose"},
+  {157, 'o', "site1 site2|body1"},
+  {157, 't', "site1|site2"},
+  {193, 'e', "site|camera"},
+  {193, 'o', "site|camera"},
+  {211, 't', "reftype|refname"},
+  {212, 't', "reftype|refname"},
+  {213, 't', "reftype|refname"},
+  {214, 't', "reftype|refname"},
+  {215, 't', "reftype|refname"},
+  {216, 't', "reftype|refname"},
+  {217, 't', "reftype|refname"},
+  {224, 'e', "geom1|body1"},
+  {224, 'o', "geom1|body1"},
+  {224, 'e', "geom2|body2"},
+  {224, 'o', "geom2|body2"},
+  {225, 'e', "geom1|body1"},
+  {225, 'o', "geom1|body1"},
+  {225, 'e', "geom2|body2"},
+  {225, 'o', "geom2|body2"},
+  {226, 'e', "geom1|body1"},
+  {226, 'o', "geom1|body1"},
+  {226, 'e', "geom2|body2"},
+  {226, 'o', "geom2|body2"},
+  {227, 'e', "geom1|body1|subtree1|site"},
+  {227, 'e', "geom2|body2|subtree2"},
+  {232, 't', "objtype|objname"},
+};
+// clang-format on
+
+const int nMJCF_constraints = sizeof(MJCF_constraints) / sizeof(MJCF_constraints[0]);
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 9855c85d..4e85a412 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -165,457 +165,7 @@ static void UpdateString(string& psuffix, int count, int i) {
 
 
 //---------------------------------- MJCF schema ---------------------------------------------------
-
-// clang-format off
-std::vector<const char*> MJCF[nMJCF] = {
-{"mujoco", "!", "model"},
-{"<"},
-    {"compiler", "*", "autolimits", "boundmass", "boundinertia", "settotalmass",
-        "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
-        "meshdir", "texturedir", "discardvisual", "usethread", "fusestatic", "inertiafromgeom",
-        "inertiagrouprange", "saveinertial", "assetdir", "alignfree", "conflict"},
-    {"<"},
-        {"lengthrange", "?", "mode", "useexisting", "uselimit",
-            "accel", "maxforce", "timeconst", "timestep",
-            "inttotal", "interval", "tolrange"},
-    {">"},
-
-    {"option", "*",
-        "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
-        "ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
-        "o_margin", "o_solref", "o_solimp", "o_friction",
-        "integrator", "cone", "jacobian",
-        "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
-        "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
-    {"<"},
-        {"flag", "?", "constraint", "equality", "frictionloss", "limit", "contact",
-            "spring", "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation",
-            "refsafe", "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island",
-            "override", "energy", "fwdinv", "invdiscrete", "multiccd", "sleep",
-            "diagexact"},
-    {">"},
-
-    {"size", "*", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
-        "nuser_body", "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam",
-        "nuser_tendon", "nuser_actuator", "nuser_sensor"},
-
-    {"visual", "*"},
-    {"<"},
-        {"global", "?", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
-            "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
-            "bvactive"},
-        {"quality", "?", "shadowsize", "offsamples", "numslices", "numstacks",
-            "numquads"},
-        {"headlight", "?", "ambient", "diffuse", "specular", "active"},
-        {"map", "?", "stiffness", "stiffnessrot", "force", "torque", "alpha",
-            "fogstart", "fogend", "znear", "zfar", "haze", "shadowclip", "shadowscale",
-            "actuatortendon"},
-        {"scale", "?", "forcewidth", "contactwidth", "contactheight", "connect", "com",
-            "camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
-            "actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
-        {"rgba", "?", "fog", "haze", "force", "inertia", "joint",
-            "actuator", "actuatornegative", "actuatorpositive", "com",
-            "camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
-            "contactfriction", "contacttorque", "contactgap", "rangefinder",
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-        {"tendonlimitvel", "*", "name", "tendon", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"tendonlimitfrc", "*", "name", "tendon", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framepos", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framequat", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framexaxis", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"frameyaxis", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framezaxis", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framelinvel", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"frameangvel", "*", "name", "objtype", "objname", "reftype", "refname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"framelinacc", "*", "name", "objtype", "objname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"frameangacc", "*", "name", "objtype", "objname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"subtreecom", "*", "name", "body", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"subtreelinvel", "*", "name", "body", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"subtreeangmom", "*", "name", "body", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"insidesite", "*", "name", "site", "objtype", "objname", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"distance", "*", "name", "geom1", "geom2", "body1", "body2", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"normal", "*", "name", "geom1", "geom2", "body1", "body2", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"fromto", "*", "name", "geom1", "geom2", "body1", "body2", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"contact", "*", "name", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site",
-            "num", "data", "reduce", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"e_potential", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"e_kinetic", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"clock", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"tactile", "*", "name", "geom", "mesh", "nsample", "interp", "delay", "interval", "user"},
-        {"user", "*", "name", "objtype", "objname", "datatype", "needstage",
-            "dim", "cutoff", "noise", "user"},
-        {"plugin", "*", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype", "refname",
-            "user"},
-        {"<"},
-          {"config", "*", "key", "value"},
-        {">"},
-    {">"},
-
-    {"keyframe", "*"},
-    {"<"},
-        {"key", "*", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
-    {">"},
-{">"}
-};
-// clang-format on
-
-
+#include "mjcf_table.inc"
 
 //---------------------------------- MJCF keywords used in attributes ------------------------------
 
@@ -1121,7 +671,8 @@ const mjMap flexeq_map[4] = {
 //---------------------------------- class mjXReader implementation --------------------------------
 
 // constructor
-mjXReader::mjXReader() : schema(MJCF, nMJCF) {
+mjXReader::mjXReader()
+    : schema(MJCF, nMJCF, MJCF_constraints, nMJCF_constraints) {
   readingdefaults = false;
 }
 
@@ -1541,33 +1092,16 @@ void mjXReader::Size(XMLElement* section, mjSpec* s) {
   ReadAttrInt(section, "nconmax", &s->nconmax);
   if (s->nconmax < -1) throw mjXError(section, "nconmax must be >= -1");
 
+  // memory/nstack and memory/njmax exclusivity is enforced by the schema
   {
     int nstack = -1;
-    const bool has_nstack = ReadAttrInt(section, "nstack", &nstack);
-    if (has_nstack) {
-      if (s->nstack < -1) {
-        throw mjXError(section, "nstack must be >= -1");
-      }
-      if (s->memory != -1 && nstack != -1) {
-        throw mjXError(section,
-                       "either 'memory' and 'nstack' attribute can be specified, not both");
-      }
+    if (ReadAttrInt(section, "nstack", &nstack)) {
+      if (nstack < -1) throw mjXError(section, "nstack must be >= -1");
       s->nstack = nstack;
     }
   }
-  {
-    int njmax = -1;
-    const bool has_njmax = ReadAttrInt(section, "njmax", &njmax);
-    if (has_njmax) {
-      if (s->njmax < -1) {
-        throw mjXError(section, "njmax must be >= -1");
-      }
-      if (s->memory != -1 && njmax != -1) {
-        throw mjXError(section,
-                       "either 'memory' and 'njmax' attribute can be specified, not both");
-      }
-      s->njmax = njmax;
-    }
+  if (ReadAttrInt(section, "njmax", &s->njmax)) {
+    if (s->njmax < -1) throw mjXError(section, "njmax must be >= -1");
   }
 
   ReadAttrInt(section, "nuser_body", &s->nuser_body);
@@ -1794,12 +1328,6 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
   if (MapValue(elem, "builtin", &n, meshbuiltin_map, meshbuiltin_sz)) {
     std::vector<double> params;
     int nparams = ReadVector(elem, "params", params, text, /*required*/ true);
-    if (file) {
-      throw mjXError(elem, "builtin cannot be used with a mesh file");
-    }
-    if (!mesh->uservert->empty()) {
-      throw mjXError(elem, "builtin mesh cannot be used with user vertex data");
-    }
     if (mjs_makeMesh(mesh, (mjtMeshBuiltin)n, params.data(), nparams)) {
       throw mjXError(elem, "%s", mjs_getError(spec));
     }
@@ -2166,11 +1694,8 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
     }
   }
 
-  bool sensorsize = ReadAttr(elem, "sensorsize", 2, camera->sensor_size, text);
-  bool fovy = ReadAttr(elem, "fovy", 1, &camera->fovy, text);
-  if (fovy && sensorsize) {
-    throw mjXError(elem, "either 'fovy' or 'sensorsize' attribute can be specified, not both");
-  }
+  ReadAttr(elem, "sensorsize", 2, camera->sensor_size, text);
+  ReadAttr(elem, "fovy", 1, &camera->fovy, text);
 
   // read userdata
   ReadVector(elem, "user", userdata, text);
@@ -2185,7 +1710,6 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
 // light element parser
 void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   int n;
-  bool has_directional = false;
   string text, name, texture, targetbody;
 
   // read attributes
@@ -2205,12 +1729,8 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   }
   if (MapValue(elem, "directional", &n, bool_map, 2)) {
     light->type = (n == 1) ? mjLIGHT_DIRECTIONAL : mjLIGHT_SPOT;
-    has_directional = true;
   }
   if (MapValue(elem, "type", &n, lighttype_map, lighttype_sz)) {
-    if (has_directional) {
-      throw mjXError(elem, "type and directional cannot both be defined");
-    }
     light->type = (mjtLightType)n;
   }
   if (MapValue(elem, "castshadow", &n, bool_map, 2)) {
@@ -2297,19 +1817,7 @@ void mjXReader::OneEquality(XMLElement* elem, mjsEquality* equality) {
         auto maybe_body2 = ReadAttrStr(elem, "body2");
         bool has_anchor = ReadAttr(elem, "anchor", 3, equality->data, text);
 
-        bool maybe_site = maybe_site1.has_value() || maybe_site2.has_value();
-        bool maybe_body = maybe_body1.has_value() || maybe_body2.has_value() || has_anchor;
-
-        if (maybe_site && maybe_body) {
-          throw mjXError(elem, "body and site semantics cannot be mixed");
-        }
-
-        bool site_semantic = maybe_site1.has_value() && maybe_site2.has_value();
         bool body_semantic = maybe_body1.has_value() && has_anchor;
-        if (site_semantic == body_semantic) {
-          throw mjXError(elem, "either both body1 and anchor must be defined,"
-                         " or both site1 and site2 must be defined");
-        }
 
         if (body_semantic) {
           name1 = maybe_body1.value();
@@ -2331,28 +1839,10 @@ void mjXReader::OneEquality(XMLElement* elem, mjsEquality* equality) {
         auto maybe_body1 = ReadAttrStr(elem, "body1");
         auto maybe_body2 = ReadAttrStr(elem, "body2");
         bool has_anchor = ReadAttr(elem, "anchor", 3, equality->data, text);
-        bool has_relpose = ReadAttr(elem, "relpose", 7, equality->data+3, text);
+        ReadAttr(elem, "relpose", 7, equality->data+3, text);
 
-        bool maybe_site = maybe_site1.has_value() || maybe_site2.has_value();
-        bool maybe_body = maybe_body1.has_value() ||
-                          maybe_body2.has_value() ||
-                          has_anchor              ||
-                          has_relpose;
-
-        if (maybe_site && maybe_body) {
-          throw mjXError(elem, "body and site semantics cannot be mixed");
-        }
-
-        bool site_semantic = maybe_site1.has_value() && maybe_site2.has_value();
         bool body_semantic = maybe_body1.has_value();
 
-        if (site_semantic == body_semantic) {
-          throw mjXError(
-                  elem,
-                  "either body1 must be defined and optionally {body2, anchor, relpose},"
-                  " or site1 and site2 must be defined");
-        }
-
         if (body_semantic) {
           name1 = maybe_body1.value();
           if (maybe_body2.has_value()) {
@@ -2496,42 +1986,30 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
   ReadAttr(elem, "armature", 1, &actuator->armature, text, false, false);
 
   // transmission target and type
-  int cnt = 0;
   if (ReadAttrTxt(elem, "joint", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_JOINT;
-    cnt++;
   }
   if (ReadAttrTxt(elem, "jointinparent", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_JOINTINPARENT;
-    cnt++;
   }
   if (ReadAttrTxt(elem, "tendon", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_TENDON;
-    cnt++;
   }
   if (ReadAttrTxt(elem, "cranksite", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_SLIDERCRANK;
-    cnt++;
   }
   if (ReadAttrTxt(elem, "site", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_SITE;
-    cnt++;
   }
   if (ReadAttrTxt(elem, "body", target)) {
     mjs_setString(actuator->target, target.c_str());
     actuator->trntype = mjTRN_BODY;
-    cnt++;
   }
-  // check for repeated transmission
-  if (cnt > 1) {
-    throw mjXError(elem, "actuator can have at most one of transmission target");
-  }
-
   // slidercrank-specific parameters
   int r1 = ReadAttr(elem, "cranklength", 1, &actuator->cranklength, text);
   int r2 = ReadAttrTxt(elem, "slidersite", slidersite);
@@ -3843,11 +3321,8 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
       ReadQuat(elem, "quat", body->iquat, text);
       ReadAttr(elem, "mass", 1, &body->mass, text, true);
       ReadAttr(elem, "diaginertia", 3, body->inertia, text);
-      bool alt = ReadAlternative(elem, body->ialt);
-      bool full = ReadAttr(elem, "fullinertia", 6, body->fullinertia, text);
-      if (alt && full) {
-        throw mjXError(elem, "fullinertia and inertial orientation cannot both be specified");
-      }
+      ReadAlternative(elem, body->ialt);
+      ReadAttr(elem, "fullinertia", 6, body->fullinertia, text);
     }
 
     // joint sub-element
@@ -4100,9 +3575,6 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
       bool has_frame = ReadAttrTxt(elem, "frame", child_name, /*required=*/false);
       ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
 
-      if (has_body && has_frame) {
-        throw mjXError(elem, "only one of body or frame can be specified in attach");
-      }
       mjtObj type = mjOBJ_UNKNOWN;
       if (has_body) type = mjOBJ_BODY;
       else if (has_frame) type = mjOBJ_FRAME;
@@ -4444,10 +3916,7 @@ void mjXReader::Sensor(XMLElement* section) {
     } else if (type == "rangefinder") {
       sensor->type = mjSENS_RANGEFINDER;
       bool use_site = ReadAttrTxt(elem, "site", objname, false);
-      bool use_camera = ReadAttrTxt(elem, "camera", objname, false);
-      if (use_site == use_camera) {
-        throw mjXError(elem, "rangefinder requires exactly one of 'site' or 'camera'");
-      }
+      ReadAttrTxt(elem, "camera", objname, false);
       sensor->objtype = use_site ? mjOBJ_SITE : mjOBJ_CAMERA;
 
       // process data specification (intprm[0])
@@ -4559,8 +4028,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "framequat") {
       sensor->type = mjSENS_FRAMEQUAT;
@@ -4570,8 +4037,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "framexaxis") {
       sensor->type = mjSENS_FRAMEXAXIS;
@@ -4581,8 +4046,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "frameyaxis") {
       sensor->type = mjSENS_FRAMEYAXIS;
@@ -4592,8 +4055,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "framezaxis") {
       sensor->type = mjSENS_FRAMEZAXIS;
@@ -4603,8 +4064,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "framelinvel") {
       sensor->type = mjSENS_FRAMELINVEL;
@@ -4614,8 +4073,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "frameangvel") {
       sensor->type = mjSENS_FRAMEANGVEL;
@@ -4625,8 +4082,6 @@ void mjXReader::Sensor(XMLElement* section) {
       if (ReadAttrTxt(elem, "reftype", text)) {
         sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
         ReadAttrTxt(elem, "refname", refname, true);
-      } else if (ReadAttrTxt(elem, "refname", text)) {
-        throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
       }
     } else if (type == "framelinacc") {
       sensor->type = mjSENS_FRAMELINACC;
@@ -4665,16 +4120,10 @@ void mjXReader::Sensor(XMLElement* section) {
     // sensors for geometric distance; attached to geoms or bodies
     else if (type == "distance" || type == "normal" || type == "fromto") {
       bool has_body1 = ReadAttrTxt(elem, "body1", objname);
-      bool has_geom1 = ReadAttrTxt(elem, "geom1", objname);
-      if (has_body1 == has_geom1) {
-        throw mjXError(elem, "exactly one of (geom1, body1) must be specified");
-      }
+      ReadAttrTxt(elem, "geom1", objname);
       sensor->objtype = has_body1 ? mjOBJ_BODY : mjOBJ_GEOM;
       bool has_body2 = ReadAttrTxt(elem, "body2", refname);
-      bool has_geom2 = ReadAttrTxt(elem, "geom2", refname);
-      if (has_body2 == has_geom2) {
-        throw mjXError(elem, "exactly one of (geom2, body2) must be specified");
-      }
+      ReadAttrTxt(elem, "geom2", refname);
       sensor->reftype = has_body2 ? mjOBJ_BODY : mjOBJ_GEOM;
       if (type == "distance") {
         sensor->type = mjSENS_GEOMDIST;
@@ -4692,9 +4141,6 @@ void mjXReader::Sensor(XMLElement* section) {
       bool has_body1 = ReadAttrTxt(elem, "body1", objname);
       bool has_subtree1 = ReadAttrTxt(elem, "subtree1", objname);
       bool has_geom1 = ReadAttrTxt(elem, "geom1", objname);
-      if (has_site + has_body1 + has_subtree1 + has_geom1 > 1) {
-        throw mjXError(elem, "at most one of (geom1, body1, subtree1, site) can be specified");
-      }
       if (has_site)          { sensor->objtype = mjOBJ_SITE; }
       else if (has_body1)    { sensor->objtype = mjOBJ_BODY; }
       else if (has_subtree1) { sensor->objtype = mjOBJ_XBODY; }
@@ -4705,9 +4151,6 @@ void mjXReader::Sensor(XMLElement* section) {
       bool has_body2 = ReadAttrTxt(elem, "body2", refname);
       bool has_subtree2 = ReadAttrTxt(elem, "subtree2", refname);
       bool has_geom2 = ReadAttrTxt(elem, "geom2", refname);
-      if (has_body2 + has_subtree2 + has_geom2 > 1) {
-        throw mjXError(elem, "at most one of (geom2, body2, subtree2) can be specified");
-      }
       if (has_body2)         { sensor->reftype = mjOBJ_BODY; }
       else if (has_subtree2) { sensor->reftype = mjOBJ_XBODY; }
       else if (has_geom2)    { sensor->reftype = mjOBJ_GEOM; }
@@ -4767,14 +4210,9 @@ void mjXReader::Sensor(XMLElement* section) {
     // user-defined sensor
     else if (type == "user") {
       sensor->type = mjSENS_USER;
-      bool objname_given = ReadAttrTxt(elem, "objname", objname);
+      ReadAttrTxt(elem, "objname", objname);
       if (ReadAttrTxt(elem, "objtype", text)) {
-        if (!objname_given) {
-          throw mjXError(elem, "objtype '%s' given but objname is missing", text.c_str());
-        }
         sensor->objtype = (mjtObj)mju_str2Type(text.c_str());
-      } else if (objname_given) {
-        throw mjXError(elem, "objname '%s' given but objtype is missing", objname.c_str());
       }
       ReadAttrInt(elem, "dim", &sensor->dim, true);
 
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index a70c74d5..3511f31a 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -101,8 +101,10 @@ class mjXReader : public mjXBase {
   mujoco::user::FilePath texturedir_;
 };
 
-// MJCF schema
-#define nMJCF 252
-extern std::vector<const char*> MJCF[nMJCF];
+// MJCF schema table, generated from mjcf.schema into mjcf_table.inc
+extern const int nMJCF;
+extern std::vector<const char*> MJCF[];
+extern const mjXConstraintDef MJCF_constraints[];
+extern const int nMJCF_constraints;
 
 #endif  // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
diff --git a/src/xml/xml_util.cc b/src/xml/xml_util.cc
index 14dcdb41..aa45b429 100644
--- a/src/xml/xml_util.cc
+++ b/src/xml/xml_util.cc
@@ -333,11 +333,20 @@ XMLElement* NextSiblingElement(XMLElement* e, const char* name) {
 }
 
 // constructor
-mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow) {
+mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow,
+                     const mjXConstraintDef* constraints, int nconstraint,
+                     int first_row) {
   // set name and type
   name_ = schema[0][0];
   type_ = schema[0][1][0];
 
+  // adopt the presence constraints declared for this row
+  for (int i = 0; i < nconstraint; i++) {
+    if (constraints[i].row == first_row) {
+      constraints_.push_back(&constraints[i]);
+    }
+  }
+
   // set attributes
   int nattr = schema[0].size() - 2;
   for (int i = 0; i < nattr; i++) {
@@ -370,7 +379,8 @@ mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow) {
       }
 
       // add child element
-      subschema_.emplace_back(schema+start, end-start+1);
+      subschema_.emplace_back(schema+start, end-start+1, constraints,
+                              nconstraint, first_row+start);
 
       // proceed with next subelement
       start = end+1;
@@ -380,6 +390,102 @@ mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow) {
 
 
 
+// quoted list of constraint bundles: 'a' or ('a', 'b'), comma-joined
+static std::string BundleList(const std::vector<std::vector<std::string>>& bundles) {
+  std::string out;
+  for (size_t i = 0; i < bundles.size(); i++) {
+    if (i) {
+      out += ", ";
+    }
+    if (bundles[i].size() == 1) {
+      out += "'" + bundles[i][0] + "'";
+    } else {
+      out += '(';
+      for (size_t j = 0; j < bundles[i].size(); j++) {
+        out += (j ? ", '" : "'") + bundles[i][j] + "'";
+      }
+      out += ')';
+    }
+  }
+  return out;
+}
+
+
+
+// enforce the presence constraints declared for this element
+XMLElement* mjXSchema::CheckConstraints(XMLElement* elem) {
+  for (const mjXConstraintDef* con : constraints_) {
+    // split the spec into bundles of attribute names
+    std::vector<std::vector<std::string>> bundles(1);
+    std::string token;
+    for (const char* c = con->spec;; c++) {
+      if (*c == ' ' || *c == '|' || *c == '\0') {
+        if (!token.empty()) {
+          bundles.back().push_back(token);
+          token.clear();
+        }
+        if (*c == '|') {
+          bundles.emplace_back();
+        }
+        if (*c == '\0') {
+          break;
+        }
+      } else {
+        token += *c;
+      }
+    }
+
+    // per-bundle presence: any member present / all members present
+    int n_any = 0, n_all = 0, n_attr = 0, n_present = 0;
+    for (const auto& bundle : bundles) {
+      bool any = false, all = true;
+      for (const std::string& attr : bundle) {
+        bool present = elem->Attribute(attr.c_str()) != nullptr;
+        any |= present;
+        all &= present;
+        n_attr++;
+        n_present += present;
+      }
+      n_any += any;
+      n_all += all;
+    }
+
+    switch (con->kind) {
+      case 'e':  // at most one bundle may be present
+        if (n_any > 1) {
+          error = "at most one of " + BundleList(bundles) +
+                  " can be specified";
+          return elem;
+        }
+        break;
+      case 't':  // all listed attributes appear together or not at all
+        if (n_present != 0 && n_present != n_attr) {
+          error = "attributes " + BundleList(bundles) +
+                  " must be specified together";
+          return elem;
+        }
+        break;
+      case 'r':  // first attribute requires the second
+        if (n_any && elem->Attribute(bundles[0][0].c_str()) &&
+            !elem->Attribute(bundles[1][0].c_str())) {
+          error = "attribute '" + bundles[0][0] + "' requires attribute '" +
+                  bundles[1][0] + "'";
+          return elem;
+        }
+        break;
+      case 'o':  // at least one bundle must be complete
+        if (n_all == 0) {
+          error = "one of " + BundleList(bundles) + " must be specified";
+          return elem;
+        }
+        break;
+    }
+  }
+  return nullptr;
+}
+
+
+
 // get pointer to error message
 std::string mjXSchema::GetError() {
   return error;
@@ -525,6 +631,11 @@ XMLElement* mjXSchema::Check(XMLElement* elem, int level) {
     }
   }
 
+  // check presence constraints
+  if ((bad = CheckConstraints(elem))) {
+    return bad;
+  }
+
   // handle recursion
   if (type_ == 'R') {
     // check child elements with same name
diff --git a/src/xml/xml_util.h b/src/xml/xml_util.h
index d8af121e..7817b89c 100644
--- a/src/xml/xml_util.h
+++ b/src/xml/xml_util.h
@@ -49,10 +49,25 @@ class [[nodiscard]] mjXError {
 };
 
 
+// presence constraint over an element's attributes, generated from the
+// schema into the grammar table's companion array. spec holds attribute
+// bundles, space-joined within a bundle and '|'-separated between them;
+// kind: e=exclusive (at most one bundle present), t=together (all or
+// none), r=requires (first needs second), o=oneof (at least one bundle
+// complete).
+struct mjXConstraintDef {
+  int row;             // index of the element's row in the grammar table
+  char kind;
+  const char* spec;
+};
+
+
 // Custom XML file validation
 class mjXSchema {
  public:
-  mjXSchema(std::vector<const char*> schema[], unsigned nrow);
+  mjXSchema(std::vector<const char*> schema[], unsigned nrow,
+            const mjXConstraintDef* constraints = nullptr,
+            int nconstraint = 0, int first_row = 0);
 
   std::string GetError();                         // return error
   void Print(std::stringstream& str, int level) const;      // print schema
@@ -67,6 +82,9 @@ class mjXSchema {
   std::set<std::string> attr_;        // allowed attributes
   std::vector<mjXSchema> subschema_;  // allowed child elements
 
+  std::vector<const mjXConstraintDef*> constraints_;  // constraints here
+  tinyxml2::XMLElement* CheckConstraints(tinyxml2::XMLElement* elem);
+
   int refcnt_ = 0;                    // refcount used for validation
   std::string error;                  // error from constructor or Check
 };
diff --git a/test/doc/doc_test.py b/test/doc/doc_test.py
index 3e5888a1..3e2b3669 100644
--- a/test/doc/doc_test.py
+++ b/test/doc/doc_test.py
@@ -24,7 +24,9 @@ _REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
 sys.path.insert(0, os.path.join(_REPO_ROOT, 'doc', 'generate'))
 import generate_api_header
 import generate_functions
+import generate_mjcf_table
 import generate_schema
+import mjcf_schema
 
 # Functions in headers that are intentionally not in functions.rst.
 _FUNCTIONS_TO_SKIP = set()
@@ -81,6 +83,14 @@ class DocTest(googletest.TestCase):
       if source != file.read():
         self.fail("The file 'references.h' needs to be updated.")
 
+  def test_mjcf_table(self):
+    """Checks that mjcf_table.inc matches the schema-generated output."""
+    table_file = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf_table.inc')
+    source = generate_mjcf_table.generate()
+    with open(table_file, 'r', encoding='utf-8') as file:
+      if source != file.read():
+        self.fail("The file 'mjcf_table.inc' needs to be updated.")
+
   def test_schema(self):
     """Checks that XMLschema.rst matches the generated output."""
     schema_file = os.path.join(_REPO_ROOT, 'doc', 'XMLschema.rst')
@@ -91,7 +101,9 @@ class DocTest(googletest.TestCase):
 
   def test_functions(self):
     """Checks that functions.rst matches the generated output."""
-    functions_file = os.path.join(_REPO_ROOT, 'doc', 'APIreference', 'functions.rst')
+    functions_file = os.path.join(
+        _REPO_ROOT, 'doc', 'APIreference', 'functions.rst'
+    )
     source = generate_functions.generate()
     with open(functions_file, 'r', encoding='utf-8') as file:
       if source != file.read():
@@ -100,7 +112,9 @@ class DocTest(googletest.TestCase):
   def test_all_functions_included(self):
     """Checks that every public C function has an entry in functions.rst."""
 
-    functions_file = os.path.join(_REPO_ROOT, 'doc', 'APIreference', 'functions.rst')
+    functions_file = os.path.join(
+        _REPO_ROOT, 'doc', 'APIreference', 'functions.rst'
+    )
     with open(functions_file, 'r', encoding='utf-8') as file:
       content = file.read()
 
@@ -125,7 +139,9 @@ class DocTest(googletest.TestCase):
   def test_all_types_included(self):
     """Checks that every public struct and enum has an entry in APItypes.rst."""
 
-    types_file = os.path.join(_REPO_ROOT, 'doc', 'APIreference', 'APItypes.rst')
+    types_file = os.path.join(
+        _REPO_ROOT, 'doc', 'APIreference', 'APItypes.rst'
+    )
     with open(types_file, 'r', encoding='utf-8') as file:
       content = file.read()
 
@@ -151,6 +167,30 @@ class DocTest(googletest.TestCase):
       msg = 'APItypes.rst mismatches:\n' + '\n'.join(errors)
       self.fail(msg)
 
+  def test_element_constraints_diamond_inheritance(self):
+    con = mjcf_schema.Constraint(
+        kind='exclusive', bundles=(('a',), ('b',)), doc=None, line=1)
+    common_group = mjcf_schema.Group(
+        name='common', variant=False, members=[con], doc=None, line=1)
+    group1 = mjcf_schema.Group(
+        name='group1', variant=False,
+        members=[mjcf_schema.Use(group='common', line=1)], doc=None, line=1)
+    group2 = mjcf_schema.Group(
+        name='group2', variant=False,
+        members=[mjcf_schema.Use(group='common', line=1)], doc=None, line=1)
+    elem = mjcf_schema.Element(
+        name='elem', spec=None, facets={},
+        members=[mjcf_schema.Use(group='group1', line=1),
+                 mjcf_schema.Use(group='group2', line=1)],
+        doc=None, line=1)
+    schema = mjcf_schema.Schema(
+        enums={},
+        groups={'common': common_group, 'group1': group1, 'group2': group2},
+        elements={'elem': elem},
+        path='<test>')
+    cons = generate_mjcf_table._element_constraints(schema, elem)
+    self.assertEqual(len(cons), 1)  # pylint: disable=g-generic-assert
+
 
 if __name__ == '__main__':
   googletest.main()
diff --git a/test/engine/engine_sensor_test.cc b/test/engine/engine_sensor_test.cc
index 9ec922ed..c92d96f5 100644
--- a/test/engine/engine_sensor_test.cc
+++ b/test/engine/engine_sensor_test.cc
@@ -698,9 +698,9 @@ TEST_F(SensorTest, BadContact) {
       {"geom1='sphere1' geom2='sphere2' num='-3'",
        "'num' must be positive in sensor"},
       {"geom1='sphere1' geom2='sphere2' site='site'",
-       "at most one of (geom1, body1, subtree1, site) can be specified"},
+       "at most one of 'geom1', 'body1', 'subtree1', 'site' can be specified"},
       {"geom2='sphere1' body2='body'",
-       "at most one of (geom2, body2, subtree2) can be specified"},
+       "at most one of 'geom2', 'body2', 'subtree2' can be specified"},
   };
 
   for (const auto& test : test_cases) {
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 73789e24..03c396f8 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -2461,8 +2461,8 @@ TEST_F(UserObjectsTest, BadConnect) {
   EXPECT_THAT(AsVector(m->eq_data, 6), ElementsAre(0, 0, 0, 0, 0, 0));
 
   char error_missing[] =
-      "either both body1 and anchor must be defined,"
-      " or both site1 and site2 must be defined\nElement 'connect', line 12";
+      "one of ('site1', 'site2'), ('body1', 'anchor') must be specified"
+      "\nElement 'connect', line 12";
 
   // bad model (missing anchor)
   xml = base.replace(pos, len, "<connect body1='1'/>");
@@ -2471,8 +2471,8 @@ TEST_F(UserObjectsTest, BadConnect) {
   EXPECT_THAT(error, HasSubstr(error_missing));
 
   char error_mixed[] =
-      "body and site semantics cannot be mixed"
-      "\nElement 'connect', line 12";
+      "at most one of ('site1', 'site2'), ('body1', 'body2', 'anchor')"
+      " can be specified\nElement 'connect', line 12";
 
   // bad model (mixing body and site)
   xml = base.replace(pos, len, "<connect body1='1' site1='1'/>");
@@ -2540,8 +2540,8 @@ TEST_F(UserObjectsTest, BadWeld) {
               ElementsAre(0, 1, 0, 0, 0, 0, 0, 0, 0, 0));
 
   char error_mixed[] =
-      "body and site semantics cannot be mixed"
-      "\nElement 'weld', line 12";
+      "at most one of ('site1', 'site2'), ('body1', 'body2', 'anchor', "
+      "'relpose') can be specified\nElement 'weld', line 12";
 
   // bad model (mixing body and site)
   xml = base.replace(pos, len, "<weld body1='1' site1='1'/>");
@@ -2568,8 +2568,8 @@ TEST_F(UserObjectsTest, BadWeld) {
   EXPECT_THAT(error, HasSubstr(error_mixed));
 
   char error_underspecified[] =
-      "either body1 must be defined and optionally {body2, anchor, "
-      "relpose}, or site1 and site2 must be defined\nElement 'weld', line 12";
+      "one of ('site1', 'site2'), 'body1' must be specified"
+      "\nElement 'weld', line 12";
 
   // bad model (underspecified body semantics)
   xml = base.replace(pos, len, "<weld anchor='0 0 1'/>");
@@ -2663,7 +2663,7 @@ TEST_F(UserObjectsTest, Inertial) {
   )";
   m = LoadModelFromString(bad_xml2.c_str(), error, sizeof(error));
   ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("fullinertia and inertial orientation cannot"));
+  EXPECT_THAT(error, HasSubstr("at most one of 'fullinertia', 'quat'"));
 }
 
 // Merged COM must be correct when a fused-static child has a non-identity
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index c1b0cfa1..a2aa3c67 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -2024,7 +2024,7 @@ TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
   std::array<char, 1024> error;
   MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
   EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("either 'fovy' or 'sensorsize'"));
+  EXPECT_THAT(error.data(), HasSubstr("at most one of 'fovy', 'sensorsize'"));
   EXPECT_THAT(error.data(), HasSubstr("line 6"));
 }
 
@@ -2081,8 +2081,8 @@ TEST_F(XMLReaderTest, InvalidInertialOrientation) {
   ASSERT_THAT(model.get(), IsNull());
   EXPECT_THAT(
       error.data(),
-      HasSubstr(
-          "fullinertia and inertial orientation cannot both be specified"));
+      HasSubstr("at most one of 'fullinertia', 'quat', 'axisangle', "
+                "'xyaxes', 'zaxis', 'euler' can be specified"));
 }
 
 TEST_F(XMLReaderTest, ReadShellParameter) {
@@ -2137,7 +2137,7 @@ TEST_F(XMLReaderTest, BuiltinAndFile) {
   MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model.get(), IsNull());
   EXPECT_THAT(error.data(),
-              HasSubstr("builtin mesh cannot be used with user vertex data"));
+              HasSubstr("at most one of 'builtin', 'vertex' can be specified"));
 }
 
 TEST_F(XMLReaderTest, MakePlateNoParameters) {
@@ -2422,7 +2422,9 @@ TEST_F(RelativeFrameSensorParsingTest, RefNameButNoType) {
   )";
   std::array<char, 1024> error;
   LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(error.data(), HasSubstr("but reftype is missing"));
+  EXPECT_THAT(
+      error.data(),
+      HasSubstr("attributes 'reftype', 'refname' must be specified together"));
   EXPECT_THAT(error.data(), HasSubstr("line 8"));
 }
 
@@ -2440,7 +2442,9 @@ TEST_F(RelativeFrameSensorParsingTest, RefTypeButNoName) {
   )";
   std::array<char, 1024> error;
   LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'refname'"));
+  EXPECT_THAT(
+      error.data(),
+      HasSubstr("attributes 'reftype', 'refname' must be specified together"));
   EXPECT_THAT(error.data(), HasSubstr("line 8"));
 }
 
@@ -3563,7 +3567,9 @@ TEST_F(SensorParseTest, UserObjTypeNoName) {
   std::array<char, 1024> error;
   MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("objtype 'site' given but"));
+  EXPECT_THAT(
+      error.data(),
+      HasSubstr("attributes 'objtype', 'objname' must be specified together"));
   EXPECT_THAT(error.data(), HasSubstr("line 4"));
 }
 
@@ -3578,7 +3584,9 @@ TEST_F(SensorParseTest, UserObjNameNoType) {
   std::array<char, 1024> error;
   MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("objname 'kevin' given but"));
+  EXPECT_THAT(
+      error.data(),
+      HasSubstr("attributes 'objtype', 'objname' must be specified together"));
   EXPECT_THAT(error.data(), HasSubstr("line 4"));
 }