diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index df9972d1..e447d816 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -26,11 +26,11 @@ attributes. Text content in elements is not used; if present, the parser ignores
 
       * - |!|
         - required element, can appear only once
-      * - |R|
+      * - |@|
         - optional element, can appear multiple times recursively
       * - |?|
         - optional element, can appear only once
-      * - |m|
+      * - |*|
         - optional element, can appear multiple times (default case, no icon)
 
    |br|
@@ -130,7 +130,7 @@ saving the XML. There are currently six meta-elements in MJCF:
 
 .. _frame:
 
-**frame** |R|
+**frame** |@|
 ^^^^^^^^^^^^^
 
 The frame meta-element is a pure coordinate transformation that can wrap any group of elements in the kinematic tree
@@ -177,7 +177,7 @@ in their direct children. The attributes of the frame meta-element are documente
 
 .. _replicate:
 
-**replicate** |R|
+**replicate** |@|
 ^^^^^^^^^^^^^^^^^
 
 The replicate element duplicates the enclosed kinematic tree elements with incremental translational and rotational
@@ -260,7 +260,7 @@ namespaced once by the innermost call of :ref:`mjs_attach`. See the limitations
 
 .. _include:
 
-**include** |m|
+**include** |*|
 ^^^^^^^^^^^^^^^
 
 This element does not strictly belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
@@ -299,7 +299,7 @@ The unique top-level element, identifying the XML file as an MJCF model file.
 
 .. _option:
 
-**option** |m|
+**option** |*|
 ~~~~~~~~~~~~~~
 
 This element is in one-to-one correspondence with the low level structure mjOption contained in the field mjModel.opt of
@@ -692,7 +692,7 @@ from its default.
 
 .. _compiler:
 
-**compiler** |m|
+**compiler** |*|
 ~~~~~~~~~~~~~~~~
 
 This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer
@@ -977,7 +977,7 @@ disable length range computations altogether, include this element and set mode=
 
 .. _size:
 
-**size** |m|
+**size** |*|
 ~~~~~~~~~~~~
 
 This element specifies size parameters that cannot be inferred from the number of elements in the model. Unlike the
@@ -1074,7 +1074,7 @@ compilation.
 
 .. _statistic:
 
-**statistic** |m|
+**statistic** |*|
 ~~~~~~~~~~~~~~~~~
 
 This element is used to override model statistics computed by the compiler. These statistics are not only informational
@@ -1127,7 +1127,7 @@ parameters.
 
 .. _asset:
 
-**asset** |m|
+**asset** |*|
 ~~~~~~~~~~~~~
 
 This is a grouping element for defining assets. It does not have attributes. Assets are created in the model so that
@@ -1140,7 +1140,7 @@ file.
 
 .. _asset-mesh:
 
-:el-prefix:`asset/` |-| **mesh** |m|
+:el-prefix:`asset/` |-| **mesh** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is
@@ -1483,7 +1483,7 @@ Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _asset-hfield:
 
-:el-prefix:`asset/` |-| **hfield** |m|
+:el-prefix:`asset/` |-| **hfield** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field,
@@ -1590,7 +1590,7 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
 
 .. _asset-skin:
 
-:el-prefix:`asset/` |-| **skin** |m|
+:el-prefix:`asset/` |-| **skin** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. _asset-skin-name:
@@ -1610,7 +1610,7 @@ still be specified here but this functionality is now deprecated and will be rem
 
 .. _asset-texture:
 
-:el-prefix:`asset/` |-| **texture** |m|
+:el-prefix:`asset/` |-| **texture** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which
 is finally referenced from a model element that needs to be textured.
@@ -1840,7 +1840,7 @@ The custom MuJoCo format is assumed to be a binary file containing the following
 
 .. _asset-material:
 
-:el-prefix:`asset/` |-| **material** |m|
+:el-prefix:`asset/` |-| **material** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a material asset. It can be referenced from :ref:`skins <deformable-skin>`, :ref:`geoms <body-geom>`,
@@ -1949,7 +1949,7 @@ properties are grouped together.
 
 .. _material-layer:
 
-:el-prefix:`material/` |-| **layer** |m|
+:el-prefix:`material/` |-| **layer** |*|
 ''''''''''''''''''''''''''''''''''''''''
 
 If multiple textures are needed to specify the appearance of a material, the :ref:`texture <asset-material-texture>`
@@ -2003,7 +2003,7 @@ attribute and :el:`layer` child elements is an error.
 
 .. _asset-model:
 
-:el-prefix:`asset/` |-| **model** |m|
+:el-prefix:`asset/` |-| **model** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element specifies other MJCF models which may be used for :ref:`attachment<body-attach>` in the current model.
 
@@ -2026,7 +2026,7 @@ This element specifies other MJCF models which may be used for :ref:`attachment<
 
 .. _body:
 
-**(world)body** |R|
+**(world)body** |@|
 ~~~~~~~~~~~~~~~~~~~
 
 This element is used to construct the :ref:`kinematic tree <CTree>` via nesting. The element :el:`worldbody` is used for
@@ -2176,7 +2176,7 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
 
 .. _body-joint:
 
-:el-prefix:`body/` |-| **joint** |m|
+:el-prefix:`body/` |-| **joint** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom
@@ -2394,7 +2394,7 @@ rotations as unit quaternions.
 
 .. _body-freejoint:
 
-:el-prefix:`body/` |-| **freejoint** |m|
+:el-prefix:`body/` |-| **freejoint** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
@@ -2438,7 +2438,7 @@ inherited*. If the XML model is saved, it will appear as a regular joint of type
 
 .. _body-geom:
 
-:el-prefix:`body/` |-| **geom** |m|
+:el-prefix:`body/` |-| **geom** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a geom, and attaches it rigidly to the body within which the geom is defined. Multiple geoms can
@@ -2831,7 +2831,7 @@ Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _body-site:
 
-:el-prefix:`body/` |-| **site** |m|
+:el-prefix:`body/` |-| **site** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a site, which is a simplified and restricted kind of geom. A small subset of the geom attributes
@@ -2917,7 +2917,7 @@ tendons, constructing slider-crank transmissions for actuators.
 
 .. _body-camera:
 
-:el-prefix:`body/` |-| **camera** |m|
+:el-prefix:`body/` |-| **camera** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the
@@ -3058,7 +3058,7 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
 
 .. _body-light:
 
-:el-prefix:`body/` |-| **light** |m|
+:el-prefix:`body/` |-| **light** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
@@ -3199,7 +3199,7 @@ Attributes may be applied or ignored depending on the lighting model being used.
 
 .. _body-composite:
 
-:el-prefix:`body/` |-| **composite** |m|
+:el-prefix:`body/` |-| **composite** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This is not a model element, but rather a macro which expands into multiple model elements representing a composite
@@ -3277,7 +3277,7 @@ cable, which produces an inextensible chain of bodies connected with ball joints
 
 .. _composite-joint:
 
-:el-prefix:`composite/` |-| **joint** |m|
+:el-prefix:`composite/` |-| **joint** |*|
 '''''''''''''''''''''''''''''''''''''''''
 
 Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other
@@ -3486,7 +3486,7 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
 
 .. _body-flexcomp:
 
-:el-prefix:`body/` |-| **flexcomp** |m|
+:el-prefix:`body/` |-| **flexcomp** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Similar to :el:`composite`, this element (new in MuJoCo 3.0) is not a model element, but rather a macro which expands
@@ -3783,7 +3783,7 @@ saving the XML:
 
 .. _flexcomp-contact:
 
-:el-prefix:`flexcomp/` |-| **contact** |m|
+:el-prefix:`flexcomp/` |-| **contact** |*|
 ''''''''''''''''''''''''''''''''''''''''''
 
 .. _flexcomp-contact-internal:
@@ -3811,7 +3811,7 @@ saving the XML:
 
 .. _flexcomp-edge:
 
-:el-prefix:`flexcomp/` |-| **edge** |m|
+:el-prefix:`flexcomp/` |-| **edge** |*|
 '''''''''''''''''''''''''''''''''''''''
 
 Each flex element has one edge in 1D (coinciding with the capsule element), three edges in 2D, and six edges in 3D. The
@@ -3840,7 +3840,7 @@ element is used to adjust the properties of all edges in the flex.
 
 .. _flexcomp-elasticity:
 
-:el-prefix:`flexcomp/` |-| **elasticity** |m|
+:el-prefix:`flexcomp/` |-| **elasticity** |*|
 '''''''''''''''''''''''''''''''''''''''''''''
 
 .. _flexcomp-elasticity-young:
@@ -3858,7 +3858,7 @@ element is used to adjust the properties of all edges in the flex.
 
 .. _flexcomp-pin:
 
-:el-prefix:`flexcomp/` |-| **pin** |m|
+:el-prefix:`flexcomp/` |-| **pin** |*|
 ''''''''''''''''''''''''''''''''''''''
 
 Each point is either pinned or not pinned. The effect of pinning was explained earlier. This element is used to specify
@@ -3927,7 +3927,7 @@ Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
 
 .. _body-attach:
 
-:el-prefix:`body/` |-| **attach** |m|
+:el-prefix:`body/` |-| **attach** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The :el:`attach` element is used to insert a sub-tree of bodies from another model into this model's kinematic tree.
@@ -3962,7 +3962,7 @@ referenced or not).
 
 .. _body-frame:
 
-:el-prefix:`body/` |-| **frame** |m|
+:el-prefix:`body/` |-| **frame** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Frames specify a coordinate transformation which is applied to all child elements. They disappear during compilation
@@ -4002,7 +4002,7 @@ and the transformation they encode is accumulated in their direct children. See
 
 .. _contact:
 
-**contact** |m|
+**contact** |*|
 ~~~~~~~~~~~~~~~
 
 This is a grouping element and does not have any attributes. It groups elements that are used to adjust the generation
@@ -4012,7 +4012,7 @@ thus the description here is brief.
 
 .. _contact-pair:
 
-:el-prefix:`contact/` |-| **pair** |m|
+:el-prefix:`contact/` |-| **pair** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a predefined geom pair which will be checked for collision. Unlike dynamically generated pairs
@@ -4092,7 +4092,7 @@ friction can only be created with this element.
 
 .. _contact-exclude:
 
-:el-prefix:`contact/` |-| **exclude** |m|
+:el-prefix:`contact/` |-| **exclude** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
@@ -4117,7 +4117,7 @@ bodies. Collisions between any geom defined in the first body and any geom defin
 
 .. _deformable:
 
-**deformable** |m|
+**deformable** |*|
 ~~~~~~~~~~~~~~~~~~
 
 This is a grouping element and does not have any attributes. It groups elements that specify deformable objects, namely flexes and skins.
@@ -4125,7 +4125,7 @@ This is a grouping element and does not have any attributes. It groups elements
 
 .. _deformable-flex:
 
-:el-prefix:`deformable/` |-| **flex** |m|
+:el-prefix:`deformable/` |-| **flex** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Flexible objects (or flexes) were added in MuJoCo 3.0. These are collections of massless stretchable geometric elements
@@ -4366,7 +4366,7 @@ extensions specific to flexes.
 
 .. _deformable-skin:
 
-:el-prefix:`deformable/` |-| **skin** |m|
+:el-prefix:`deformable/` |-| **skin** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 These are deformable meshes whose vertex positions and normals are computed each time the model is rendered. MuJoCo
@@ -4484,7 +4484,7 @@ be clear from the above specification.
 
 .. _skin-bone:
 
-:el-prefix:`skin/` |-| **bone** |m|
+:el-prefix:`skin/` |-| **bone** |*|
 '''''''''''''''''''''''''''''''''''
 
 This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here.
@@ -4524,7 +4524,7 @@ This element defines a bone of the skin. The bone is a regular MuJoCo body which
 
 .. _equality:
 
-**equality** |m|
+**equality** |*|
 ~~~~~~~~~~~~~~~~
 
 This is a grouping element for equality constraints. It does not have attributes. See the :ref:`Equality <coEquality>`
@@ -4534,7 +4534,7 @@ all equality constraint types, thus we document them only once, under the :ref:`
 
 .. _equality-connect:
 
-:el-prefix:`equality/` |-| **connect** |m|
+:el-prefix:`equality/` |-| **connect** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an equality constraint that connects two bodies at a point. The constraint effectively defines a
@@ -4609,7 +4609,7 @@ ball joint outside the kinematic tree. Connect constraints can be specified in o
 
 .. _equality-weld:
 
-:el-prefix:`equality/` |-| **weld** |m|
+:el-prefix:`equality/` |-| **weld** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of
@@ -4696,7 +4696,7 @@ of the other body, without any joint elements in the child body. Weld constraint
 
 .. _equality-joint:
 
-:el-prefix:`equality/` |-| **joint** |m|
+:el-prefix:`equality/` |-| **joint** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar
@@ -4741,7 +4741,7 @@ joint types (slide and hinge) can be used.
 
 .. _equality-tendon:
 
-:el-prefix:`equality/` |-| **tendon** |m|
+:el-prefix:`equality/` |-| **tendon** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the length of one tendon to be a quartic polynomial of another tendon.
@@ -4779,7 +4779,7 @@ This element constrains the length of one tendon to be a quartic polynomial of a
 
 .. _equality-flex:
 
-:el-prefix:`equality/` |-| **flex** |m|
+:el-prefix:`equality/` |-| **flex** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the lengths of all edges of a specified flex to their respective lengths in the initial model
@@ -4804,7 +4804,7 @@ as there are edges in the specified flex.
 
 .. _equality-flexvert:
 
-:el-prefix:`equality/` |-| **flexvert** |m|
+:el-prefix:`equality/` |-| **flexvert** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the trace and the derminant of the strain tensor to that of the identity matrix as in Chen, Kry,
@@ -4829,7 +4829,7 @@ V degrees of freedom to avoid locking. It is only supported for dimension 2, i.e
 
 .. _equality-distance:
 
-:el-prefix:`equality/` |-| **distance** |m|
+:el-prefix:`equality/` |-| **distance** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please switch
@@ -4838,7 +4838,7 @@ to the corresponding version of the documentation.
 
 .. _tendon:
 
-**tendon** |m|
+**tendon** |*|
 ~~~~~~~~~~~~~~
 
 Grouping element for tendon definitions. The attributes of fixed tendons are a subset of the attributes of spatial
@@ -4849,7 +4849,7 @@ can also represent different forms of mechanical coupling.
 
 .. _tendon-spatial:
 
-:el-prefix:`tendon/` |-| **spatial** |m|
+:el-prefix:`tendon/` |-| **spatial** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. figure:: images/XMLreference/tendon.png
@@ -5030,7 +5030,7 @@ length X, as in the clip on the right of `this example model
 
 .. _spatial-site:
 
-:el-prefix:`spatial/` |-| **site** |m|
+:el-prefix:`spatial/` |-| **site** |*|
 ''''''''''''''''''''''''''''''''''''''
 
 This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to
@@ -5044,7 +5044,7 @@ bodies.
 
 .. _spatial-geom:
 
-:el-prefix:`spatial/` |-| **geom** |m|
+:el-prefix:`spatial/` |-| **geom** |*|
 ''''''''''''''''''''''''''''''''''''''
 
 This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch
@@ -5070,7 +5070,7 @@ constrained to pass through the geom instead of passing around it.
 
 .. _spatial-pulley:
 
-:el-prefix:`spatial/` |-| **pulley** |m|
+:el-prefix:`spatial/` |-| **pulley** |*|
 ''''''''''''''''''''''''''''''''''''''''
 
 This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to
@@ -5094,7 +5094,7 @@ illustrated the use of pulleys.
 
 .. _tendon-fixed:
 
-:el-prefix:`tendon/` |-| **fixed** |m|
+:el-prefix:`tendon/` |-| **fixed** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that
@@ -5150,7 +5150,7 @@ as above.
 
 .. _fixed-joint:
 
-:el-prefix:`fixed/` |-| **joint** |m|
+:el-prefix:`fixed/` |-| **joint** |*|
 '''''''''''''''''''''''''''''''''''''
 
 This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is
@@ -5169,7 +5169,7 @@ multiplied by the corresponding coef value, and added up to obtain the tendon le
 
 .. _actuator:
 
-**actuator** |m|
+**actuator** |*|
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 This is a grouping element for actuator definitions. Recall the discussion of MuJoCo's :ref:`Actuation model
@@ -5180,7 +5180,7 @@ under the :el:`general` actuator.
 
 .. _actuator-general:
 
-:el-prefix:`actuator/` |-| **general** |m|
+:el-prefix:`actuator/` |-| **general** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a general actuator, providing full access to all actuator components and allowing the user to
@@ -5443,7 +5443,7 @@ specify them independently.
 
 .. _actuator-motor:
 
-:el-prefix:`actuator/` |-| **motor** |m|
+:el-prefix:`actuator/` |-| **motor** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the next three elements are the :ref:`Actuator shortcuts <CActShortcuts>` discussed earlier. When a
@@ -5513,7 +5513,7 @@ This element does not have custom attributes. It only has common attributes, whi
 
 .. _actuator-position:
 
-:el-prefix:`actuator/` |-| **position** |m|
+:el-prefix:`actuator/` |-| **position** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
@@ -5624,7 +5624,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-velocity:
 
-:el-prefix:`actuator/` |-| **velocity** |m|
+:el-prefix:`actuator/` |-| **velocity** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
@@ -5695,7 +5695,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-intvelocity:
 
-:el-prefix:`actuator/` |-| **intvelocity** |m|
+:el-prefix:`actuator/` |-| **intvelocity** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an integrated-velocity servo. For more information, see the
@@ -5783,7 +5783,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-damper:
 
-:el-prefix:`actuator/` |-| **damper** |m|
+:el-prefix:`actuator/` |-| **damper** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
@@ -5854,7 +5854,7 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-cylinder:
 
-:el-prefix:`actuator/` |-| **cylinder** |m|
+:el-prefix:`actuator/` |-| **cylinder** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
@@ -5938,7 +5938,7 @@ This element has four custom attributes in addition to the common attributes:
 
 .. _actuator-muscle:
 
-:el-prefix:`actuator/` |-| **muscle** |m|
+:el-prefix:`actuator/` |-| **muscle** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>`
@@ -6054,7 +6054,7 @@ This element has nine custom attributes in addition to the common attributes:
 
 .. _actuator-adhesion:
 
-:el-prefix:`actuator/` |-| **adhesion** |m|
+:el-prefix:`actuator/` |-| **adhesion** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 ..  youtube:: BcHZ5BFeTmU
@@ -6203,7 +6203,7 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 
 .. _sensor:
 
-**sensor** |m|
+**sensor** |*|
 ~~~~~~~~~~~~~~
 
 This is a grouping element for sensor definitions. It does not have attributes. The outputs of all sensors are
@@ -6219,7 +6219,7 @@ themselves are "features" that could be of interest to the user.
 
 .. _sensor-touch:
 
-:el-prefix:`sensor/` |-| **touch** |m|
+:el-prefix:`sensor/` |-| **touch** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the
@@ -6248,7 +6248,7 @@ scalar. It is computed by adding up the (scalar) normal forces from all included
 
 .. _sensor-accelerometer:
 
-:el-prefix:`sensor/` |-| **accelerometer** |m|
+:el-prefix:`sensor/` |-| **accelerometer** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation
@@ -6276,7 +6276,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-velocimeter:
 
-:el-prefix:`sensor/` |-| **velocimeter** |m|
+:el-prefix:`sensor/` |-| **velocimeter** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as
@@ -6301,7 +6301,7 @@ the site frame. This sensor outputs three numbers, which are the linear velocity
 
 .. _sensor-gyro:
 
-:el-prefix:`sensor/` |-| **gyro** |m|
+:el-prefix:`sensor/` |-| **gyro** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as
@@ -6328,7 +6328,7 @@ simulate an inertial measurement unit (IMU).
 
 .. _sensor-force:
 
-:el-prefix:`sensor/` |-| **force** |m|
+:el-prefix:`sensor/` |-| **force** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a
@@ -6362,7 +6362,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-torque:
 
-:el-prefix:`sensor/` |-| **torque** |m|
+:el-prefix:`sensor/` |-| **torque** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but
@@ -6390,7 +6390,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-magnetometer:
 
-:el-prefix:`sensor/` |-| **magnetometer** |m|
+:el-prefix:`sensor/` |-| **magnetometer** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor
@@ -6414,7 +6414,7 @@ site frame. The output is a 3D vector.
 
 .. _sensor-rangefinder:
 
-:el-prefix:`sensor/` |-| **rangefinder** |m|
+:el-prefix:`sensor/` |-| **rangefinder** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a rangefinder.
@@ -6489,7 +6489,7 @@ points (spheres) and the surface normals (arrows).
 
 .. _sensor-camprojection:
 
-:el-prefix:`sensor/` |-| **camprojection** |m|
+:el-prefix:`sensor/` |-| **camprojection** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camera projection sensor: the location of a target site, projected onto a camera image in pixel
@@ -6522,7 +6522,7 @@ z-coordinate indicates a location in front of/behind the camera plane, respectiv
 
 .. _sensor-jointpos:
 
-:el-prefix:`sensor/` |-| **jointpos** |m|
+:el-prefix:`sensor/` |-| **jointpos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array
@@ -6549,7 +6549,7 @@ attached to scalar joints (slide or hinge). Its output is scalar.
 
 .. _sensor-jointvel:
 
-:el-prefix:`sensor/` |-| **jointvel** |m|
+:el-prefix:`sensor/` |-| **jointvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is
@@ -6575,7 +6575,7 @@ scalar.
 
 .. _sensor-tendonpos:
 
-:el-prefix:`sensor/` |-| **tendonpos** |m|
+:el-prefix:`sensor/` |-| **tendonpos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar.
@@ -6599,7 +6599,7 @@ This element creates a tendon length sensor. It can be attached to both spatial
 
 .. _sensor-tendonvel:
 
-:el-prefix:`sensor/` |-| **tendonvel** |m|
+:el-prefix:`sensor/` |-| **tendonvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is
@@ -6624,7 +6624,7 @@ scalar.
 
 .. _sensor-actuatorpos:
 
-:el-prefix:`sensor/` |-| **actuatorpos** |m|
+:el-prefix:`sensor/` |-| **actuatorpos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This
@@ -6649,7 +6649,7 @@ sensor can be attached to any actuator. Its output is scalar.
 
 .. _sensor-actuatorvel:
 
-:el-prefix:`sensor/` |-| **actuatorvel** |m|
+:el-prefix:`sensor/` |-| **actuatorvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar.
@@ -6673,7 +6673,7 @@ This element creates an actuator velocity sensor. This sensor can be attached to
 
 .. _sensor-actuatorfrc:
 
-:el-prefix:`sensor/` |-| **actuatorfrc** |m|
+:el-prefix:`sensor/` |-| **actuatorfrc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the
@@ -6699,7 +6699,7 @@ arms determined by the transmission). This sensor can be attached to any actuato
 
 .. _sensor-jointactuatorfrc:
 
-:el-prefix:`sensor/` |-| **jointactuatorfrc** |m|
+:el-prefix:`sensor/` |-| **jointactuatorfrc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor, measured at a joint. The quantity being sensed is the generalized force
@@ -6729,7 +6729,7 @@ joint or when a single actuator acts on multiple joints. See :ref:`CForceRange`
 
 .. _sensor-tendonactuatorfrc:
 
-:el-prefix:`sensor/` |-| **tendonactuatorfrc** |m|
+:el-prefix:`sensor/` |-| **tendonactuatorfrc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
@@ -6756,7 +6756,7 @@ single tendon. See :ref:`CForceRange` for details.
 
 .. _sensor-ballquat:
 
-:el-prefix:`sensor/` |-| **ballquat** |m|
+:el-prefix:`sensor/` |-| **ballquat** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion.
@@ -6780,7 +6780,7 @@ This element creates a quaternion sensor for a ball joints. It outputs 4 numbers
 
 .. _sensor-ballangvel:
 
-:el-prefix:`sensor/` |-| **ballangvel** |m|
+:el-prefix:`sensor/` |-| **ballangvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of
@@ -6806,7 +6806,7 @@ rotation takes place.
 
 .. _sensor-jointlimitpos:
 
-:el-prefix:`sensor/` |-| **jointlimitpos** |m|
+:el-prefix:`sensor/` |-| **jointlimitpos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for position.
@@ -6833,7 +6833,7 @@ This element creates a joint limit sensor for position.
 
 .. _sensor-jointlimitvel:
 
-:el-prefix:`sensor/` |-| **jointlimitvel** |m|
+:el-prefix:`sensor/` |-| **jointlimitvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for velocity.
@@ -6858,7 +6858,7 @@ This element creates a joint limit sensor for velocity.
 
 .. _sensor-jointlimitfrc:
 
-:el-prefix:`sensor/` |-| **jointlimitfrc** |m|
+:el-prefix:`sensor/` |-| **jointlimitfrc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for constraint force.
@@ -6883,7 +6883,7 @@ This element creates a joint limit sensor for constraint force.
 
 .. _sensor-tendonlimitpos:
 
-:el-prefix:`sensor/` |-| **tendonlimitpos** |m|
+:el-prefix:`sensor/` |-| **tendonlimitpos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for position.
@@ -6908,7 +6908,7 @@ This element creates a tendon limit sensor for position.
 
 .. _sensor-tendonlimitvel:
 
-:el-prefix:`sensor/` |-| **tendonlimitvel** |m|
+:el-prefix:`sensor/` |-| **tendonlimitvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for velocity.
@@ -6933,7 +6933,7 @@ This element creates a tendon limit sensor for velocity.
 
 .. _sensor-tendonlimitfrc:
 
-:el-prefix:`sensor/` |-| **tendonlimitfrc** |m|
+:el-prefix:`sensor/` |-| **tendonlimitfrc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for constraint force.
@@ -6958,7 +6958,7 @@ This element creates a tendon limit sensor for constraint force.
 
 .. _sensor-framepos:
 
-:el-prefix:`sensor/` |-| **framepos** |m|
+:el-prefix:`sensor/` |-| **framepos** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or
@@ -7002,7 +7002,7 @@ optionally with respect to a given frame-of-reference.
 
 .. _sensor-framequat:
 
-:el-prefix:`sensor/` |-| **framequat** |m|
+:el-prefix:`sensor/` |-| **framequat** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the
@@ -7042,7 +7042,7 @@ object, in global coordinates.
 
 .. _sensor-framexaxis:
 
-:el-prefix:`sensor/` |-| **framexaxis** |m|
+:el-prefix:`sensor/` |-| **framexaxis** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the
@@ -7082,7 +7082,7 @@ object, in global coordinates.
 
 .. _sensor-frameyaxis:
 
-:el-prefix:`sensor/` |-| **frameyaxis** |m|
+:el-prefix:`sensor/` |-| **frameyaxis** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the
@@ -7122,7 +7122,7 @@ object, in global coordinates.
 
 .. _sensor-framezaxis:
 
-:el-prefix:`sensor/` |-| **framezaxis** |m|
+:el-prefix:`sensor/` |-| **framezaxis** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the
@@ -7162,7 +7162,7 @@ object, in global coordinates.
 
 .. _sensor-framelinvel:
 
-:el-prefix:`sensor/` |-| **framelinvel** |m|
+:el-prefix:`sensor/` |-| **framelinvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global
@@ -7202,7 +7202,7 @@ coordinates.
 
 .. _sensor-frameangvel:
 
-:el-prefix:`sensor/` |-| **frameangvel** |m|
+:el-prefix:`sensor/` |-| **frameangvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global
@@ -7242,7 +7242,7 @@ coordinates.
 
 .. _sensor-framelinacc:
 
-:el-prefix:`sensor/` |-| **framelinacc** |m|
+:el-prefix:`sensor/` |-| **framelinacc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global
@@ -7274,7 +7274,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-frameangacc:
 
-:el-prefix:`sensor/` |-| **frameangacc** |m|
+:el-prefix:`sensor/` |-| **frameangacc** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global
@@ -7306,7 +7306,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstr
 
 .. _sensor-subtreecom:
 
-:el-prefix:`sensor/` |-| **subtreecom** |m|
+:el-prefix:`sensor/` |-| **subtreecom** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in
@@ -7331,7 +7331,7 @@ global coordinates.
 
 .. _sensor-subtreelinvel:
 
-:el-prefix:`sensor/` |-| **subtreelinvel** |m|
+:el-prefix:`sensor/` |-| **subtreelinvel** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a
@@ -7358,7 +7358,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` d
 
 .. _sensor-subtreeangmom:
 
-:el-prefix:`sensor/` |-| **subtreeangmom** |m|
+:el-prefix:`sensor/` |-| **subtreeangmom** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted
@@ -7385,7 +7385,7 @@ The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` d
 
 .. _sensor-insidesite:
 
-:el-prefix:`sensor/` |-| **insidesite** |m|
+:el-prefix:`sensor/` |-| **insidesite** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This element creates a sensor that returns 1 if the given object is inside a site, 0 otherwise.
 It is useful for triggering events in surrounding environment logic.
@@ -7460,7 +7460,7 @@ sequential sensors
 
 .. _sensor-distance:
 
-:el-prefix:`sensor/` |-| **distance** |m|
+:el-prefix:`sensor/` |-| **distance** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the smallest signed distance between the surfaces of two geoms.
@@ -7505,7 +7505,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-normal:
 
-:el-prefix:`sensor/` |-| **normal** |m|
+:el-prefix:`sensor/` |-| **normal** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the normal direction of the smallest signed distance between the surfaces of
@@ -7552,7 +7552,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-fromto:
 
-:el-prefix:`sensor/` |-| **fromto** |m|
+:el-prefix:`sensor/` |-| **fromto** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the segment defining the smallest signed distance between the surfaces of two
@@ -7600,7 +7600,7 @@ See :ref:`collision-sensors` for more details about sensors of this type.
 
 .. _sensor-contact:
 
-:el-prefix:`sensor/` |-| **contact** |m|
+:el-prefix:`sensor/` |-| **contact** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 **Motivation:** The array of contacts which occur during the main dynamics pipeline is inherently variable-sized. The
@@ -7743,7 +7743,7 @@ Extraction
 
 .. _sensor-tactile:
 
-:el-prefix:`sensor/` |-| **tactile** |m|
+:el-prefix:`sensor/` |-| **tactile** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 .. image:: images/XMLreference/tactile.png
    :align: right
@@ -7779,7 +7779,7 @@ contribute to the sensor output. The sensor can be visualized by enabling the vi
 
 .. _sensor-e_potential:
 
-:el-prefix:`sensor/` |-| **e_potential** |m|
+:el-prefix:`sensor/` |-| **e_potential** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the potential energy.
@@ -7798,7 +7798,7 @@ This element creates sensor that returns the potential energy.
 
 .. _sensor-e_kinetic:
 
-:el-prefix:`sensor/` |-| **e_kinetic** |m|
+:el-prefix:`sensor/` |-| **e_kinetic** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the kinetic energy.
@@ -7817,7 +7817,7 @@ This element creates sensor that returns the kinetic energy.
 
 .. _sensor-clock:
 
-:el-prefix:`sensor/` |-| **clock** |m|
+:el-prefix:`sensor/` |-| **clock** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the simulation time.
@@ -7836,7 +7836,7 @@ This element creates sensor that returns the simulation time.
 
 .. _sensor-user:
 
-:el-prefix:`sensor/` |-| **user** |m|
+:el-prefix:`sensor/` |-| **user** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user
@@ -7930,7 +7930,7 @@ Ascociate this sensor with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin
 
 .. _keyframe:
 
-**keyframe** |m|
+**keyframe** |*|
 ~~~~~~~~~~~~~~~~
 
 This is a grouping element for keyframe definitions. It does not have attributes. Keyframes can be used to create a
@@ -7945,7 +7945,7 @@ in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a sel
 
 .. _keyframe-key:
 
-:el-prefix:`keyframe/` |-| **key** |m|
+:el-prefix:`keyframe/` |-| **key** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element sets the data for one of the keyframes. They are set in the order in which they appear here. If the number
@@ -7997,7 +7997,7 @@ be set to their values in the default configuration.
 
 .. _visual:
 
-**visual** |m|
+**visual** |*|
 ~~~~~~~~~~~~~~
 
 This element is in one-to-one correspondence with the low level structure mjVisual contained in the field mjModel.vis
@@ -8533,7 +8533,7 @@ disables the rendering of the corresponding object.
 
 .. _default:
 
-**default** |R|
+**default** |@|
 ~~~~~~~~~~~~~~~
 
 This element is used to create a new defaults class; see :ref:`CDefault` above. Defaults classes can be nested,
@@ -9216,7 +9216,7 @@ All :ref:`adhesion <actuator-adhesion>` attributes are available here except: na
 
 .. _custom:
 
-**custom** |m|
+**custom** |*|
 ~~~~~~~~~~~~~~
 
 This is a grouping element for custom numeric and text elements. It does not have attributes.
@@ -9224,7 +9224,7 @@ This is a grouping element for custom numeric and text elements. It does not hav
 
 .. _custom-numeric:
 
-:el-prefix:`custom/` |-| **numeric** |m|
+:el-prefix:`custom/` |-| **numeric** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom numeric array in mjModel.
@@ -9252,7 +9252,7 @@ This element creates a custom numeric array in mjModel.
 
 .. _custom-text:
 
-:el-prefix:`custom/` |-| **text** |m|
+:el-prefix:`custom/` |-| **text** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and
@@ -9271,7 +9271,7 @@ other custom computations.
 
 .. _custom-tuple:
 
-:el-prefix:`custom/` |-| **tuple** |m|
+:el-prefix:`custom/` |-| **tuple** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired
@@ -9285,7 +9285,7 @@ objects by name.
 
 .. _tuple-element:
 
-:el-prefix:`tuple/` |-| **element** |m|
+:el-prefix:`tuple/` |-| **element** |*|
 '''''''''''''''''''''''''''''''''''''''
 
 This adds an element to the tuple.
@@ -9310,7 +9310,7 @@ This adds an element to the tuple.
 
 .. _extension:
 
-**extension** |m|
+**extension** |*|
 ~~~~~~~~~~~~~~~~~
 
 This is a grouping element for MuJoCo extensions. Extensions allow the user to extend MuJoCo's capabilities with custom
@@ -9319,7 +9319,7 @@ extension type are :ref:`exPlugin`.
 
 .. _extension-plugin:
 
-:el-prefix:`extension/` |-| **plugin** |m|
+:el-prefix:`extension/` |-| **plugin** |*|
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies that an engine plugin is required in order to simulate this model.
@@ -9332,7 +9332,7 @@ See :ref:`exPlugin` for more details.
 
 .. _plugin-instance:
 
-:el-prefix:`plugin/` |-| **instance** |m|
+:el-prefix:`plugin/` |-| **instance** |*|
 '''''''''''''''''''''''''''''''''''''''''
 
 Declares a plugin instance. Explicit instances declaration is required when multiple elements are backed by the same
@@ -9348,7 +9348,7 @@ plugin, or when global plugin configuration is desired. See plugin :ref:`declara
 
 .. _instance-config:
 
-:el-prefix:`instance/` |-| **config** |m|
+:el-prefix:`instance/` |-| **config** |*|
 """""""""""""""""""""""""""""""""""""""""
 
 Configuration of a plugin instance. When implicitly declaring a plugin under a model element, configuration is
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 5f92bdb1..f2faa105 100755
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -8,7 +8,7 @@
          :ref:`model<mujoco-model>`
 
 
-   .. dropdown:: option |m|
+   .. dropdown:: option |*|
 
       .. grid:: 2 3 4 4
          :gutter: 0
@@ -176,7 +176,7 @@
                :ref:`sleep<option-flag-sleep>`
 
 
-   .. dropdown:: compiler |m|
+   .. dropdown:: compiler |*|
 
       .. grid:: 2 3 4 4
          :gutter: 0
@@ -278,7 +278,7 @@
                :ref:`tolrange<compiler-lengthrange-tolrange>`
 
 
-   .. dropdown:: size |m|
+   .. dropdown:: size |*|
 
       .. grid:: 2 3 4 4
          :gutter: 0
@@ -326,7 +326,7 @@
             :ref:`nuser_sensor<size-nuser_sensor>`
 
 
-   .. dropdown:: statistic |m|
+   .. dropdown:: statistic |*|
 
       .. grid:: 2 3 4 4
          :gutter: 0
@@ -347,10 +347,10 @@
             :ref:`center<statistic-center>`
 
 
-   .. dropdown:: asset |m|
+   .. dropdown:: asset |*|
 
 
-      .. dropdown:: mesh |m|
+      .. dropdown:: mesh |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -407,7 +407,7 @@
                :ref:`material<asset-mesh-material>`
 
 
-         .. dropdown:: plugin |m|
+         .. dropdown:: plugin |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -419,7 +419,7 @@
                   :ref:`instance<mesh-plugin-instance>`
 
 
-            .. dropdown:: config |m|
+            .. dropdown:: config |*|
 
                .. grid:: 2 3 4 4
                   :gutter: 0
@@ -431,7 +431,7 @@
                      :ref:`value<plugin-config-value>`
 
 
-      .. dropdown:: hfield |m|
+      .. dropdown:: hfield |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -458,7 +458,7 @@
                :ref:`elevation<asset-hfield-elevation>`
 
 
-      .. dropdown:: skin |m|
+      .. dropdown:: skin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -491,7 +491,7 @@
                :ref:`group<asset-skin-group>`
 
 
-         .. dropdown:: bone |m|
+         .. dropdown:: bone |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -512,7 +512,7 @@
                   :ref:`vertweight<skin-bone-vertweight>`
 
 
-      .. dropdown:: texture |m|
+      .. dropdown:: texture |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -590,7 +590,7 @@
                :ref:`nchannel<asset-texture-nchannel>`
 
 
-      .. dropdown:: material |m|
+      .. dropdown:: material |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -632,7 +632,7 @@
                :ref:`rgba<asset-material-rgba>`
 
 
-         .. dropdown:: layer |m|
+         .. dropdown:: layer |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -644,7 +644,7 @@
                   :ref:`role<material-layer-role>`
 
 
-      .. dropdown:: model |m|
+      .. dropdown:: model |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -734,7 +734,7 @@
                :ref:`fullinertia<body-inertial-fullinertia>`
 
 
-      .. dropdown:: joint |m|
+      .. dropdown:: joint |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -812,7 +812,7 @@
                :ref:`user<body-joint-user>`
 
 
-      .. dropdown:: freejoint |m|
+      .. dropdown:: freejoint |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -827,7 +827,7 @@
                :ref:`align<body-freejoint-align>`
 
 
-      .. dropdown:: geom |m|
+      .. dropdown:: geom |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -932,7 +932,7 @@
                :ref:`user<body-geom-user>`
 
 
-         .. dropdown:: plugin |m|
+         .. dropdown:: plugin |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -944,7 +944,7 @@
                   :ref:`instance<geom-plugin-instance>`
 
 
-            .. dropdown:: config |m|
+            .. dropdown:: config |*|
 
                .. grid:: 2 3 4 4
                   :gutter: 0
@@ -956,7 +956,7 @@
                      :ref:`value<plugin-config-value>`
 
 
-      .. dropdown:: attach |m|
+      .. dropdown:: attach |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -971,7 +971,7 @@
                :ref:`prefix<body-attach-prefix>`
 
 
-      .. dropdown:: site |m|
+      .. dropdown:: site |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1022,7 +1022,7 @@
                :ref:`user<body-site-user>`
 
 
-      .. dropdown:: camera |m|
+      .. dropdown:: camera |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1091,7 +1091,7 @@
                :ref:`user<body-camera-user>`
 
 
-      .. dropdown:: light |m|
+      .. dropdown:: light |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1157,7 +1157,7 @@
                :ref:`texture<body-light-texture>`
 
 
-      .. dropdown:: plugin |m|
+      .. dropdown:: plugin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1169,7 +1169,7 @@
                :ref:`instance<body-plugin-instance>`
 
 
-         .. dropdown:: config |m|
+         .. dropdown:: config |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1181,7 +1181,7 @@
                   :ref:`value<plugin-config-value>`
 
 
-      .. dropdown:: composite |m|
+      .. dropdown:: composite |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1214,7 +1214,7 @@
                :ref:`quat<body-composite-quat>`
 
 
-         .. dropdown:: joint |m|
+         .. dropdown:: joint |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1370,7 +1370,7 @@
                   :ref:`rgba<composite-site-rgba>`
 
 
-         .. dropdown:: plugin |m|
+         .. dropdown:: plugin |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1382,7 +1382,7 @@
                   :ref:`instance<composite-plugin-instance>`
 
 
-            .. dropdown:: config |m|
+            .. dropdown:: config |*|
 
                .. grid:: 2 3 4 4
                   :gutter: 0
@@ -1394,7 +1394,7 @@
                      :ref:`value<plugin-config-value>`
 
 
-      .. dropdown:: flexcomp |m|
+      .. dropdown:: flexcomp |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1571,7 +1571,7 @@
                   :ref:`passive<flexcomp-contact-passive>`
 
 
-         .. dropdown:: pin |m|
+         .. dropdown:: pin |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1589,7 +1589,7 @@
                   :ref:`gridrange<flexcomp-pin-gridrange>`
 
 
-         .. dropdown:: plugin |m|
+         .. dropdown:: plugin |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1601,7 +1601,7 @@
                   :ref:`instance<flexcomp-plugin-instance>`
 
 
-            .. dropdown:: config |m|
+            .. dropdown:: config |*|
 
                .. grid:: 2 3 4 4
                   :gutter: 0
@@ -1613,10 +1613,10 @@
                      :ref:`value<plugin-config-value>`
 
 
-   .. dropdown:: deformable |m|
+   .. dropdown:: deformable |*|
 
 
-      .. dropdown:: flex |m|
+      .. dropdown:: flex |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1745,7 +1745,7 @@
                   :ref:`elastic2d<flex-elasticity-elastic2d>`
 
 
-      .. dropdown:: skin |m|
+      .. dropdown:: skin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1778,7 +1778,7 @@
                :ref:`group<deformable-skin-group>`
 
 
-         .. dropdown:: bone |m|
+         .. dropdown:: bone |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -1799,10 +1799,10 @@
                   :ref:`vertweight<skin-bone-vertweight>`
 
 
-   .. dropdown:: contact |m|
+   .. dropdown:: contact |*|
 
 
-      .. dropdown:: pair |m|
+      .. dropdown:: pair |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1841,7 +1841,7 @@
                :ref:`margin<contact-pair-margin>`
 
 
-      .. dropdown:: exclude |m|
+      .. dropdown:: exclude |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1856,10 +1856,10 @@
                :ref:`body2<contact-exclude-body2>`
 
 
-   .. dropdown:: equality |m|
+   .. dropdown:: equality |*|
 
 
-      .. dropdown:: connect |m|
+      .. dropdown:: connect |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1895,7 +1895,7 @@
                :ref:`solimp<equality-connect-solimp>`
 
 
-      .. dropdown:: weld |m|
+      .. dropdown:: weld |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1937,7 +1937,7 @@
                :ref:`torquescale<equality-weld-torquescale>`
 
 
-      .. dropdown:: joint |m|
+      .. dropdown:: joint |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1967,7 +1967,7 @@
                :ref:`solimp<equality-joint-solimp>`
 
 
-      .. dropdown:: tendon |m|
+      .. dropdown:: tendon |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -1997,7 +1997,7 @@
                :ref:`solimp<equality-tendon-solimp>`
 
 
-      .. dropdown:: flex |m|
+      .. dropdown:: flex |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2021,7 +2021,7 @@
                :ref:`solimp<equality-flex-solimp>`
 
 
-      .. dropdown:: flexvert |m|
+      .. dropdown:: flexvert |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2045,10 +2045,10 @@
                :ref:`solimp<equality-flexvert-solimp>`
 
 
-   .. dropdown:: tendon |m|
+   .. dropdown:: tendon |*|
 
 
-      .. dropdown:: spatial |m|
+      .. dropdown:: spatial |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2117,7 +2117,7 @@
                :ref:`user<tendon-spatial-user>`
 
 
-         .. dropdown:: site |m|
+         .. dropdown:: site |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -2126,7 +2126,7 @@
                   :ref:`site<spatial-site-site>`
 
 
-         .. dropdown:: geom |m|
+         .. dropdown:: geom |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -2138,7 +2138,7 @@
                   :ref:`sidesite<spatial-geom-sidesite>`
 
 
-         .. dropdown:: pulley |m|
+         .. dropdown:: pulley |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -2147,7 +2147,7 @@
                   :ref:`divisor<spatial-pulley-divisor>`
 
 
-      .. dropdown:: fixed |m|
+      .. dropdown:: fixed |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2207,7 +2207,7 @@
                :ref:`user<tendon-fixed-user>`
 
 
-         .. dropdown:: joint |m|
+         .. dropdown:: joint |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -2219,10 +2219,10 @@
                   :ref:`coef<fixed-joint-coef>`
 
 
-   .. dropdown:: actuator |m|
+   .. dropdown:: actuator |*|
 
 
-      .. dropdown:: general |m|
+      .. dropdown:: general |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2315,7 +2315,7 @@
                :ref:`actearly<actuator-general-actearly>`
 
 
-      .. dropdown:: motor |m|
+      .. dropdown:: motor |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2375,7 +2375,7 @@
                :ref:`refsite<actuator-motor-refsite>`
 
 
-      .. dropdown:: position |m|
+      .. dropdown:: position |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2450,7 +2450,7 @@
                :ref:`timeconst<actuator-position-timeconst>`
 
 
-      .. dropdown:: velocity |m|
+      .. dropdown:: velocity |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2513,7 +2513,7 @@
                :ref:`kv<actuator-velocity-kv>`
 
 
-      .. dropdown:: intvelocity |m|
+      .. dropdown:: intvelocity |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2588,7 +2588,7 @@
                :ref:`dampratio<actuator-intvelocity-dampratio>`
 
 
-      .. dropdown:: damper |m|
+      .. dropdown:: damper |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2648,7 +2648,7 @@
                :ref:`kv<actuator-damper-kv>`
 
 
-      .. dropdown:: cylinder |m|
+      .. dropdown:: cylinder |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2720,7 +2720,7 @@
                :ref:`bias<actuator-cylinder-bias>`
 
 
-      .. dropdown:: muscle |m|
+      .. dropdown:: muscle |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2804,7 +2804,7 @@
                :ref:`fvmax<actuator-muscle-fvmax>`
 
 
-      .. dropdown:: adhesion |m|
+      .. dropdown:: adhesion |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2837,7 +2837,7 @@
                :ref:`gain<actuator-adhesion-gain>`
 
 
-      .. dropdown:: plugin |m|
+      .. dropdown:: plugin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2918,7 +2918,7 @@
                :ref:`actearly<actuator-plugin-actearly>`
 
 
-         .. dropdown:: config |m|
+         .. dropdown:: config |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -2930,10 +2930,10 @@
                   :ref:`value<plugin-config-value>`
 
 
-   .. dropdown:: sensor |m|
+   .. dropdown:: sensor |*|
 
 
-      .. dropdown:: touch |m|
+      .. dropdown:: touch |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2954,7 +2954,7 @@
                :ref:`user<sensor-touch-user>`
 
 
-      .. dropdown:: accelerometer |m|
+      .. dropdown:: accelerometer |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2975,7 +2975,7 @@
                :ref:`user<sensor-accelerometer-user>`
 
 
-      .. dropdown:: velocimeter |m|
+      .. dropdown:: velocimeter |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -2996,7 +2996,7 @@
                :ref:`user<sensor-velocimeter-user>`
 
 
-      .. dropdown:: gyro |m|
+      .. dropdown:: gyro |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3017,7 +3017,7 @@
                :ref:`user<sensor-gyro-user>`
 
 
-      .. dropdown:: force |m|
+      .. dropdown:: force |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3038,7 +3038,7 @@
                :ref:`user<sensor-force-user>`
 
 
-      .. dropdown:: torque |m|
+      .. dropdown:: torque |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3059,7 +3059,7 @@
                :ref:`user<sensor-torque-user>`
 
 
-      .. dropdown:: magnetometer |m|
+      .. dropdown:: magnetometer |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3080,7 +3080,7 @@
                :ref:`user<sensor-magnetometer-user>`
 
 
-      .. dropdown:: camprojection |m|
+      .. dropdown:: camprojection |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3104,7 +3104,7 @@
                :ref:`user<sensor-camprojection-user>`
 
 
-      .. dropdown:: rangefinder |m|
+      .. dropdown:: rangefinder |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3131,7 +3131,7 @@
                :ref:`user<sensor-rangefinder-user>`
 
 
-      .. dropdown:: jointpos |m|
+      .. dropdown:: jointpos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3152,7 +3152,7 @@
                :ref:`user<sensor-jointpos-user>`
 
 
-      .. dropdown:: jointvel |m|
+      .. dropdown:: jointvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3173,7 +3173,7 @@
                :ref:`user<sensor-jointvel-user>`
 
 
-      .. dropdown:: tendonpos |m|
+      .. dropdown:: tendonpos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3194,7 +3194,7 @@
                :ref:`user<sensor-tendonpos-user>`
 
 
-      .. dropdown:: tendonvel |m|
+      .. dropdown:: tendonvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3215,7 +3215,7 @@
                :ref:`user<sensor-tendonvel-user>`
 
 
-      .. dropdown:: actuatorpos |m|
+      .. dropdown:: actuatorpos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3236,7 +3236,7 @@
                :ref:`user<sensor-actuatorpos-user>`
 
 
-      .. dropdown:: actuatorvel |m|
+      .. dropdown:: actuatorvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3257,7 +3257,7 @@
                :ref:`user<sensor-actuatorvel-user>`
 
 
-      .. dropdown:: actuatorfrc |m|
+      .. dropdown:: actuatorfrc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3278,7 +3278,7 @@
                :ref:`user<sensor-actuatorfrc-user>`
 
 
-      .. dropdown:: jointactuatorfrc |m|
+      .. dropdown:: jointactuatorfrc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3299,7 +3299,7 @@
                :ref:`user<sensor-jointactuatorfrc-user>`
 
 
-      .. dropdown:: tendonactuatorfrc |m|
+      .. dropdown:: tendonactuatorfrc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3320,7 +3320,7 @@
                :ref:`user<sensor-tendonactuatorfrc-user>`
 
 
-      .. dropdown:: ballquat |m|
+      .. dropdown:: ballquat |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3341,7 +3341,7 @@
                :ref:`user<sensor-ballquat-user>`
 
 
-      .. dropdown:: ballangvel |m|
+      .. dropdown:: ballangvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3362,7 +3362,7 @@
                :ref:`user<sensor-ballangvel-user>`
 
 
-      .. dropdown:: jointlimitpos |m|
+      .. dropdown:: jointlimitpos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3383,7 +3383,7 @@
                :ref:`user<sensor-jointlimitpos-user>`
 
 
-      .. dropdown:: jointlimitvel |m|
+      .. dropdown:: jointlimitvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3404,7 +3404,7 @@
                :ref:`user<sensor-jointlimitvel-user>`
 
 
-      .. dropdown:: jointlimitfrc |m|
+      .. dropdown:: jointlimitfrc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3425,7 +3425,7 @@
                :ref:`user<sensor-jointlimitfrc-user>`
 
 
-      .. dropdown:: tendonlimitpos |m|
+      .. dropdown:: tendonlimitpos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3446,7 +3446,7 @@
                :ref:`user<sensor-tendonlimitpos-user>`
 
 
-      .. dropdown:: tendonlimitvel |m|
+      .. dropdown:: tendonlimitvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3467,7 +3467,7 @@
                :ref:`user<sensor-tendonlimitvel-user>`
 
 
-      .. dropdown:: tendonlimitfrc |m|
+      .. dropdown:: tendonlimitfrc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3488,7 +3488,7 @@
                :ref:`user<sensor-tendonlimitfrc-user>`
 
 
-      .. dropdown:: framepos |m|
+      .. dropdown:: framepos |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3518,7 +3518,7 @@
                :ref:`user<sensor-framepos-user>`
 
 
-      .. dropdown:: framequat |m|
+      .. dropdown:: framequat |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3548,7 +3548,7 @@
                :ref:`user<sensor-framequat-user>`
 
 
-      .. dropdown:: framexaxis |m|
+      .. dropdown:: framexaxis |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3578,7 +3578,7 @@
                :ref:`user<sensor-framexaxis-user>`
 
 
-      .. dropdown:: frameyaxis |m|
+      .. dropdown:: frameyaxis |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3608,7 +3608,7 @@
                :ref:`user<sensor-frameyaxis-user>`
 
 
-      .. dropdown:: framezaxis |m|
+      .. dropdown:: framezaxis |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3638,7 +3638,7 @@
                :ref:`user<sensor-framezaxis-user>`
 
 
-      .. dropdown:: framelinvel |m|
+      .. dropdown:: framelinvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3668,7 +3668,7 @@
                :ref:`user<sensor-framelinvel-user>`
 
 
-      .. dropdown:: frameangvel |m|
+      .. dropdown:: frameangvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3698,7 +3698,7 @@
                :ref:`user<sensor-frameangvel-user>`
 
 
-      .. dropdown:: framelinacc |m|
+      .. dropdown:: framelinacc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3722,7 +3722,7 @@
                :ref:`user<sensor-framelinacc-user>`
 
 
-      .. dropdown:: frameangacc |m|
+      .. dropdown:: frameangacc |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3746,7 +3746,7 @@
                :ref:`user<sensor-frameangacc-user>`
 
 
-      .. dropdown:: subtreecom |m|
+      .. dropdown:: subtreecom |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3767,7 +3767,7 @@
                :ref:`user<sensor-subtreecom-user>`
 
 
-      .. dropdown:: subtreelinvel |m|
+      .. dropdown:: subtreelinvel |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3788,7 +3788,7 @@
                :ref:`user<sensor-subtreelinvel-user>`
 
 
-      .. dropdown:: subtreeangmom |m|
+      .. dropdown:: subtreeangmom |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3809,7 +3809,7 @@
                :ref:`user<sensor-subtreeangmom-user>`
 
 
-      .. dropdown:: insidesite |m|
+      .. dropdown:: insidesite |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3836,7 +3836,7 @@
                :ref:`user<sensor-insidesite-user>`
 
 
-      .. dropdown:: distance |m|
+      .. dropdown:: distance |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3866,7 +3866,7 @@
                :ref:`user<sensor-distance-user>`
 
 
-      .. dropdown:: normal |m|
+      .. dropdown:: normal |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3896,7 +3896,7 @@
                :ref:`user<sensor-normal-user>`
 
 
-      .. dropdown:: fromto |m|
+      .. dropdown:: fromto |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3926,7 +3926,7 @@
                :ref:`user<sensor-fromto-user>`
 
 
-      .. dropdown:: contact |m|
+      .. dropdown:: contact |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3974,7 +3974,7 @@
                :ref:`user<sensor-contact-user>`
 
 
-      .. dropdown:: e_potential |m|
+      .. dropdown:: e_potential |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -3992,7 +3992,7 @@
                :ref:`user<sensor-e_potential-user>`
 
 
-      .. dropdown:: e_kinetic |m|
+      .. dropdown:: e_kinetic |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4010,7 +4010,7 @@
                :ref:`user<sensor-e_kinetic-user>`
 
 
-      .. dropdown:: clock |m|
+      .. dropdown:: clock |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4028,7 +4028,7 @@
                :ref:`user<sensor-clock-user>`
 
 
-      .. dropdown:: user |m|
+      .. dropdown:: user |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4061,7 +4061,7 @@
                :ref:`user<sensor-user-user>`
 
 
-      .. dropdown:: tactile |m|
+      .. dropdown:: tactile |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4079,7 +4079,7 @@
                :ref:`user<sensor-tactile-user>`
 
 
-      .. dropdown:: plugin |m|
+      .. dropdown:: plugin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4112,7 +4112,7 @@
                :ref:`user<sensor-plugin-user>`
 
 
-         .. dropdown:: config |m|
+         .. dropdown:: config |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -4124,10 +4124,10 @@
                   :ref:`value<plugin-config-value>`
 
 
-   .. dropdown:: keyframe |m|
+   .. dropdown:: keyframe |*|
 
 
-      .. dropdown:: key |m|
+      .. dropdown:: key |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -4157,7 +4157,7 @@
                :ref:`ctrl<keyframe-key-ctrl>`
 
 
-   .. dropdown:: visual |m|
+   .. dropdown:: visual |*|
 
 
       .. dropdown:: global :octicon:`dot`
@@ -4487,7 +4487,7 @@
                :ref:`texuniform<default-material-texuniform>`
 
 
-         .. dropdown:: layer |m|
+         .. dropdown:: layer |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -5291,10 +5291,10 @@
                :ref:`group<default-adhesion-group>`
 
 
-   .. dropdown:: custom |m|
+   .. dropdown:: custom |*|
 
 
-      .. dropdown:: numeric |m|
+      .. dropdown:: numeric |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -5309,7 +5309,7 @@
                :ref:`data<custom-numeric-data>`
 
 
-      .. dropdown:: text |m|
+      .. dropdown:: text |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -5321,7 +5321,7 @@
                :ref:`data<custom-text-data>`
 
 
-      .. dropdown:: tuple |m|
+      .. dropdown:: tuple |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -5330,7 +5330,7 @@
                :ref:`name<custom-tuple-name>`
 
 
-         .. dropdown:: element |m|
+         .. dropdown:: element |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -5345,10 +5345,10 @@
                   :ref:`prm<tuple-element-prm>`
 
 
-   .. dropdown:: extension |m|
+   .. dropdown:: extension |*|
 
 
-      .. dropdown:: plugin |m|
+      .. dropdown:: plugin |*|
 
          .. grid:: 2 3 4 4
             :gutter: 0
@@ -5357,7 +5357,7 @@
                :ref:`plugin<extension-plugin-plugin>`
 
 
-         .. dropdown:: instance |m|
+         .. dropdown:: instance |*|
 
             .. grid:: 2 3 4 4
                :gutter: 0
@@ -5366,7 +5366,7 @@
                   :ref:`name<plugin-instance-name>`
 
 
-            .. dropdown:: config |m|
+            .. dropdown:: config |*|
 
                .. grid:: 2 3 4 4
                   :gutter: 0
diff --git a/doc/includes/macros.rst b/doc/includes/macros.rst
index 13686cd6..0456d30d 100644
--- a/doc/includes/macros.rst
+++ b/doc/includes/macros.rst
@@ -45,10 +45,10 @@
 ..
    Macro for icon for optional element, can appear multiple times (no icon).
 
-.. |m| unicode:: U+200B
+.. |*| unicode:: U+200B
    :trim:
 
 ..
    Macro for icon for optional element that can appear recursively.
 
-.. |R| replace:: :octicon:`sync`
+.. |@| replace:: :octicon:`sync`