diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 67b70216..4fb42e42 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -28,6 +28,8 @@ through elements and attributes. Text content in elements is not used; if presen
    **R**  optional element, can appear many times recursively
    ====== ===================================================
 
+   .. cssclass:: schema-small
+
    .. include:: XMLschema.rst
 
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index a24539db..641ce4b3 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -1,1553 +1,1393 @@
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-|                                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`mujoco                       | !  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <mujoco>`                          |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`model<mujoco-model>`                                      |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`compiler                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <compiler>`                        |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`autolimits<compiler-autolimits>`                          | :ref:`boundmass<compiler-boundmass>`                            | :ref:`boundinertia<compiler-boundinertia>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`settotalmass<compiler-settotalmass>`                      | :ref:`balanceinertia<compiler-balanceinertia>`                  | :ref:`strippath<compiler-strippath>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`coordinate<compiler-coordinate>`                          | :ref:`angle<compiler-angle>`                                    | :ref:`fitaabb<compiler-fitaabb>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`eulerseq<compiler-eulerseq>`                              | :ref:`meshdir<compiler-meshdir>`                                | :ref:`texturedir<compiler-texturedir>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`discardvisual<compiler-discardvisual>`                    | :ref:`convexhull<compiler-convexhull>`                          | :ref:`usethread<compiler-usethread>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fusestatic<compiler-fusestatic>`                          | :ref:`inertiafromgeom<compiler-inertiafromgeom>`                | :ref:`inertiagrouprange<compiler-inertiagrouprange>`            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`exactmeshinertia<compiler-exactmeshinertia>`              | :ref:`assetdir<compiler-assetdir>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| compiler |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`lengthrange                  | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <compiler-lengthrange>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mode<compiler-lengthrange-mode>`                          | :ref:`useexisting<compiler-lengthrange-useexisting>`            | :ref:`uselimit<compiler-lengthrange-uselimit>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`accel<compiler-lengthrange-accel>`                        | :ref:`maxforce<compiler-lengthrange-maxforce>`                  | :ref:`timeconst<compiler-lengthrange-timeconst>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`timestep<compiler-lengthrange-timestep>`                  | :ref:`inttotal<compiler-lengthrange-inttotal>`                  | :ref:`interval<compiler-lengthrange-interval>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tolrange<compiler-lengthrange-tolrange>`                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`option                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <option>`                          |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`timestep<option-timestep>`                                | :ref:`apirate<option-apirate>`                                  | :ref:`impratio<option-impratio>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tolerance<option-tolerance>`                              | :ref:`noslip_tolerance<option-noslip_tolerance>`                | :ref:`mpr_tolerance<option-mpr_tolerance>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gravity<option-gravity>`                                  | :ref:`wind<option-wind>`                                        | :ref:`magnetic<option-magnetic>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`density<option-density>`                                  | :ref:`viscosity<option-viscosity>`                              | :ref:`o_margin<option-o_margin>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`o_solref<option-o_solref>`                                | :ref:`o_solimp<option-o_solimp>`                                | :ref:`integrator<option-integrator>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`collision<option-collision>`                              | :ref:`cone<option-cone>`                                        | :ref:`jacobian<option-jacobian>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solver<option-solver>`                                    | :ref:`iterations<option-iterations>`                            | :ref:`noslip_iterations<option-noslip_iterations>`              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mpr_iterations<option-mpr_iterations>`                    |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| option |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`flag                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <option-flag>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`constraint<option-flag-constraint>`                       | :ref:`equality<option-flag-equality>`                           | :ref:`frictionloss<option-flag-frictionloss>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`limit<option-flag-limit>`                                 | :ref:`contact<option-flag-contact>`                             | :ref:`passive<option-flag-passive>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gravity<option-flag-gravity>`                             | :ref:`clampctrl<option-flag-clampctrl>`                         | :ref:`warmstart<option-flag-warmstart>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`filterparent<option-flag-filterparent>`                   | :ref:`actuation<option-flag-actuation>`                         | :ref:`refsafe<option-flag-refsafe>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`sensor<option-flag-sensor>`                               | :ref:`override<option-flag-override>`                           | :ref:`energy<option-flag-energy>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fwdinv<option-flag-fwdinv>`                               | :ref:`sensornoise<option-flag-sensornoise>`                     | :ref:`multiccd<option-flag-multiccd>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`size                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <size>`                            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`memory<size-memory>`                                      | :ref:`njmax<size-njmax>`                                        | :ref:`nconmax<size-nconmax>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`nstack<size-nstack>`                                      | :ref:`nuserdata<size-nuserdata>`                                | :ref:`nkey<size-nkey>`                                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`nuser_body<size-nuser_body>`                              | :ref:`nuser_jnt<size-nuser_jnt>`                                | :ref:`nuser_geom<size-nuser_geom>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`nuser_site<size-nuser_site>`                              | :ref:`nuser_cam<size-nuser_cam>`                                | :ref:`nuser_tendon<size-nuser_tendon>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`nuser_actuator<size-nuser_actuator>`                      | :ref:`nuser_sensor<size-nuser_sensor>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`visual<visual>`              |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`global                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-global>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fovy<visual-global-fovy>`                                 | :ref:`ipd<visual-global-ipd>`                                   | :ref:`azimuth<visual-global-azimuth>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`elevation<visual-global-elevation>`                       | :ref:`linewidth<visual-global-linewidth>`                       | :ref:`glow<visual-global-glow>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`offwidth<visual-global-offwidth>`                         | :ref:`offheight<visual-global-offheight>`                       | :ref:`realtime<visual-global-realtime>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`quality                      | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-quality>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`shadowsize<visual-quality-shadowsize>`                    | :ref:`offsamples<visual-quality-offsamples>`                    | :ref:`numslices<visual-quality-numslices>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`numstacks<visual-quality-numstacks>`                      | :ref:`numquads<visual-quality-numquads>`                        |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`headlight                    | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-headlight>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ambient<visual-headlight-ambient>`                        | :ref:`diffuse<visual-headlight-diffuse>`                        | :ref:`specular<visual-headlight-specular>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`active<visual-headlight-active>`                          |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`map                          | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-map>`                      |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`stiffness<visual-map-stiffness>`                          | :ref:`stiffnessrot<visual-map-stiffnessrot>`                    | :ref:`force<visual-map-force>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`torque<visual-map-torque>`                                | :ref:`alpha<visual-map-alpha>`                                  | :ref:`fogstart<visual-map-fogstart>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fogend<visual-map-fogend>`                                | :ref:`znear<visual-map-znear>`                                  | :ref:`zfar<visual-map-zfar>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`haze<visual-map-haze>`                                    | :ref:`shadowclip<visual-map-shadowclip>`                        | :ref:`shadowscale<visual-map-shadowscale>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`actuatortendon<visual-map-actuatortendon>`                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`scale                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-scale>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcewidth<visual-scale-forcewidth>`                      | :ref:`contactwidth<visual-scale-contactwidth>`                  | :ref:`contactheight<visual-scale-contactheight>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`connect<visual-scale-connect>`                            | :ref:`com<visual-scale-com>`                                    | :ref:`camera<visual-scale-camera>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`light<visual-scale-light>`                                | :ref:`selectpoint<visual-scale-selectpoint>`                    | :ref:`jointlength<visual-scale-jointlength>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointwidth<visual-scale-jointwidth>`                      | :ref:`actuatorlength<visual-scale-actuatorlength>`              | :ref:`actuatorwidth<visual-scale-actuatorwidth>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`framelength<visual-scale-framelength>`                    | :ref:`framewidth<visual-scale-framewidth>`                      | :ref:`constraint<visual-scale-constraint>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`slidercrank<visual-scale-slidercrank>`                    |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`rgba                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <visual-rgba>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fog<visual-rgba-fog>`                                     | :ref:`haze<visual-rgba-haze>`                                   | :ref:`force<visual-rgba-force>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`inertia<visual-rgba-inertia>`                             | :ref:`joint<visual-rgba-joint>`                                 | :ref:`actuator<visual-rgba-actuator>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`actuatornegative<visual-rgba-actuatornegative>`           | :ref:`actuatorpositive<visual-rgba-actuatorpositive>`           | :ref:`com<visual-rgba-com>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`camera<visual-rgba-camera>`                               | :ref:`light<visual-rgba-light>`                                 | :ref:`selectpoint<visual-rgba-selectpoint>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`connect<visual-rgba-connect>`                             | :ref:`contactpoint<visual-rgba-contactpoint>`                   | :ref:`contactforce<visual-rgba-contactforce>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`contactfriction<visual-rgba-contactfriction>`             | :ref:`contacttorque<visual-rgba-contacttorque>`                 | :ref:`contactgap<visual-rgba-contactgap>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rangefinder<visual-rgba-rangefinder>`                     | :ref:`constraint<visual-rgba-constraint>`                       | :ref:`slidercrank<visual-rgba-slidercrank>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`crankbroken<visual-rgba-crankbroken>`                     |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`statistic                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <statistic>`                       |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`meaninertia<statistic-meaninertia>`                       | :ref:`meanmass<statistic-meanmass>`                             | :ref:`meansize<statistic-meansize>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`extent<statistic-extent>`                                 | :ref:`center<statistic-center>`                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`default                      | R  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default>`                         |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`class<default-class>`                                     |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`mesh                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-mesh>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`scale<default-mesh-scale>`                                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`material                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-material>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texture<default-material-texture>`                        | :ref:`emission<default-material-emission>`                      | :ref:`specular<default-material-specular>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`shininess<default-material-shininess>`                    | :ref:`reflectance<default-material-reflectance>`                | :ref:`rgba<default-material-rgba>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texrepeat<default-material-texrepeat>`                    | :ref:`texuniform<default-material-texuniform>`                  |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`joint                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-joint>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`type<default-joint-type>`                                 | :ref:`group<default-joint-group>`                               | :ref:`pos<default-joint-pos>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`axis<default-joint-axis>`                                 | :ref:`springdamper<default-joint-springdamper>`                 | :ref:`limited<default-joint-limited>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>`                   | :ref:`solimplimit<default-joint-solimplimit>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreffriction<default-joint-solreffriction>`             | :ref:`solimpfriction<default-joint-solimpfriction>`             | :ref:`stiffness<default-joint-stiffness>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<default-joint-range>`                               | :ref:`actuatorforcerange<default-joint-actuatorforcerange>`     | :ref:`margin<default-joint-margin>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ref<default-joint-ref>`                                   | :ref:`springref<default-joint-springref>`                       | :ref:`armature<default-joint-armature>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`damping<default-joint-damping>`                           | :ref:`frictionloss<default-joint-frictionloss>`                 | :ref:`user<default-joint-user>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`geom                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-geom>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`type<default-geom-type>`                                  | :ref:`pos<default-geom-pos>`                                    | :ref:`quat<default-geom-quat>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`contype<default-geom-contype>`                            | :ref:`conaffinity<default-geom-conaffinity>`                    | :ref:`condim<default-geom-condim>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<default-geom-group>`                                | :ref:`priority<default-geom-priority>`                          | :ref:`size<default-geom-size>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<default-geom-material>`                          | :ref:`friction<default-geom-friction>`                          | :ref:`mass<default-geom-mass>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`density<default-geom-density>`                            | :ref:`shellinertia<default-geom-shellinertia>`                  | :ref:`solmix<default-geom-solmix>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<default-geom-solref>`                              | :ref:`solimp<default-geom-solimp>`                              | :ref:`margin<default-geom-margin>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gap<default-geom-gap>`                                    | :ref:`fromto<default-geom-fromto>`                              | :ref:`axisangle<default-geom-axisangle>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`xyaxes<default-geom-xyaxes>`                              | :ref:`zaxis<default-geom-zaxis>`                                | :ref:`euler<default-geom-euler>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`hfield<default-geom-hfield>`                              | :ref:`mesh<default-geom-mesh>`                                  | :ref:`fitscale<default-geom-fitscale>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<default-geom-rgba>`                                  | :ref:`fluidshape<default-geom-fluidshape>`                      | :ref:`fluidcoef<default-geom-fluidcoef>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-geom-user>`                                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`site                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-site>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`type<default-site-type>`                                  | :ref:`group<default-site-group>`                                | :ref:`pos<default-site-pos>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`quat<default-site-quat>`                                  | :ref:`material<default-site-material>`                          | :ref:`size<default-site-size>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fromto<default-site-fromto>`                              | :ref:`axisangle<default-site-axisangle>`                        | :ref:`xyaxes<default-site-xyaxes>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`zaxis<default-site-zaxis>`                                | :ref:`euler<default-site-euler>`                                | :ref:`rgba<default-site-rgba>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-site-user>`                                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`camera                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-camera>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fovy<default-camera-fovy>`                                | :ref:`ipd<default-camera-ipd>`                                  | :ref:`pos<default-camera-pos>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`quat<default-camera-quat>`                                | :ref:`axisangle<default-camera-axisangle>`                      | :ref:`xyaxes<default-camera-xyaxes>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`zaxis<default-camera-zaxis>`                              | :ref:`euler<default-camera-euler>`                              | :ref:`mode<default-camera-mode>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-camera-user>`                                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`light                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-light>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`pos<default-light-pos>`                                   | :ref:`dir<default-light-dir>`                                   | :ref:`directional<default-light-directional>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`castshadow<default-light-castshadow>`                     | :ref:`active<default-light-active>`                             | :ref:`attenuation<default-light-attenuation>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cutoff<default-light-cutoff>`                             | :ref:`exponent<default-light-exponent>`                         | :ref:`ambient<default-light-ambient>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | :ref:`mode<default-light-mode>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`pair                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-pair>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`condim<default-pair-condim>`                              | :ref:`friction<default-pair-friction>`                          | :ref:`solref<default-pair-solref>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreffriction<default-pair-solreffriction>`              | :ref:`solimp<default-pair-solimp>`                              | :ref:`gap<default-pair-gap>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`margin<default-pair-margin>`                              |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`equality                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-equality>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`active<default-equality-active>`                          | :ref:`solref<default-equality-solref>`                          | :ref:`solimp<default-equality-solimp>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendon                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-tendon>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<default-tendon-group>`                              | :ref:`limited<default-tendon-limited>`                          | :ref:`range<default-tendon-range>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreflimit<default-tendon-solreflimit>`                  | :ref:`solimplimit<default-tendon-solimplimit>`                  | :ref:`solreffriction<default-tendon-solreffriction>`            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimpfriction<default-tendon-solimpfriction>`            | :ref:`frictionloss<default-tendon-frictionloss>`                | :ref:`springlength<default-tendon-springlength>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`width<default-tendon-width>`                              | :ref:`material<default-tendon-material>`                        | :ref:`margin<default-tendon-margin>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`stiffness<default-tendon-stiffness>`                      | :ref:`damping<default-tendon-damping>`                          | :ref:`rgba<default-tendon-rgba>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-tendon-user>`                                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`general                      | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-general>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-general-ctrllimited>`                 | :ref:`forcelimited<default-general-forcelimited>`               | :ref:`actlimited<default-general-actlimited>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrlrange<default-general-ctrlrange>`                     | :ref:`forcerange<default-general-forcerange>`                   | :ref:`actrange<default-general-actrange>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gear<default-general-gear>`                               | :ref:`cranklength<default-general-cranklength>`                 | :ref:`user<default-general-user>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<default-general-group>`                             | :ref:`actdim<default-general-actdim>`                           | :ref:`dyntype<default-general-dyntype>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gaintype<default-general-gaintype>`                       | :ref:`biastype<default-general-biastype>`                       | :ref:`dynprm<default-general-dynprm>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gainprm<default-general-gainprm>`                         | :ref:`biasprm<default-general-biasprm>`                         | :ref:`actearly<default-general-actearly>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`motor                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-motor>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-motor-ctrllimited>`                   | :ref:`forcelimited<default-motor-forcelimited>`                 | :ref:`ctrlrange<default-motor-ctrlrange>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-motor-forcerange>`                     | :ref:`gear<default-motor-gear>`                                 | :ref:`cranklength<default-motor-cranklength>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-motor-user>`                                 | :ref:`group<default-motor-group>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`position                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-position>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-position-ctrllimited>`                | :ref:`forcelimited<default-position-forcelimited>`              | :ref:`ctrlrange<default-position-ctrlrange>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-position-forcerange>`                  | :ref:`gear<default-position-gear>`                              | :ref:`cranklength<default-position-cranklength>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-position-user>`                              | :ref:`group<default-position-group>`                            | :ref:`kp<default-position-kp>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`velocity                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-velocity>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-velocity-ctrllimited>`                | :ref:`forcelimited<default-velocity-forcelimited>`              | :ref:`ctrlrange<default-velocity-ctrlrange>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-velocity-forcerange>`                  | :ref:`gear<default-velocity-gear>`                              | :ref:`cranklength<default-velocity-cranklength>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-velocity-user>`                              | :ref:`group<default-velocity-group>`                            | :ref:`kv<default-velocity-kv>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`intvelocity                  | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-intvelocity>`             |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-intvelocity-ctrllimited>`             | :ref:`forcelimited<default-intvelocity-forcelimited>`           | :ref:`ctrlrange<default-intvelocity-ctrlrange>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-intvelocity-forcerange>`               | :ref:`actrange<default-intvelocity-actrange>`                   | :ref:`gear<default-intvelocity-gear>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<default-intvelocity-cranklength>`             | :ref:`user<default-intvelocity-user>`                           | :ref:`group<default-intvelocity-group>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kp<default-intvelocity-kp>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`damper                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-damper>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcelimited<default-damper-forcelimited>`                | :ref:`ctrlrange<default-damper-ctrlrange>`                      | :ref:`forcerange<default-damper-forcerange>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gear<default-damper-gear>`                                | :ref:`cranklength<default-damper-cranklength>`                  | :ref:`user<default-damper-user>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<default-damper-group>`                              | :ref:`kv<default-damper-kv>`                                    |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`cylinder                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-cylinder>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-cylinder-ctrllimited>`                | :ref:`forcelimited<default-cylinder-forcelimited>`              | :ref:`ctrlrange<default-cylinder-ctrlrange>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-cylinder-forcerange>`                  | :ref:`gear<default-cylinder-gear>`                              | :ref:`cranklength<default-cylinder-cranklength>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-cylinder-user>`                              | :ref:`group<default-cylinder-group>`                            | :ref:`timeconst<default-cylinder-timeconst>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`area<default-cylinder-area>`                              | :ref:`diameter<default-cylinder-diameter>`                      | :ref:`bias<default-cylinder-bias>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`muscle                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-muscle>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<default-muscle-ctrllimited>`                  | :ref:`forcelimited<default-muscle-forcelimited>`                | :ref:`ctrlrange<default-muscle-ctrlrange>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<default-muscle-forcerange>`                    | :ref:`gear<default-muscle-gear>`                                | :ref:`cranklength<default-muscle-cranklength>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<default-muscle-user>`                                | :ref:`group<default-muscle-group>`                              | :ref:`timeconst<default-muscle-timeconst>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<default-muscle-range>`                              | :ref:`force<default-muscle-force>`                              | :ref:`scale<default-muscle-scale>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`lmin<default-muscle-lmin>`                                | :ref:`lmax<default-muscle-lmax>`                                | :ref:`vmax<default-muscle-vmax>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fpmax<default-muscle-fpmax>`                              | :ref:`fvmax<default-muscle-fvmax>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`adhesion                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <default-adhesion>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcelimited<default-adhesion-forcelimited>`              | :ref:`ctrlrange<default-adhesion-ctrlrange>`                    | :ref:`forcerange<default-adhesion-forcerange>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gain<default-adhesion-gain>`                              | :ref:`user<default-adhesion-user>`                              | :ref:`group<default-adhesion-group>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`extension<extension>`        |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| extension |br| |_| |L|         |    | .. table::                                                                                                                                                                                                 |
-| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <extension-plugin>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`plugin<extension-plugin-plugin>`                          |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`instance                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <plugin-instance>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<plugin-instance-name>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_3| instance |br| |_3| |L|        |    | .. table::                                                                                                                                                                                                 |
-| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <instance-config>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`key<instance-config-key>`                                 | :ref:`value<instance-config-value>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`custom<custom>`              |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`numeric                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <custom-numeric>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<custom-numeric-name>`                                | :ref:`size<custom-numeric-size>`                                | :ref:`data<custom-numeric-data>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`text                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <custom-text>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<custom-text-name>`                                   | :ref:`data<custom-text-data>`                                   |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tuple                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <custom-tuple>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<custom-tuple-name>`                                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| tuple |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`element                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <tuple-element>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`objtype<tuple-element-objtype>`                           | :ref:`objname<tuple-element-objname>`                           | :ref:`prm<tuple-element-prm>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`asset<asset>`                |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                 |
-| :ref:`texture                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <asset-texture>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`content_type<asset-texture-content_type>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`file<asset-texture-file>`                                 | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fileright<asset-texture-fileright>`                       | :ref:`fileleft<asset-texture-fileleft>`                         | :ref:`fileup<asset-texture-fileup>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | :ref:`fileback<asset-texture-fileback>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mark<asset-texture-mark>`                                 | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`width<asset-texture-width>`                               | :ref:`height<asset-texture-height>`                             | :ref:`hflip<asset-texture-hflip>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`vflip<asset-texture-vflip>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                 |
-| :ref:`hfield                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <asset-hfield>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-hfield-name>`                                  | :ref:`content_type<asset-hfield-content_type>`                  | :ref:`file<asset-hfield-file>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`nrow<asset-hfield-nrow>`                                  | :ref:`ncol<asset-hfield-ncol>`                                  | :ref:`size<asset-hfield-size>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                 |
-| :ref:`mesh                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <asset-mesh>`                      |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-mesh-name>`                                    | :ref:`class<asset-mesh-class>`                                  | :ref:`content_type<asset-mesh-content_type>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`file<asset-mesh-file>`                                    | :ref:`vertex<asset-mesh-vertex>`                                | :ref:`normal<asset-mesh-normal>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texcoord<asset-mesh-texcoord>`                            | :ref:`face<asset-mesh-face>`                                    | :ref:`refpos<asset-mesh-refpos>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`refquat<asset-mesh-refquat>`                              | :ref:`scale<asset-mesh-scale>`                                  | :ref:`smoothnormal<asset-mesh-smoothnormal>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                 |
-| :ref:`skin                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <asset-skin>`                      |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-skin-name>`                                    | :ref:`file<asset-skin-file>`                                    | :ref:`material<asset-skin-material>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<asset-skin-rgba>`                                    | :ref:`inflate<asset-skin-inflate>`                              | :ref:`vertex<asset-skin-vertex>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texcoord<asset-skin-texcoord>`                            | :ref:`face<asset-skin-face>`                                    | :ref:`group<asset-skin-group>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| skin |br| |_2| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`bone                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <skin-bone>`                       |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`body<skin-bone-body>`                                     | :ref:`bindpos<skin-bone-bindpos>`                               | :ref:`bindquat<skin-bone-bindquat>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`vertid<skin-bone-vertid>`                                 | :ref:`vertweight<skin-bone-vertweight>`                         |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                 |
-| :ref:`material                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <asset-material>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-material-name>`                                | :ref:`class<asset-material-class>`                              | :ref:`texture<asset-material-texture>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texrepeat<asset-material-texrepeat>`                      | :ref:`texuniform<asset-material-texuniform>`                    | :ref:`emission<asset-material-emission>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`specular<asset-material-specular>`                        | :ref:`shininess<asset-material-shininess>`                      | :ref:`reflectance<asset-material-reflectance>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<asset-material-rgba>`                                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                 |
-| :ref:`body                         | R  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body>`                            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-name>`                                          | :ref:`childclass<body-childclass>`                              | :ref:`pos<body-pos>`                                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`quat<body-quat>`                                          | :ref:`mocap<body-mocap>`                                        | :ref:`axisangle<body-axisangle>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`xyaxes<body-xyaxes>`                                      | :ref:`zaxis<body-zaxis>`                                        | :ref:`euler<body-euler>`                                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gravcomp<body-gravcomp>`                                  | :ref:`user<body-user>`                                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-plugin>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`plugin<body-plugin-plugin>`                               | :ref:`instance<body-plugin-instance>`                           |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <plugin-config>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`inertial                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-inertial>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`pos<body-inertial-pos>`                                   | :ref:`quat<body-inertial-quat>`                                 | :ref:`mass<body-inertial-mass>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`diaginertia<body-inertial-diaginertia>`                   | :ref:`axisangle<body-inertial-axisangle>`                       | :ref:`xyaxes<body-inertial-xyaxes>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`zaxis<body-inertial-zaxis>`                               | :ref:`euler<body-inertial-euler>`                               | :ref:`fullinertia<body-inertial-fullinertia>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-joint>`                      |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-joint-name>`                                    | :ref:`class<body-joint-class>`                                  | :ref:`type<body-joint-type>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<body-joint-group>`                                  | :ref:`pos<body-joint-pos>`                                      | :ref:`axis<body-joint-axis>`                                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`springdamper<body-joint-springdamper>`                    | :ref:`limited<body-joint-limited>`                              | :ref:`actuatorforcelimited<body-joint-actuatorforcelimited>`    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreflimit<body-joint-solreflimit>`                      | :ref:`solimplimit<body-joint-solimplimit>`                      | :ref:`solreffriction<body-joint-solreffriction>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimpfriction<body-joint-solimpfriction>`                | :ref:`stiffness<body-joint-stiffness>`                          | :ref:`range<body-joint-range>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`actuatorforcerange<body-joint-actuatorforcerange>`        | :ref:`margin<body-joint-margin>`                                | :ref:`ref<body-joint-ref>`                                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`springref<body-joint-springref>`                          | :ref:`armature<body-joint-armature>`                            | :ref:`damping<body-joint-damping>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`frictionloss<body-joint-frictionloss>`                    | :ref:`user<body-joint-user>`                                    |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`freejoint                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-freejoint>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-freejoint-name>`                                | :ref:`group<body-freejoint-group>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`geom                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-geom>`                       |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-geom-name>`                                     | :ref:`class<body-geom-class>`                                   | :ref:`type<body-geom-type>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`contype<body-geom-contype>`                               | :ref:`conaffinity<body-geom-conaffinity>`                       | :ref:`condim<body-geom-condim>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<body-geom-group>`                                   | :ref:`priority<body-geom-priority>`                             | :ref:`size<body-geom-size>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<body-geom-material>`                             | :ref:`friction<body-geom-friction>`                             | :ref:`mass<body-geom-mass>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`density<body-geom-density>`                               | :ref:`shellinertia<body-geom-shellinertia>`                     | :ref:`solmix<body-geom-solmix>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<body-geom-solref>`                                 | :ref:`solimp<body-geom-solimp>`                                 | :ref:`margin<body-geom-margin>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gap<body-geom-gap>`                                       | :ref:`fromto<body-geom-fromto>`                                 | :ref:`pos<body-geom-pos>`                                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`quat<body-geom-quat>`                                     | :ref:`axisangle<body-geom-axisangle>`                           | :ref:`xyaxes<body-geom-xyaxes>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`zaxis<body-geom-zaxis>`                                   | :ref:`euler<body-geom-euler>`                                   | :ref:`hfield<body-geom-hfield>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mesh<body-geom-mesh>`                                     | :ref:`fitscale<body-geom-fitscale>`                             | :ref:`rgba<body-geom-rgba>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fluidshape<body-geom-fluidshape>`                         | :ref:`fluidcoef<body-geom-fluidcoef>`                           | :ref:`user<body-geom-user>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`site                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-site>`                       |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-site-name>`                                     | :ref:`class<body-site-class>`                                   | :ref:`type<body-site-type>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<body-site-group>`                                   | :ref:`pos<body-site-pos>`                                       | :ref:`quat<body-site-quat>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<body-site-material>`                             | :ref:`size<body-site-size>`                                     | :ref:`fromto<body-site-fromto>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`axisangle<body-site-axisangle>`                           | :ref:`xyaxes<body-site-xyaxes>`                                 | :ref:`zaxis<body-site-zaxis>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`euler<body-site-euler>`                                   | :ref:`rgba<body-site-rgba>`                                     | :ref:`user<body-site-user>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`camera                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-camera>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-camera-name>`                                   | :ref:`class<body-camera-class>`                                 | :ref:`fovy<body-camera-fovy>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ipd<body-camera-ipd>`                                     | :ref:`pos<body-camera-pos>`                                     | :ref:`quat<body-camera-quat>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`axisangle<body-camera-axisangle>`                         | :ref:`xyaxes<body-camera-xyaxes>`                               | :ref:`zaxis<body-camera-zaxis>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`euler<body-camera-euler>`                                 | :ref:`mode<body-camera-mode>`                                   | :ref:`target<body-camera-target>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<body-camera-user>`                                   |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`light                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-light>`                      |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-light-name>`                                    | :ref:`class<body-light-class>`                                  | :ref:`directional<body-light-directional>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`castshadow<body-light-castshadow>`                        | :ref:`active<body-light-active>`                                | :ref:`pos<body-light-pos>`                                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`dir<body-light-dir>`                                      | :ref:`attenuation<body-light-attenuation>`                      | :ref:`cutoff<body-light-cutoff>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                 |
-| :ref:`composite                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <body-composite>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`prefix<body-composite-prefix>`                            | :ref:`type<body-composite-type>`                                | :ref:`count<body-composite-count>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`spacing<body-composite-spacing>`                          | :ref:`offset<body-composite-offset>`                            | :ref:`flatinertia<body-composite-flatinertia>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solrefsmooth<body-composite-solrefsmooth>`                | :ref:`solimpsmooth<body-composite-solimpsmooth>`                | :ref:`vertex<body-composite-vertex>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`initial<body-composite-initial>`                          | :ref:`curve<body-composite-curve>`                              | :ref:`size<body-composite-size>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-plugin>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`plugin<composite-plugin-plugin>`                          | :ref:`instance<composite-plugin-instance>`                      |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_3| plugin |br| |_3| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <plugin-config>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-joint>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kind<composite-joint-kind>`                               | :ref:`group<composite-joint-group>`                             | :ref:`stiffness<composite-joint-stiffness>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`damping<composite-joint-damping>`                         | :ref:`armature<composite-joint-armature>`                       | :ref:`solreffix<composite-joint-solreffix>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimpfix<composite-joint-solimpfix>`                     | :ref:`type<composite-joint-type>`                               | :ref:`axis<composite-joint-axis>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`limited<composite-joint-limited>`                         | :ref:`range<composite-joint-range>`                             | :ref:`margin<composite-joint-margin>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreflimit<composite-joint-solreflimit>`                 | :ref:`solimplimit<composite-joint-solimplimit>`                 | :ref:`frictionloss<composite-joint-frictionloss>`               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreffriction<composite-joint-solreffriction>`           | :ref:`solimpfriction<composite-joint-solimpfriction>`           |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendon                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-tendon>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kind<composite-tendon-kind>`                              | :ref:`group<composite-tendon-group>`                            | :ref:`stiffness<composite-tendon-stiffness>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`damping<composite-tendon-damping>`                        | :ref:`solreffix<composite-tendon-solreffix>`                    | :ref:`solimpfix<composite-tendon-solimpfix>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`limited<composite-tendon-limited>`                        | :ref:`range<composite-tendon-range>`                            | :ref:`margin<composite-tendon-margin>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreflimit<composite-tendon-solreflimit>`                | :ref:`solimplimit<composite-tendon-solimplimit>`                | :ref:`frictionloss<composite-tendon-frictionloss>`              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solreffriction<composite-tendon-solreffriction>`          | :ref:`solimpfriction<composite-tendon-solimpfriction>`          | :ref:`material<composite-tendon-material>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<composite-tendon-rgba>`                              | :ref:`width<composite-tendon-width>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`skin                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-skin>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`texcoord<composite-skin-texcoord>`                        | :ref:`material<composite-skin-material>`                        | :ref:`group<composite-skin-group>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<composite-skin-rgba>`                                | :ref:`inflate<composite-skin-inflate>`                          | :ref:`subgrid<composite-skin-subgrid>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`geom                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-geom>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`type<composite-geom-type>`                                | :ref:`contype<composite-geom-contype>`                          | :ref:`conaffinity<composite-geom-conaffinity>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`condim<composite-geom-condim>`                            | :ref:`group<composite-geom-group>`                              | :ref:`priority<composite-geom-priority>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`size<composite-geom-size>`                                | :ref:`material<composite-geom-material>`                        | :ref:`rgba<composite-geom-rgba>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`friction<composite-geom-friction>`                        | :ref:`mass<composite-geom-mass>`                                | :ref:`density<composite-geom-density>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solmix<composite-geom-solmix>`                            | :ref:`solref<composite-geom-solref>`                            | :ref:`solimp<composite-geom-solimp>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`margin<composite-geom-margin>`                            | :ref:`gap<composite-geom-gap>`                                  |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`site                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-site>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<composite-site-group>`                              | :ref:`size<composite-site-size>`                                | :ref:`material<composite-site-material>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<composite-site-rgba>`                                |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                 |
-| :ref:`pin                          | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <composite-pin>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`coord<composite-pin-coord>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`contact<contact>`            |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| contact |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`pair                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <contact-pair>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<contact-pair-name>`                                  | :ref:`class<contact-pair-class>`                                | :ref:`geom1<contact-pair-geom1>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`geom2<contact-pair-geom2>`                                | :ref:`condim<contact-pair-condim>`                              | :ref:`friction<contact-pair-friction>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<contact-pair-solref>`                              | :ref:`solreffriction<contact-pair-solreffriction>`              | :ref:`solimp<contact-pair-solimp>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gap<contact-pair-gap>`                                    | :ref:`margin<contact-pair-margin>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| contact |br| |_| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`exclude                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <contact-exclude>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<contact-exclude-name>`                               | :ref:`body1<contact-exclude-body1>`                             | :ref:`body2<contact-exclude-body2>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`equality<equality>`          |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`connect                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <equality-connect>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<equality-connect-name>`                              | :ref:`class<equality-connect-class>`                            | :ref:`body1<equality-connect-body1>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`body2<equality-connect-body2>`                            | :ref:`anchor<equality-connect-anchor>`                          | :ref:`active<equality-connect-active>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<equality-connect-solref>`                          | :ref:`solimp<equality-connect-solimp>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`weld                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <equality-weld>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<equality-weld-name>`                                 | :ref:`class<equality-weld-class>`                               | :ref:`body1<equality-weld-body1>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`body2<equality-weld-body2>`                               | :ref:`relpose<equality-weld-relpose>`                           | :ref:`anchor<equality-weld-anchor>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`active<equality-weld-active>`                             | :ref:`solref<equality-weld-solref>`                             | :ref:`solimp<equality-weld-solimp>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`torquescale<equality-weld-torquescale>`                   |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <equality-joint>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<equality-joint-name>`                                | :ref:`class<equality-joint-class>`                              | :ref:`joint1<equality-joint-joint1>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`joint2<equality-joint-joint2>`                            | :ref:`polycoef<equality-joint-polycoef>`                        | :ref:`active<equality-joint-active>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<equality-joint-solref>`                            | :ref:`solimp<equality-joint-solimp>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendon                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <equality-tendon>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<equality-tendon-name>`                               | :ref:`class<equality-tendon-class>`                             | :ref:`tendon1<equality-tendon-tendon1>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tendon2<equality-tendon-tendon2>`                         | :ref:`polycoef<equality-tendon-polycoef>`                       | :ref:`active<equality-tendon-active>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solref<equality-tendon-solref>`                           | :ref:`solimp<equality-tendon-solimp>`                           |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`tendon<tendon>`              |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| tendon |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`spatial                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <tendon-spatial>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<tendon-spatial-name>`                                | :ref:`class<tendon-spatial-class>`                              | :ref:`group<tendon-spatial-group>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`limited<tendon-spatial-limited>`                          | :ref:`range<tendon-spatial-range>`                              | :ref:`solreflimit<tendon-spatial-solreflimit>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimplimit<tendon-spatial-solimplimit>`                  | :ref:`solreffriction<tendon-spatial-solreffriction>`            | :ref:`solimpfriction<tendon-spatial-solimpfriction>`            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`frictionloss<tendon-spatial-frictionloss>`                | :ref:`springlength<tendon-spatial-springlength>`                | :ref:`width<tendon-spatial-width>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<tendon-spatial-material>`                        | :ref:`margin<tendon-spatial-margin>`                            | :ref:`stiffness<tendon-spatial-stiffness>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`damping<tendon-spatial-damping>`                          | :ref:`rgba<tendon-spatial-rgba>`                                | :ref:`user<tendon-spatial-user>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                 |
-| :ref:`site                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <spatial-site>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`site<spatial-site-site>`                                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                 |
-| :ref:`geom                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <spatial-geom>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`geom<spatial-geom-geom>`                                  | :ref:`sidesite<spatial-geom-sidesite>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                 |
-| :ref:`pulley                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <spatial-pulley>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`divisor<spatial-pulley-divisor>`                          |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| tendon |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`fixed                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <tendon-fixed>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<tendon-fixed-name>`                                  | :ref:`class<tendon-fixed-class>`                                | :ref:`group<tendon-fixed-group>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`limited<tendon-fixed-limited>`                            | :ref:`range<tendon-fixed-range>`                                | :ref:`solreflimit<tendon-fixed-solreflimit>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimplimit<tendon-fixed-solimplimit>`                    | :ref:`solreffriction<tendon-fixed-solreffriction>`              | :ref:`solimpfriction<tendon-fixed-solimpfriction>`              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`frictionloss<tendon-fixed-frictionloss>`                  | :ref:`springlength<tendon-fixed-springlength>`                  | :ref:`margin<tendon-fixed-margin>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | :ref:`user<tendon-fixed-user>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| fixed |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                 |
-| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <fixed-joint>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`joint<fixed-joint-joint>`                                 | :ref:`coef<fixed-joint-coef>`                                   |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`actuator<actuator>`          |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`general                      | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-general>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-general-name>`                              | :ref:`class<actuator-general-class>`                            | :ref:`group<actuator-general-group>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-general-ctrllimited>`                | :ref:`forcelimited<actuator-general-forcelimited>`              | :ref:`actlimited<actuator-general-actlimited>`                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrlrange<actuator-general-ctrlrange>`                    | :ref:`forcerange<actuator-general-forcerange>`                  | :ref:`actrange<actuator-general-actrange>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`lengthrange<actuator-general-lengthrange>`                | :ref:`gear<actuator-general-gear>`                              | :ref:`cranklength<actuator-general-cranklength>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<actuator-general-user>`                              | :ref:`joint<actuator-general-joint>`                            | :ref:`jointinparent<actuator-general-jointinparent>`            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tendon<actuator-general-tendon>`                          | :ref:`slidersite<actuator-general-slidersite>`                  | :ref:`cranksite<actuator-general-cranksite>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`site<actuator-general-site>`                              | :ref:`refsite<actuator-general-refsite>`                        | :ref:`body<actuator-general-body>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`actdim<actuator-general-actdim>`                          | :ref:`dyntype<actuator-general-dyntype>`                        | :ref:`gaintype<actuator-general-gaintype>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`biastype<actuator-general-biastype>`                      | :ref:`dynprm<actuator-general-dynprm>`                          | :ref:`gainprm<actuator-general-gainprm>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`biasprm<actuator-general-biasprm>`                        | :ref:`actearly<actuator-general-actearly>`                      |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`motor                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-motor>`                  |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-motor-name>`                                | :ref:`class<actuator-motor-class>`                              | :ref:`group<actuator-motor-group>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-motor-ctrllimited>`                  | :ref:`forcelimited<actuator-motor-forcelimited>`                | :ref:`ctrlrange<actuator-motor-ctrlrange>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-motor-forcerange>`                    | :ref:`lengthrange<actuator-motor-lengthrange>`                  | :ref:`gear<actuator-motor-gear>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<actuator-motor-cranklength>`                  | :ref:`user<actuator-motor-user>`                                | :ref:`joint<actuator-motor-joint>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointinparent<actuator-motor-jointinparent>`              | :ref:`tendon<actuator-motor-tendon>`                            | :ref:`slidersite<actuator-motor-slidersite>`                    | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-motor-cranksite>`                      | :ref:`site<actuator-motor-site>`                                | :ref:`refsite<actuator-motor-refsite>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`position                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-position>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-position-name>`                             | :ref:`class<actuator-position-class>`                           | :ref:`group<actuator-position-group>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-position-ctrllimited>`               | :ref:`forcelimited<actuator-position-forcelimited>`             | :ref:`ctrlrange<actuator-position-ctrlrange>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-position-forcerange>`                 | :ref:`lengthrange<actuator-position-lengthrange>`               | :ref:`gear<actuator-position-gear>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<actuator-position-cranklength>`               | :ref:`user<actuator-position-user>`                             | :ref:`joint<actuator-position-joint>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointinparent<actuator-position-jointinparent>`           | :ref:`tendon<actuator-position-tendon>`                         | :ref:`slidersite<actuator-position-slidersite>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-position-cranksite>`                   | :ref:`site<actuator-position-site>`                             | :ref:`refsite<actuator-position-refsite>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kp<actuator-position-kp>`                                 |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`velocity                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-velocity>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-velocity-name>`                             | :ref:`class<actuator-velocity-class>`                           | :ref:`group<actuator-velocity-group>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-velocity-ctrllimited>`               | :ref:`forcelimited<actuator-velocity-forcelimited>`             | :ref:`ctrlrange<actuator-velocity-ctrlrange>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-velocity-forcerange>`                 | :ref:`lengthrange<actuator-velocity-lengthrange>`               | :ref:`gear<actuator-velocity-gear>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<actuator-velocity-cranklength>`               | :ref:`user<actuator-velocity-user>`                             | :ref:`joint<actuator-velocity-joint>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointinparent<actuator-velocity-jointinparent>`           | :ref:`tendon<actuator-velocity-tendon>`                         | :ref:`slidersite<actuator-velocity-slidersite>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-velocity-cranksite>`                   | :ref:`site<actuator-velocity-site>`                             | :ref:`refsite<actuator-velocity-refsite>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kv<actuator-velocity-kv>`                                 |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`intvelocity                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-intvelocity>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-intvelocity-name>`                          | :ref:`class<actuator-intvelocity-class>`                        | :ref:`group<actuator-intvelocity-group>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`            | :ref:`forcelimited<actuator-intvelocity-forcelimited>`          | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-intvelocity-forcerange>`              | :ref:`actrange<actuator-intvelocity-actrange>`                  | :ref:`lengthrange<actuator-intvelocity-lengthrange>`            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gear<actuator-intvelocity-gear>`                          | :ref:`cranklength<actuator-intvelocity-cranklength>`            | :ref:`user<actuator-intvelocity-user>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`joint<actuator-intvelocity-joint>`                        | :ref:`jointinparent<actuator-intvelocity-jointinparent>`        | :ref:`tendon<actuator-intvelocity-tendon>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`slidersite<actuator-intvelocity-slidersite>`              | :ref:`cranksite<actuator-intvelocity-cranksite>`                | :ref:`site<actuator-intvelocity-site>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`refsite<actuator-intvelocity-refsite>`                    | :ref:`kp<actuator-intvelocity-kp>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`damper                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-damper>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-damper-name>`                               | :ref:`class<actuator-damper-class>`                             | :ref:`group<actuator-damper-group>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcelimited<actuator-damper-forcelimited>`               | :ref:`ctrlrange<actuator-damper-ctrlrange>`                     | :ref:`forcerange<actuator-damper-forcerange>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`lengthrange<actuator-damper-lengthrange>`                 | :ref:`gear<actuator-damper-gear>`                               | :ref:`cranklength<actuator-damper-cranklength>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<actuator-damper-user>`                               | :ref:`joint<actuator-damper-joint>`                             | :ref:`jointinparent<actuator-damper-jointinparent>`             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tendon<actuator-damper-tendon>`                           | :ref:`slidersite<actuator-damper-slidersite>`                   | :ref:`cranksite<actuator-damper-cranksite>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`site<actuator-damper-site>`                               | :ref:`refsite<actuator-damper-refsite>`                         | :ref:`kv<actuator-damper-kv>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`cylinder                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-cylinder>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-cylinder-name>`                             | :ref:`class<actuator-cylinder-class>`                           | :ref:`group<actuator-cylinder-group>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-cylinder-ctrllimited>`               | :ref:`forcelimited<actuator-cylinder-forcelimited>`             | :ref:`ctrlrange<actuator-cylinder-ctrlrange>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-cylinder-forcerange>`                 | :ref:`lengthrange<actuator-cylinder-lengthrange>`               | :ref:`gear<actuator-cylinder-gear>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<actuator-cylinder-cranklength>`               | :ref:`user<actuator-cylinder-user>`                             | :ref:`joint<actuator-cylinder-joint>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointinparent<actuator-cylinder-jointinparent>`           | :ref:`tendon<actuator-cylinder-tendon>`                         | :ref:`slidersite<actuator-cylinder-slidersite>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-cylinder-cranksite>`                   | :ref:`site<actuator-cylinder-site>`                             | :ref:`refsite<actuator-cylinder-refsite>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`timeconst<actuator-cylinder-timeconst>`                   | :ref:`area<actuator-cylinder-area>`                             | :ref:`diameter<actuator-cylinder-diameter>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`bias<actuator-cylinder-bias>`                             |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`muscle                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-muscle>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-muscle-name>`                               | :ref:`class<actuator-muscle-class>`                             | :ref:`group<actuator-muscle-group>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ctrllimited<actuator-muscle-ctrllimited>`                 | :ref:`forcelimited<actuator-muscle-forcelimited>`               | :ref:`ctrlrange<actuator-muscle-ctrlrange>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-muscle-forcerange>`                   | :ref:`lengthrange<actuator-muscle-lengthrange>`                 | :ref:`gear<actuator-muscle-gear>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranklength<actuator-muscle-cranklength>`                 | :ref:`user<actuator-muscle-user>`                               | :ref:`joint<actuator-muscle-joint>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`jointinparent<actuator-muscle-jointinparent>`             | :ref:`tendon<actuator-muscle-tendon>`                           | :ref:`slidersite<actuator-muscle-slidersite>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-muscle-cranksite>`                     | :ref:`timeconst<actuator-muscle-timeconst>`                     | :ref:`tausmooth<actuator-muscle-tausmooth>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<actuator-muscle-range>`                             | :ref:`force<actuator-muscle-force>`                             | :ref:`scale<actuator-muscle-scale>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`lmin<actuator-muscle-lmin>`                               | :ref:`lmax<actuator-muscle-lmax>`                               | :ref:`vmax<actuator-muscle-vmax>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fpmax<actuator-muscle-fpmax>`                             | :ref:`fvmax<actuator-muscle-fvmax>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`adhesion                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-adhesion>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-adhesion-name>`                             | :ref:`class<actuator-adhesion-class>`                           | :ref:`group<actuator-adhesion-group>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcelimited<actuator-adhesion-forcelimited>`             | :ref:`ctrlrange<actuator-adhesion-ctrlrange>`                   | :ref:`forcerange<actuator-adhesion-forcerange>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<actuator-adhesion-user>`                             | :ref:`body<actuator-adhesion-body>`                             | :ref:`gain<actuator-adhesion-gain>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <actuator-plugin>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<actuator-plugin-name>`                               | :ref:`class<actuator-plugin-class>`                             | :ref:`plugin<actuator-plugin-plugin>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`instance<actuator-plugin-instance>`                       | :ref:`group<actuator-plugin-group>`                             | :ref:`ctrllimited<actuator-plugin-ctrllimited>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcelimited<actuator-plugin-forcelimited>`               | :ref:`ctrlrange<actuator-plugin-ctrlrange>`                     | :ref:`forcerange<actuator-plugin-forcerange>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`lengthrange<actuator-plugin-lengthrange>`                 | :ref:`gear<actuator-plugin-gear>`                               | :ref:`cranklength<actuator-plugin-cranklength>`                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`joint<actuator-plugin-joint>`                             | :ref:`jointinparent<actuator-plugin-jointinparent>`             | :ref:`site<actuator-plugin-site>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`tendon<actuator-plugin-tendon>`                           | :ref:`cranksite<actuator-plugin-cranksite>`                     | :ref:`slidersite<actuator-plugin-slidersite>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<actuator-plugin-user>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <plugin-config>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`sensor<sensor>`              |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`touch                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-touch>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-touch-name>`                                  | :ref:`site<sensor-touch-site>`                                  | :ref:`cutoff<sensor-touch-cutoff>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-touch-noise>`                                | :ref:`user<sensor-touch-user>`                                  |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`accelerometer                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-accelerometer>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-accelerometer-name>`                          | :ref:`site<sensor-accelerometer-site>`                          | :ref:`cutoff<sensor-accelerometer-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-accelerometer-noise>`                        | :ref:`user<sensor-accelerometer-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`velocimeter                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-velocimeter>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-velocimeter-name>`                            | :ref:`site<sensor-velocimeter-site>`                            | :ref:`cutoff<sensor-velocimeter-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-velocimeter-noise>`                          | :ref:`user<sensor-velocimeter-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`gyro                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-gyro>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-gyro-name>`                                   | :ref:`site<sensor-gyro-site>`                                   | :ref:`cutoff<sensor-gyro-cutoff>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-gyro-noise>`                                 | :ref:`user<sensor-gyro-user>`                                   |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`force                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-force>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-force-name>`                                  | :ref:`site<sensor-force-site>`                                  | :ref:`cutoff<sensor-force-cutoff>`                              | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-force-noise>`                                | :ref:`user<sensor-force-user>`                                  |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`torque                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-torque>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-torque-name>`                                 | :ref:`site<sensor-torque-site>`                                 | :ref:`cutoff<sensor-torque-cutoff>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-torque-noise>`                               | :ref:`user<sensor-torque-user>`                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`magnetometer                 | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-magnetometer>`             |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-magnetometer-name>`                           | :ref:`site<sensor-magnetometer-site>`                           | :ref:`cutoff<sensor-magnetometer-cutoff>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-magnetometer-noise>`                         | :ref:`user<sensor-magnetometer-user>`                           |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`rangefinder                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-rangefinder>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-rangefinder-name>`                            | :ref:`site<sensor-rangefinder-site>`                            | :ref:`cutoff<sensor-rangefinder-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-rangefinder-noise>`                          | :ref:`user<sensor-rangefinder-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointpos                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointpos>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointpos-name>`                               | :ref:`joint<sensor-jointpos-joint>`                             | :ref:`cutoff<sensor-jointpos-cutoff>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointpos-noise>`                             | :ref:`user<sensor-jointpos-user>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointvel                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointvel>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointvel-name>`                               | :ref:`joint<sensor-jointvel-joint>`                             | :ref:`cutoff<sensor-jointvel-cutoff>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointvel-noise>`                             | :ref:`user<sensor-jointvel-user>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendonpos                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-tendonpos>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-tendonpos-name>`                              | :ref:`tendon<sensor-tendonpos-tendon>`                          | :ref:`cutoff<sensor-tendonpos-cutoff>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-tendonpos-noise>`                            | :ref:`user<sensor-tendonpos-user>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendonvel                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-tendonvel>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-tendonvel-name>`                              | :ref:`tendon<sensor-tendonvel-tendon>`                          | :ref:`cutoff<sensor-tendonvel-cutoff>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-tendonvel-noise>`                            | :ref:`user<sensor-tendonvel-user>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`actuatorpos                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-actuatorpos>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-actuatorpos-name>`                            | :ref:`actuator<sensor-actuatorpos-actuator>`                    | :ref:`cutoff<sensor-actuatorpos-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-actuatorpos-noise>`                          | :ref:`user<sensor-actuatorpos-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`actuatorvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-actuatorvel>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-actuatorvel-name>`                            | :ref:`actuator<sensor-actuatorvel-actuator>`                    | :ref:`cutoff<sensor-actuatorvel-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-actuatorvel-noise>`                          | :ref:`user<sensor-actuatorvel-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`actuatorfrc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-actuatorfrc>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-actuatorfrc-name>`                            | :ref:`actuator<sensor-actuatorfrc-actuator>`                    | :ref:`cutoff<sensor-actuatorfrc-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-actuatorfrc-noise>`                          | :ref:`user<sensor-actuatorfrc-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointactuatorfrc             | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointactuatorfrc>`         |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointactuatorfrc-name>`                       | :ref:`joint<sensor-jointactuatorfrc-joint>`                     | :ref:`cutoff<sensor-jointactuatorfrc-cutoff>`                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointactuatorfrc-noise>`                     | :ref:`user<sensor-jointactuatorfrc-user>`                       |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`ballquat                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-ballquat>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-ballquat-name>`                               | :ref:`joint<sensor-ballquat-joint>`                             | :ref:`cutoff<sensor-ballquat-cutoff>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-ballquat-noise>`                             | :ref:`user<sensor-ballquat-user>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`ballangvel                   | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-ballangvel>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-ballangvel-name>`                             | :ref:`joint<sensor-ballangvel-joint>`                           | :ref:`cutoff<sensor-ballangvel-cutoff>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-ballangvel-noise>`                           | :ref:`user<sensor-ballangvel-user>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointlimitpos                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointlimitpos>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointlimitpos-name>`                          | :ref:`joint<sensor-jointlimitpos-joint>`                        | :ref:`cutoff<sensor-jointlimitpos-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointlimitpos-noise>`                        | :ref:`user<sensor-jointlimitpos-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointlimitvel                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointlimitvel>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointlimitvel-name>`                          | :ref:`joint<sensor-jointlimitvel-joint>`                        | :ref:`cutoff<sensor-jointlimitvel-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointlimitvel-noise>`                        | :ref:`user<sensor-jointlimitvel-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`jointlimitfrc                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-jointlimitfrc>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-jointlimitfrc-name>`                          | :ref:`joint<sensor-jointlimitfrc-joint>`                        | :ref:`cutoff<sensor-jointlimitfrc-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-jointlimitfrc-noise>`                        | :ref:`user<sensor-jointlimitfrc-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendonlimitpos               | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-tendonlimitpos>`           |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-tendonlimitpos-name>`                         | :ref:`tendon<sensor-tendonlimitpos-tendon>`                     | :ref:`cutoff<sensor-tendonlimitpos-cutoff>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-tendonlimitpos-noise>`                       | :ref:`user<sensor-tendonlimitpos-user>`                         |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendonlimitvel               | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-tendonlimitvel>`           |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-tendonlimitvel-name>`                         | :ref:`tendon<sensor-tendonlimitvel-tendon>`                     | :ref:`cutoff<sensor-tendonlimitvel-cutoff>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-tendonlimitvel-noise>`                       | :ref:`user<sensor-tendonlimitvel-user>`                         |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`tendonlimitfrc               | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-tendonlimitfrc>`           |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-tendonlimitfrc-name>`                         | :ref:`tendon<sensor-tendonlimitfrc-tendon>`                     | :ref:`cutoff<sensor-tendonlimitfrc-cutoff>`                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-tendonlimitfrc-noise>`                       | :ref:`user<sensor-tendonlimitfrc-user>`                         |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framepos                     | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framepos>`                 |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framepos-name>`                               | :ref:`objtype<sensor-framepos-objtype>`                         | :ref:`objname<sensor-framepos-objname>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-framepos-reftype>`                         | :ref:`refname<sensor-framepos-refname>`                         | :ref:`cutoff<sensor-framepos-cutoff>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-framepos-noise>`                             | :ref:`user<sensor-framepos-user>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framequat                    | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framequat>`                |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framequat-name>`                              | :ref:`objtype<sensor-framequat-objtype>`                        | :ref:`objname<sensor-framequat-objname>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-framequat-reftype>`                        | :ref:`refname<sensor-framequat-refname>`                        | :ref:`cutoff<sensor-framequat-cutoff>`                          | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-framequat-noise>`                            | :ref:`user<sensor-framequat-user>`                              |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framexaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framexaxis>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framexaxis-name>`                             | :ref:`objtype<sensor-framexaxis-objtype>`                       | :ref:`objname<sensor-framexaxis-objname>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-framexaxis-reftype>`                       | :ref:`refname<sensor-framexaxis-refname>`                       | :ref:`cutoff<sensor-framexaxis-cutoff>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-framexaxis-noise>`                           | :ref:`user<sensor-framexaxis-user>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`frameyaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-frameyaxis>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-frameyaxis-name>`                             | :ref:`objtype<sensor-frameyaxis-objtype>`                       | :ref:`objname<sensor-frameyaxis-objname>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-frameyaxis-reftype>`                       | :ref:`refname<sensor-frameyaxis-refname>`                       | :ref:`cutoff<sensor-frameyaxis-cutoff>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-frameyaxis-noise>`                           | :ref:`user<sensor-frameyaxis-user>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framezaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framezaxis>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framezaxis-name>`                             | :ref:`objtype<sensor-framezaxis-objtype>`                       | :ref:`objname<sensor-framezaxis-objname>`                       | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-framezaxis-reftype>`                       | :ref:`refname<sensor-framezaxis-refname>`                       | :ref:`cutoff<sensor-framezaxis-cutoff>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-framezaxis-noise>`                           | :ref:`user<sensor-framezaxis-user>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framelinvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framelinvel>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framelinvel-name>`                            | :ref:`objtype<sensor-framelinvel-objtype>`                      | :ref:`objname<sensor-framelinvel-objname>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-framelinvel-reftype>`                      | :ref:`refname<sensor-framelinvel-refname>`                      | :ref:`cutoff<sensor-framelinvel-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-framelinvel-noise>`                          | :ref:`user<sensor-framelinvel-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`frameangvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-frameangvel>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-frameangvel-name>`                            | :ref:`objtype<sensor-frameangvel-objtype>`                      | :ref:`objname<sensor-frameangvel-objname>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-frameangvel-reftype>`                      | :ref:`refname<sensor-frameangvel-refname>`                      | :ref:`cutoff<sensor-frameangvel-cutoff>`                        | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-frameangvel-noise>`                          | :ref:`user<sensor-frameangvel-user>`                            |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`framelinacc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-framelinacc>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-framelinacc-name>`                            | :ref:`objtype<sensor-framelinacc-objtype>`                      | :ref:`objname<sensor-framelinacc-objname>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cutoff<sensor-framelinacc-cutoff>`                        | :ref:`noise<sensor-framelinacc-noise>`                          | :ref:`user<sensor-framelinacc-user>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`frameangacc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-frameangacc>`              |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-frameangacc-name>`                            | :ref:`objtype<sensor-frameangacc-objtype>`                      | :ref:`objname<sensor-frameangacc-objname>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cutoff<sensor-frameangacc-cutoff>`                        | :ref:`noise<sensor-frameangacc-noise>`                          | :ref:`user<sensor-frameangacc-user>`                            | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`subtreecom                   | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-subtreecom>`               |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-subtreecom-name>`                             | :ref:`body<sensor-subtreecom-body>`                             | :ref:`cutoff<sensor-subtreecom-cutoff>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-subtreecom-noise>`                           | :ref:`user<sensor-subtreecom-user>`                             |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`subtreelinvel                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-subtreelinvel>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-subtreelinvel-name>`                          | :ref:`body<sensor-subtreelinvel-body>`                          | :ref:`cutoff<sensor-subtreelinvel-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-subtreelinvel-noise>`                        | :ref:`user<sensor-subtreelinvel-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`subtreeangmom                | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-subtreeangmom>`            |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-subtreeangmom-name>`                          | :ref:`body<sensor-subtreeangmom-body>`                          | :ref:`cutoff<sensor-subtreeangmom-cutoff>`                      | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`noise<sensor-subtreeangmom-noise>`                        | :ref:`user<sensor-subtreeangmom-user>`                          |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`clock                        | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-clock>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-clock-name>`                                  | :ref:`cutoff<sensor-clock-cutoff>`                              | :ref:`noise<sensor-clock-noise>`                                | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`user<sensor-clock-user>`                                  |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`user                         | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-user>`                     |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-user-name>`                                   | :ref:`objtype<sensor-user-objtype>`                             | :ref:`objname<sensor-user-objname>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`datatype<sensor-user-datatype>`                           | :ref:`needstage<sensor-user-needstage>`                         | :ref:`dim<sensor-user-dim>`                                     | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cutoff<sensor-user-cutoff>`                               | :ref:`noise<sensor-user-noise>`                                 | :ref:`user<sensor-user-user>`                                   | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                 |
-| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <sensor-plugin>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<sensor-plugin-name>`                                 | :ref:`plugin<sensor-plugin-plugin>`                             | :ref:`instance<sensor-plugin-instance>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cutoff<sensor-plugin-cutoff>`                             | :ref:`objtype<sensor-plugin-objtype>`                           | :ref:`objname<sensor-plugin-objname>`                           | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`reftype<sensor-plugin-reftype>`                           | :ref:`refname<sensor-plugin-refname>`                           | :ref:`user<sensor-plugin-user>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <plugin-config>`                   |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                            |
-| :ref:`keyframe<keyframe>`          |    |                                                                                                                                                                                                            |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| keyframe |br| |_| |L|          |    | .. table::                                                                                                                                                                                                 |
-| :ref:`key                          | \* |    :class: mjcf-attributes                                                                                                                                                                                 |
-| <keyframe-key>`                    |    |                                                                                                                                                                                                            |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<keyframe-key-name>`                                  | :ref:`time<keyframe-key-time>`                                  | :ref:`qpos<keyframe-key-qpos>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`qvel<keyframe-key-qvel>`                                  | :ref:`act<keyframe-key-act>`                                    | :ref:`mpos<keyframe-key-mpos>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mquat<keyframe-key-mquat>`                                | :ref:`ctrl<keyframe-key-ctrl>`                                  |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`mujoco                       | !  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <mujoco>`                          |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`model<mujoco-model>`                                      |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`compiler                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <compiler>`                        |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`autolimits<compiler-autolimits>`                          | :ref:`boundmass<compiler-boundmass>`                            | :ref:`boundinertia<compiler-boundinertia>`                      | :ref:`settotalmass<compiler-settotalmass>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`balanceinertia<compiler-balanceinertia>`                  | :ref:`strippath<compiler-strippath>`                            | :ref:`coordinate<compiler-coordinate>`                          | :ref:`angle<compiler-angle>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fitaabb<compiler-fitaabb>`                                | :ref:`eulerseq<compiler-eulerseq>`                              | :ref:`meshdir<compiler-meshdir>`                                | :ref:`texturedir<compiler-texturedir>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`discardvisual<compiler-discardvisual>`                    | :ref:`convexhull<compiler-convexhull>`                          | :ref:`usethread<compiler-usethread>`                            | :ref:`fusestatic<compiler-fusestatic>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`inertiafromgeom<compiler-inertiafromgeom>`                | :ref:`inertiagrouprange<compiler-inertiagrouprange>`            | :ref:`exactmeshinertia<compiler-exactmeshinertia>`              | :ref:`assetdir<compiler-assetdir>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| compiler |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`lengthrange                  | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <compiler-lengthrange>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`mode<compiler-lengthrange-mode>`                          | :ref:`useexisting<compiler-lengthrange-useexisting>`            | :ref:`uselimit<compiler-lengthrange-uselimit>`                  | :ref:`accel<compiler-lengthrange-accel>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`maxforce<compiler-lengthrange-maxforce>`                  | :ref:`timeconst<compiler-lengthrange-timeconst>`                | :ref:`timestep<compiler-lengthrange-timestep>`                  | :ref:`inttotal<compiler-lengthrange-inttotal>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`interval<compiler-lengthrange-interval>`                  | :ref:`tolrange<compiler-lengthrange-tolrange>`                  |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`option                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <option>`                          |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`timestep<option-timestep>`                                | :ref:`apirate<option-apirate>`                                  | :ref:`impratio<option-impratio>`                                | :ref:`tolerance<option-tolerance>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`noslip_tolerance<option-noslip_tolerance>`                | :ref:`mpr_tolerance<option-mpr_tolerance>`                      | :ref:`gravity<option-gravity>`                                  | :ref:`wind<option-wind>`                                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`magnetic<option-magnetic>`                                | :ref:`density<option-density>`                                  | :ref:`viscosity<option-viscosity>`                              | :ref:`o_margin<option-o_margin>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`o_solref<option-o_solref>`                                | :ref:`o_solimp<option-o_solimp>`                                | :ref:`integrator<option-integrator>`                            | :ref:`collision<option-collision>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cone<option-cone>`                                        | :ref:`jacobian<option-jacobian>`                                | :ref:`solver<option-solver>`                                    | :ref:`iterations<option-iterations>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`noslip_iterations<option-noslip_iterations>`              | :ref:`mpr_iterations<option-mpr_iterations>`                    |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| option |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`flag                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <option-flag>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`constraint<option-flag-constraint>`                       | :ref:`equality<option-flag-equality>`                           | :ref:`frictionloss<option-flag-frictionloss>`                   | :ref:`limit<option-flag-limit>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`contact<option-flag-contact>`                             | :ref:`passive<option-flag-passive>`                             | :ref:`gravity<option-flag-gravity>`                             | :ref:`clampctrl<option-flag-clampctrl>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`warmstart<option-flag-warmstart>`                         | :ref:`filterparent<option-flag-filterparent>`                   | :ref:`actuation<option-flag-actuation>`                         | :ref:`refsafe<option-flag-refsafe>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`sensor<option-flag-sensor>`                               | :ref:`override<option-flag-override>`                           | :ref:`energy<option-flag-energy>`                               | :ref:`fwdinv<option-flag-fwdinv>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`sensornoise<option-flag-sensornoise>`                     | :ref:`multiccd<option-flag-multiccd>`                           |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`size                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <size>`                            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`memory<size-memory>`                                      | :ref:`njmax<size-njmax>`                                        | :ref:`nconmax<size-nconmax>`                                    | :ref:`nstack<size-nstack>`                                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`nuserdata<size-nuserdata>`                                | :ref:`nkey<size-nkey>`                                          | :ref:`nuser_body<size-nuser_body>`                              | :ref:`nuser_jnt<size-nuser_jnt>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`nuser_geom<size-nuser_geom>`                              | :ref:`nuser_site<size-nuser_site>`                              | :ref:`nuser_cam<size-nuser_cam>`                                | :ref:`nuser_tendon<size-nuser_tendon>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`nuser_actuator<size-nuser_actuator>`                      | :ref:`nuser_sensor<size-nuser_sensor>`                          |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`visual<visual>`              |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`global                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-global>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fovy<visual-global-fovy>`                                 | :ref:`ipd<visual-global-ipd>`                                   | :ref:`azimuth<visual-global-azimuth>`                           | :ref:`elevation<visual-global-elevation>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`linewidth<visual-global-linewidth>`                       | :ref:`glow<visual-global-glow>`                                 | :ref:`offwidth<visual-global-offwidth>`                         | :ref:`offheight<visual-global-offheight>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`realtime<visual-global-realtime>`                         | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`quality                      | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-quality>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`shadowsize<visual-quality-shadowsize>`                    | :ref:`offsamples<visual-quality-offsamples>`                    | :ref:`numslices<visual-quality-numslices>`                      | :ref:`numstacks<visual-quality-numstacks>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`numquads<visual-quality-numquads>`                        |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`headlight                    | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-headlight>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ambient<visual-headlight-ambient>`                        | :ref:`diffuse<visual-headlight-diffuse>`                        | :ref:`specular<visual-headlight-specular>`                      | :ref:`active<visual-headlight-active>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`map                          | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-map>`                      |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`stiffness<visual-map-stiffness>`                          | :ref:`stiffnessrot<visual-map-stiffnessrot>`                    | :ref:`force<visual-map-force>`                                  | :ref:`torque<visual-map-torque>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`alpha<visual-map-alpha>`                                  | :ref:`fogstart<visual-map-fogstart>`                            | :ref:`fogend<visual-map-fogend>`                                | :ref:`znear<visual-map-znear>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`zfar<visual-map-zfar>`                                    | :ref:`haze<visual-map-haze>`                                    | :ref:`shadowclip<visual-map-shadowclip>`                        | :ref:`shadowscale<visual-map-shadowscale>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`actuatortendon<visual-map-actuatortendon>`                |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`scale                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-scale>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcewidth<visual-scale-forcewidth>`                      | :ref:`contactwidth<visual-scale-contactwidth>`                  | :ref:`contactheight<visual-scale-contactheight>`                | :ref:`connect<visual-scale-connect>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`com<visual-scale-com>`                                    | :ref:`camera<visual-scale-camera>`                              | :ref:`light<visual-scale-light>`                                | :ref:`selectpoint<visual-scale-selectpoint>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointlength<visual-scale-jointlength>`                    | :ref:`jointwidth<visual-scale-jointwidth>`                      | :ref:`actuatorlength<visual-scale-actuatorlength>`              | :ref:`actuatorwidth<visual-scale-actuatorwidth>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`framelength<visual-scale-framelength>`                    | :ref:`framewidth<visual-scale-framewidth>`                      | :ref:`constraint<visual-scale-constraint>`                      | :ref:`slidercrank<visual-scale-slidercrank>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`rgba                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <visual-rgba>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fog<visual-rgba-fog>`                                     | :ref:`haze<visual-rgba-haze>`                                   | :ref:`force<visual-rgba-force>`                                 | :ref:`inertia<visual-rgba-inertia>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`joint<visual-rgba-joint>`                                 | :ref:`actuator<visual-rgba-actuator>`                           | :ref:`actuatornegative<visual-rgba-actuatornegative>`           | :ref:`actuatorpositive<visual-rgba-actuatorpositive>`           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`com<visual-rgba-com>`                                     | :ref:`camera<visual-rgba-camera>`                               | :ref:`light<visual-rgba-light>`                                 | :ref:`selectpoint<visual-rgba-selectpoint>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`connect<visual-rgba-connect>`                             | :ref:`contactpoint<visual-rgba-contactpoint>`                   | :ref:`contactforce<visual-rgba-contactforce>`                   | :ref:`contactfriction<visual-rgba-contactfriction>`             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`contacttorque<visual-rgba-contacttorque>`                 | :ref:`contactgap<visual-rgba-contactgap>`                       | :ref:`rangefinder<visual-rgba-rangefinder>`                     | :ref:`constraint<visual-rgba-constraint>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`slidercrank<visual-rgba-slidercrank>`                     | :ref:`crankbroken<visual-rgba-crankbroken>`                     |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`statistic                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <statistic>`                       |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`meaninertia<statistic-meaninertia>`                       | :ref:`meanmass<statistic-meanmass>`                             | :ref:`meansize<statistic-meansize>`                             | :ref:`extent<statistic-extent>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`center<statistic-center>`                                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`default                      | R  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default>`                         |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`class<default-class>`                                     |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`mesh                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-mesh>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`scale<default-mesh-scale>`                                |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`material                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-material>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`texture<default-material-texture>`                        | :ref:`emission<default-material-emission>`                      | :ref:`specular<default-material-specular>`                      | :ref:`shininess<default-material-shininess>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`reflectance<default-material-reflectance>`                | :ref:`rgba<default-material-rgba>`                              | :ref:`texrepeat<default-material-texrepeat>`                    | :ref:`texuniform<default-material-texuniform>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`joint                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-joint>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`type<default-joint-type>`                                 | :ref:`group<default-joint-group>`                               | :ref:`pos<default-joint-pos>`                                   | :ref:`axis<default-joint-axis>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`springdamper<default-joint-springdamper>`                 | :ref:`limited<default-joint-limited>`                           | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>`                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimplimit<default-joint-solimplimit>`                   | :ref:`solreffriction<default-joint-solreffriction>`             | :ref:`solimpfriction<default-joint-solimpfriction>`             | :ref:`stiffness<default-joint-stiffness>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`range<default-joint-range>`                               | :ref:`actuatorforcerange<default-joint-actuatorforcerange>`     | :ref:`margin<default-joint-margin>`                             | :ref:`ref<default-joint-ref>`                                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`springref<default-joint-springref>`                       | :ref:`armature<default-joint-armature>`                         | :ref:`damping<default-joint-damping>`                           | :ref:`frictionloss<default-joint-frictionloss>`                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<default-joint-user>`                                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`geom                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-geom>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`type<default-geom-type>`                                  | :ref:`pos<default-geom-pos>`                                    | :ref:`quat<default-geom-quat>`                                  | :ref:`contype<default-geom-contype>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`conaffinity<default-geom-conaffinity>`                    | :ref:`condim<default-geom-condim>`                              | :ref:`group<default-geom-group>`                                | :ref:`priority<default-geom-priority>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`size<default-geom-size>`                                  | :ref:`material<default-geom-material>`                          | :ref:`friction<default-geom-friction>`                          | :ref:`mass<default-geom-mass>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`density<default-geom-density>`                            | :ref:`shellinertia<default-geom-shellinertia>`                  | :ref:`solmix<default-geom-solmix>`                              | :ref:`solref<default-geom-solref>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimp<default-geom-solimp>`                              | :ref:`margin<default-geom-margin>`                              | :ref:`gap<default-geom-gap>`                                    | :ref:`fromto<default-geom-fromto>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`axisangle<default-geom-axisangle>`                        | :ref:`xyaxes<default-geom-xyaxes>`                              | :ref:`zaxis<default-geom-zaxis>`                                | :ref:`euler<default-geom-euler>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`hfield<default-geom-hfield>`                              | :ref:`mesh<default-geom-mesh>`                                  | :ref:`fitscale<default-geom-fitscale>`                          | :ref:`rgba<default-geom-rgba>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fluidshape<default-geom-fluidshape>`                      | :ref:`fluidcoef<default-geom-fluidcoef>`                        | :ref:`user<default-geom-user>`                                  |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`site                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-site>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`type<default-site-type>`                                  | :ref:`group<default-site-group>`                                | :ref:`pos<default-site-pos>`                                    | :ref:`quat<default-site-quat>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`material<default-site-material>`                          | :ref:`size<default-site-size>`                                  | :ref:`fromto<default-site-fromto>`                              | :ref:`axisangle<default-site-axisangle>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`xyaxes<default-site-xyaxes>`                              | :ref:`zaxis<default-site-zaxis>`                                | :ref:`euler<default-site-euler>`                                | :ref:`rgba<default-site-rgba>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<default-site-user>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`camera                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-camera>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fovy<default-camera-fovy>`                                | :ref:`ipd<default-camera-ipd>`                                  | :ref:`pos<default-camera-pos>`                                  | :ref:`quat<default-camera-quat>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`axisangle<default-camera-axisangle>`                      | :ref:`xyaxes<default-camera-xyaxes>`                            | :ref:`zaxis<default-camera-zaxis>`                              | :ref:`euler<default-camera-euler>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`mode<default-camera-mode>`                                | :ref:`user<default-camera-user>`                                |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`light                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-light>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<default-light-pos>`                                   | :ref:`dir<default-light-dir>`                                   | :ref:`directional<default-light-directional>`                   | :ref:`castshadow<default-light-castshadow>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`active<default-light-active>`                             | :ref:`attenuation<default-light-attenuation>`                   | :ref:`cutoff<default-light-cutoff>`                             | :ref:`exponent<default-light-exponent>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ambient<default-light-ambient>`                           | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | :ref:`mode<default-light-mode>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`pair                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-pair>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`condim<default-pair-condim>`                              | :ref:`friction<default-pair-friction>`                          | :ref:`solref<default-pair-solref>`                              | :ref:`solreffriction<default-pair-solreffriction>`              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimp<default-pair-solimp>`                              | :ref:`gap<default-pair-gap>`                                    | :ref:`margin<default-pair-margin>`                              |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`equality                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-equality>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`active<default-equality-active>`                          | :ref:`solref<default-equality-solref>`                          | :ref:`solimp<default-equality-solimp>`                          |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendon                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-tendon>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<default-tendon-group>`                              | :ref:`limited<default-tendon-limited>`                          | :ref:`range<default-tendon-range>`                              | :ref:`solreflimit<default-tendon-solreflimit>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimplimit<default-tendon-solimplimit>`                  | :ref:`solreffriction<default-tendon-solreffriction>`            | :ref:`solimpfriction<default-tendon-solimpfriction>`            | :ref:`frictionloss<default-tendon-frictionloss>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`springlength<default-tendon-springlength>`                | :ref:`width<default-tendon-width>`                              | :ref:`material<default-tendon-material>`                        | :ref:`margin<default-tendon-margin>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`stiffness<default-tendon-stiffness>`                      | :ref:`damping<default-tendon-damping>`                          | :ref:`rgba<default-tendon-rgba>`                                | :ref:`user<default-tendon-user>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`general                      | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-general>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-general-ctrllimited>`                 | :ref:`forcelimited<default-general-forcelimited>`               | :ref:`actlimited<default-general-actlimited>`                   | :ref:`ctrlrange<default-general-ctrlrange>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcerange<default-general-forcerange>`                   | :ref:`actrange<default-general-actrange>`                       | :ref:`gear<default-general-gear>`                               | :ref:`cranklength<default-general-cranklength>`                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<default-general-user>`                               | :ref:`group<default-general-group>`                             | :ref:`actdim<default-general-actdim>`                           | :ref:`dyntype<default-general-dyntype>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gaintype<default-general-gaintype>`                       | :ref:`biastype<default-general-biastype>`                       | :ref:`dynprm<default-general-dynprm>`                           | :ref:`gainprm<default-general-gainprm>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`biasprm<default-general-biasprm>`                         | :ref:`actearly<default-general-actearly>`                       |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`motor                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-motor>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-motor-ctrllimited>`                   | :ref:`forcelimited<default-motor-forcelimited>`                 | :ref:`ctrlrange<default-motor-ctrlrange>`                       | :ref:`forcerange<default-motor-forcerange>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<default-motor-gear>`                                 | :ref:`cranklength<default-motor-cranklength>`                   | :ref:`user<default-motor-user>`                                 | :ref:`group<default-motor-group>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`position                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-position>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-position-ctrllimited>`                | :ref:`forcelimited<default-position-forcelimited>`              | :ref:`ctrlrange<default-position-ctrlrange>`                    | :ref:`forcerange<default-position-forcerange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<default-position-gear>`                              | :ref:`cranklength<default-position-cranklength>`                | :ref:`user<default-position-user>`                              | :ref:`group<default-position-group>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`kp<default-position-kp>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`velocity                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-velocity>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-velocity-ctrllimited>`                | :ref:`forcelimited<default-velocity-forcelimited>`              | :ref:`ctrlrange<default-velocity-ctrlrange>`                    | :ref:`forcerange<default-velocity-forcerange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<default-velocity-gear>`                              | :ref:`cranklength<default-velocity-cranklength>`                | :ref:`user<default-velocity-user>`                              | :ref:`group<default-velocity-group>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`kv<default-velocity-kv>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`intvelocity                  | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-intvelocity>`             |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-intvelocity-ctrllimited>`             | :ref:`forcelimited<default-intvelocity-forcelimited>`           | :ref:`ctrlrange<default-intvelocity-ctrlrange>`                 | :ref:`forcerange<default-intvelocity-forcerange>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`actrange<default-intvelocity-actrange>`                   | :ref:`gear<default-intvelocity-gear>`                           | :ref:`cranklength<default-intvelocity-cranklength>`             | :ref:`user<default-intvelocity-user>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<default-intvelocity-group>`                         | :ref:`kp<default-intvelocity-kp>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`damper                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-damper>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<default-damper-forcelimited>`                | :ref:`ctrlrange<default-damper-ctrlrange>`                      | :ref:`forcerange<default-damper-forcerange>`                    | :ref:`gear<default-damper-gear>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cranklength<default-damper-cranklength>`                  | :ref:`user<default-damper-user>`                                | :ref:`group<default-damper-group>`                              | :ref:`kv<default-damper-kv>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`cylinder                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-cylinder>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-cylinder-ctrllimited>`                | :ref:`forcelimited<default-cylinder-forcelimited>`              | :ref:`ctrlrange<default-cylinder-ctrlrange>`                    | :ref:`forcerange<default-cylinder-forcerange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<default-cylinder-gear>`                              | :ref:`cranklength<default-cylinder-cranklength>`                | :ref:`user<default-cylinder-user>`                              | :ref:`group<default-cylinder-group>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`timeconst<default-cylinder-timeconst>`                    | :ref:`area<default-cylinder-area>`                              | :ref:`diameter<default-cylinder-diameter>`                      | :ref:`bias<default-cylinder-bias>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`muscle                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-muscle>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrllimited<default-muscle-ctrllimited>`                  | :ref:`forcelimited<default-muscle-forcelimited>`                | :ref:`ctrlrange<default-muscle-ctrlrange>`                      | :ref:`forcerange<default-muscle-forcerange>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<default-muscle-gear>`                                | :ref:`cranklength<default-muscle-cranklength>`                  | :ref:`user<default-muscle-user>`                                | :ref:`group<default-muscle-group>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`timeconst<default-muscle-timeconst>`                      | :ref:`range<default-muscle-range>`                              | :ref:`force<default-muscle-force>`                              | :ref:`scale<default-muscle-scale>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`lmin<default-muscle-lmin>`                                | :ref:`lmax<default-muscle-lmax>`                                | :ref:`vmax<default-muscle-vmax>`                                | :ref:`fpmax<default-muscle-fpmax>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fvmax<default-muscle-fvmax>`                              |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`adhesion                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <default-adhesion>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<default-adhesion-forcelimited>`              | :ref:`ctrlrange<default-adhesion-ctrlrange>`                    | :ref:`forcerange<default-adhesion-forcerange>`                  | :ref:`gain<default-adhesion-gain>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<default-adhesion-user>`                              | :ref:`group<default-adhesion-group>`                            |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`extension<extension>`        |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| extension |br| |_| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <extension-plugin>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`plugin<extension-plugin-plugin>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`instance                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <plugin-instance>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<plugin-instance-name>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_3| instance |br| |_3| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <instance-config>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`key<instance-config-key>`                                 | :ref:`value<instance-config-value>`                             |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`custom<custom>`              |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`numeric                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <custom-numeric>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<custom-numeric-name>`                                | :ref:`size<custom-numeric-size>`                                | :ref:`data<custom-numeric-data>`                                |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`text                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <custom-text>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<custom-text-name>`                                   | :ref:`data<custom-text-data>`                                   |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| custom |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tuple                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <custom-tuple>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<custom-tuple-name>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| tuple |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`element                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <tuple-element>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`objtype<tuple-element-objtype>`                           | :ref:`objname<tuple-element-objname>`                           | :ref:`prm<tuple-element-prm>`                                   |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`asset<asset>`                |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`texture                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-texture>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`content_type<asset-texture-content_type>`                 | :ref:`file<asset-texture-file>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | :ref:`fileright<asset-texture-fileright>`                       | :ref:`fileleft<asset-texture-fileleft>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fileup<asset-texture-fileup>`                             | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | :ref:`fileback<asset-texture-fileback>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | :ref:`mark<asset-texture-mark>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | :ref:`width<asset-texture-width>`                               | :ref:`height<asset-texture-height>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`hflip<asset-texture-hflip>`                               | :ref:`vflip<asset-texture-vflip>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`hfield                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-hfield>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-hfield-name>`                                  | :ref:`content_type<asset-hfield-content_type>`                  | :ref:`file<asset-hfield-file>`                                  | :ref:`nrow<asset-hfield-nrow>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ncol<asset-hfield-ncol>`                                  | :ref:`size<asset-hfield-size>`                                  |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`mesh                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-mesh>`                      |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-mesh-name>`                                    | :ref:`class<asset-mesh-class>`                                  | :ref:`content_type<asset-mesh-content_type>`                    | :ref:`file<asset-mesh-file>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`vertex<asset-mesh-vertex>`                                | :ref:`normal<asset-mesh-normal>`                                | :ref:`texcoord<asset-mesh-texcoord>`                            | :ref:`face<asset-mesh-face>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refpos<asset-mesh-refpos>`                                | :ref:`refquat<asset-mesh-refquat>`                              | :ref:`scale<asset-mesh-scale>`                                  | :ref:`smoothnormal<asset-mesh-smoothnormal>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`skin                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-skin>`                      |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-skin-name>`                                    | :ref:`file<asset-skin-file>`                                    | :ref:`material<asset-skin-material>`                            | :ref:`rgba<asset-skin-rgba>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`inflate<asset-skin-inflate>`                              | :ref:`vertex<asset-skin-vertex>`                                | :ref:`texcoord<asset-skin-texcoord>`                            | :ref:`face<asset-skin-face>`                                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<asset-skin-group>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| skin |br| |_2| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`bone                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <skin-bone>`                       |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`body<skin-bone-body>`                                     | :ref:`bindpos<skin-bone-bindpos>`                               | :ref:`bindquat<skin-bone-bindquat>`                             | :ref:`vertid<skin-bone-vertid>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`vertweight<skin-bone-vertweight>`                         |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`material                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-material>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-material-name>`                                | :ref:`class<asset-material-class>`                              | :ref:`texture<asset-material-texture>`                          | :ref:`texrepeat<asset-material-texrepeat>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`texuniform<asset-material-texuniform>`                    | :ref:`emission<asset-material-emission>`                        | :ref:`specular<asset-material-specular>`                        | :ref:`shininess<asset-material-shininess>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`reflectance<asset-material-reflectance>`                  | :ref:`rgba<asset-material-rgba>`                                |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`body                         | R  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body>`                            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-name>`                                          | :ref:`childclass<body-childclass>`                              | :ref:`pos<body-pos>`                                            | :ref:`quat<body-quat>`                                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`mocap<body-mocap>`                                        | :ref:`axisangle<body-axisangle>`                                | :ref:`xyaxes<body-xyaxes>`                                      | :ref:`zaxis<body-zaxis>`                                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`euler<body-euler>`                                        | :ref:`gravcomp<body-gravcomp>`                                  | :ref:`user<body-user>`                                          |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-plugin>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`plugin<body-plugin-plugin>`                               | :ref:`instance<body-plugin-instance>`                           |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <plugin-config>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`inertial                     | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-inertial>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<body-inertial-pos>`                                   | :ref:`quat<body-inertial-quat>`                                 | :ref:`mass<body-inertial-mass>`                                 | :ref:`diaginertia<body-inertial-diaginertia>`                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`axisangle<body-inertial-axisangle>`                       | :ref:`xyaxes<body-inertial-xyaxes>`                             | :ref:`zaxis<body-inertial-zaxis>`                               | :ref:`euler<body-inertial-euler>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fullinertia<body-inertial-fullinertia>`                   |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-joint>`                      |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-joint-name>`                                    | :ref:`class<body-joint-class>`                                  | :ref:`type<body-joint-type>`                                    | :ref:`group<body-joint-group>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<body-joint-pos>`                                      | :ref:`axis<body-joint-axis>`                                    | :ref:`springdamper<body-joint-springdamper>`                    | :ref:`limited<body-joint-limited>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`actuatorforcelimited<body-joint-actuatorforcelimited>`    | :ref:`solreflimit<body-joint-solreflimit>`                      | :ref:`solimplimit<body-joint-solimplimit>`                      | :ref:`solreffriction<body-joint-solreffriction>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimpfriction<body-joint-solimpfriction>`                | :ref:`stiffness<body-joint-stiffness>`                          | :ref:`range<body-joint-range>`                                  | :ref:`actuatorforcerange<body-joint-actuatorforcerange>`        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`margin<body-joint-margin>`                                | :ref:`ref<body-joint-ref>`                                      | :ref:`springref<body-joint-springref>`                          | :ref:`armature<body-joint-armature>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`damping<body-joint-damping>`                              | :ref:`frictionloss<body-joint-frictionloss>`                    | :ref:`user<body-joint-user>`                                    |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`freejoint                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-freejoint>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-freejoint-name>`                                | :ref:`group<body-freejoint-group>`                              |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`geom                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-geom>`                       |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-geom-name>`                                     | :ref:`class<body-geom-class>`                                   | :ref:`type<body-geom-type>`                                     | :ref:`contype<body-geom-contype>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`conaffinity<body-geom-conaffinity>`                       | :ref:`condim<body-geom-condim>`                                 | :ref:`group<body-geom-group>`                                   | :ref:`priority<body-geom-priority>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`size<body-geom-size>`                                     | :ref:`material<body-geom-material>`                             | :ref:`friction<body-geom-friction>`                             | :ref:`mass<body-geom-mass>`                                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`density<body-geom-density>`                               | :ref:`shellinertia<body-geom-shellinertia>`                     | :ref:`solmix<body-geom-solmix>`                                 | :ref:`solref<body-geom-solref>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimp<body-geom-solimp>`                                 | :ref:`margin<body-geom-margin>`                                 | :ref:`gap<body-geom-gap>`                                       | :ref:`fromto<body-geom-fromto>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<body-geom-pos>`                                       | :ref:`quat<body-geom-quat>`                                     | :ref:`axisangle<body-geom-axisangle>`                           | :ref:`xyaxes<body-geom-xyaxes>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`zaxis<body-geom-zaxis>`                                   | :ref:`euler<body-geom-euler>`                                   | :ref:`hfield<body-geom-hfield>`                                 | :ref:`mesh<body-geom-mesh>`                                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fitscale<body-geom-fitscale>`                             | :ref:`rgba<body-geom-rgba>`                                     | :ref:`fluidshape<body-geom-fluidshape>`                         | :ref:`fluidcoef<body-geom-fluidcoef>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<body-geom-user>`                                     |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`site                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-site>`                       |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-site-name>`                                     | :ref:`class<body-site-class>`                                   | :ref:`type<body-site-type>`                                     | :ref:`group<body-site-group>`                                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<body-site-pos>`                                       | :ref:`quat<body-site-quat>`                                     | :ref:`material<body-site-material>`                             | :ref:`size<body-site-size>`                                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fromto<body-site-fromto>`                                 | :ref:`axisangle<body-site-axisangle>`                           | :ref:`xyaxes<body-site-xyaxes>`                                 | :ref:`zaxis<body-site-zaxis>`                                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`euler<body-site-euler>`                                   | :ref:`rgba<body-site-rgba>`                                     | :ref:`user<body-site-user>`                                     |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`camera                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-camera>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-camera-name>`                                   | :ref:`class<body-camera-class>`                                 | :ref:`fovy<body-camera-fovy>`                                   | :ref:`ipd<body-camera-ipd>`                                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`pos<body-camera-pos>`                                     | :ref:`quat<body-camera-quat>`                                   | :ref:`axisangle<body-camera-axisangle>`                         | :ref:`xyaxes<body-camera-xyaxes>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`zaxis<body-camera-zaxis>`                                 | :ref:`euler<body-camera-euler>`                                 | :ref:`mode<body-camera-mode>`                                   | :ref:`target<body-camera-target>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<body-camera-user>`                                   |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`light                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-light>`                      |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<body-light-name>`                                    | :ref:`class<body-light-class>`                                  | :ref:`directional<body-light-directional>`                      | :ref:`castshadow<body-light-castshadow>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`active<body-light-active>`                                | :ref:`pos<body-light-pos>`                                      | :ref:`dir<body-light-dir>`                                      | :ref:`attenuation<body-light-attenuation>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cutoff<body-light-cutoff>`                                | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`composite                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <body-composite>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`prefix<body-composite-prefix>`                            | :ref:`type<body-composite-type>`                                | :ref:`count<body-composite-count>`                              | :ref:`spacing<body-composite-spacing>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`offset<body-composite-offset>`                            | :ref:`flatinertia<body-composite-flatinertia>`                  | :ref:`solrefsmooth<body-composite-solrefsmooth>`                | :ref:`solimpsmooth<body-composite-solimpsmooth>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`vertex<body-composite-vertex>`                            | :ref:`initial<body-composite-initial>`                          | :ref:`curve<body-composite-curve>`                              | :ref:`size<body-composite-size>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-plugin>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`plugin<composite-plugin-plugin>`                          | :ref:`instance<composite-plugin-instance>`                      |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_3| plugin |br| |_3| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <plugin-config>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-joint>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`kind<composite-joint-kind>`                               | :ref:`group<composite-joint-group>`                             | :ref:`stiffness<composite-joint-stiffness>`                     | :ref:`damping<composite-joint-damping>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`armature<composite-joint-armature>`                       | :ref:`solreffix<composite-joint-solreffix>`                     | :ref:`solimpfix<composite-joint-solimpfix>`                     | :ref:`type<composite-joint-type>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`axis<composite-joint-axis>`                               | :ref:`limited<composite-joint-limited>`                         | :ref:`range<composite-joint-range>`                             | :ref:`margin<composite-joint-margin>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solreflimit<composite-joint-solreflimit>`                 | :ref:`solimplimit<composite-joint-solimplimit>`                 | :ref:`frictionloss<composite-joint-frictionloss>`               | :ref:`solreffriction<composite-joint-solreffriction>`           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimpfriction<composite-joint-solimpfriction>`           |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendon                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-tendon>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`kind<composite-tendon-kind>`                              | :ref:`group<composite-tendon-group>`                            | :ref:`stiffness<composite-tendon-stiffness>`                    | :ref:`damping<composite-tendon-damping>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solreffix<composite-tendon-solreffix>`                    | :ref:`solimpfix<composite-tendon-solimpfix>`                    | :ref:`limited<composite-tendon-limited>`                        | :ref:`range<composite-tendon-range>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`margin<composite-tendon-margin>`                          | :ref:`solreflimit<composite-tendon-solreflimit>`                | :ref:`solimplimit<composite-tendon-solimplimit>`                | :ref:`frictionloss<composite-tendon-frictionloss>`              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solreffriction<composite-tendon-solreffriction>`          | :ref:`solimpfriction<composite-tendon-solimpfriction>`          | :ref:`material<composite-tendon-material>`                      | :ref:`rgba<composite-tendon-rgba>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`width<composite-tendon-width>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`skin                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-skin>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`texcoord<composite-skin-texcoord>`                        | :ref:`material<composite-skin-material>`                        | :ref:`group<composite-skin-group>`                              | :ref:`rgba<composite-skin-rgba>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`inflate<composite-skin-inflate>`                          | :ref:`subgrid<composite-skin-subgrid>`                          |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`geom                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-geom>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`type<composite-geom-type>`                                | :ref:`contype<composite-geom-contype>`                          | :ref:`conaffinity<composite-geom-conaffinity>`                  | :ref:`condim<composite-geom-condim>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<composite-geom-group>`                              | :ref:`priority<composite-geom-priority>`                        | :ref:`size<composite-geom-size>`                                | :ref:`material<composite-geom-material>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`rgba<composite-geom-rgba>`                                | :ref:`friction<composite-geom-friction>`                        | :ref:`mass<composite-geom-mass>`                                | :ref:`density<composite-geom-density>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solmix<composite-geom-solmix>`                            | :ref:`solref<composite-geom-solref>`                            | :ref:`solimp<composite-geom-solimp>`                            | :ref:`margin<composite-geom-margin>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gap<composite-geom-gap>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`site                         | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-site>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<composite-site-group>`                              | :ref:`size<composite-site-size>`                                | :ref:`material<composite-site-material>`                        | :ref:`rgba<composite-site-rgba>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`pin                          | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <composite-pin>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`coord<composite-pin-coord>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`contact<contact>`            |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| contact |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`pair                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <contact-pair>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<contact-pair-name>`                                  | :ref:`class<contact-pair-class>`                                | :ref:`geom1<contact-pair-geom1>`                                | :ref:`geom2<contact-pair-geom2>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`condim<contact-pair-condim>`                              | :ref:`friction<contact-pair-friction>`                          | :ref:`solref<contact-pair-solref>`                              | :ref:`solreffriction<contact-pair-solreffriction>`              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimp<contact-pair-solimp>`                              | :ref:`gap<contact-pair-gap>`                                    | :ref:`margin<contact-pair-margin>`                              |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| contact |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`exclude                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <contact-exclude>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<contact-exclude-name>`                               | :ref:`body1<contact-exclude-body1>`                             | :ref:`body2<contact-exclude-body2>`                             |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`equality<equality>`          |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`connect                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <equality-connect>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<equality-connect-name>`                              | :ref:`class<equality-connect-class>`                            | :ref:`body1<equality-connect-body1>`                            | :ref:`body2<equality-connect-body2>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`anchor<equality-connect-anchor>`                          | :ref:`active<equality-connect-active>`                          | :ref:`solref<equality-connect-solref>`                          | :ref:`solimp<equality-connect-solimp>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`weld                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <equality-weld>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<equality-weld-name>`                                 | :ref:`class<equality-weld-class>`                               | :ref:`body1<equality-weld-body1>`                               | :ref:`body2<equality-weld-body2>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`relpose<equality-weld-relpose>`                           | :ref:`anchor<equality-weld-anchor>`                             | :ref:`active<equality-weld-active>`                             | :ref:`solref<equality-weld-solref>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimp<equality-weld-solimp>`                             | :ref:`torquescale<equality-weld-torquescale>`                   |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <equality-joint>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<equality-joint-name>`                                | :ref:`class<equality-joint-class>`                              | :ref:`joint1<equality-joint-joint1>`                            | :ref:`joint2<equality-joint-joint2>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`polycoef<equality-joint-polycoef>`                        | :ref:`active<equality-joint-active>`                            | :ref:`solref<equality-joint-solref>`                            | :ref:`solimp<equality-joint-solimp>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| equality |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendon                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <equality-tendon>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<equality-tendon-name>`                               | :ref:`class<equality-tendon-class>`                             | :ref:`tendon1<equality-tendon-tendon1>`                         | :ref:`tendon2<equality-tendon-tendon2>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`polycoef<equality-tendon-polycoef>`                       | :ref:`active<equality-tendon-active>`                           | :ref:`solref<equality-tendon-solref>`                           | :ref:`solimp<equality-tendon-solimp>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`tendon<tendon>`              |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| tendon |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`spatial                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <tendon-spatial>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<tendon-spatial-name>`                                | :ref:`class<tendon-spatial-class>`                              | :ref:`group<tendon-spatial-group>`                              | :ref:`limited<tendon-spatial-limited>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`range<tendon-spatial-range>`                              | :ref:`solreflimit<tendon-spatial-solreflimit>`                  | :ref:`solimplimit<tendon-spatial-solimplimit>`                  | :ref:`solreffriction<tendon-spatial-solreffriction>`            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimpfriction<tendon-spatial-solimpfriction>`            | :ref:`frictionloss<tendon-spatial-frictionloss>`                | :ref:`springlength<tendon-spatial-springlength>`                | :ref:`width<tendon-spatial-width>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`material<tendon-spatial-material>`                        | :ref:`margin<tendon-spatial-margin>`                            | :ref:`stiffness<tendon-spatial-stiffness>`                      | :ref:`damping<tendon-spatial-damping>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`rgba<tendon-spatial-rgba>`                                | :ref:`user<tendon-spatial-user>`                                |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`site                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <spatial-site>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`site<spatial-site-site>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`geom                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <spatial-geom>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`geom<spatial-geom-geom>`                                  | :ref:`sidesite<spatial-geom-sidesite>`                          |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`pulley                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <spatial-pulley>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`divisor<spatial-pulley-divisor>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| tendon |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`fixed                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <tendon-fixed>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<tendon-fixed-name>`                                  | :ref:`class<tendon-fixed-class>`                                | :ref:`group<tendon-fixed-group>`                                | :ref:`limited<tendon-fixed-limited>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`range<tendon-fixed-range>`                                | :ref:`solreflimit<tendon-fixed-solreflimit>`                    | :ref:`solimplimit<tendon-fixed-solimplimit>`                    | :ref:`solreffriction<tendon-fixed-solreffriction>`              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`solimpfriction<tendon-fixed-solimpfriction>`              | :ref:`frictionloss<tendon-fixed-frictionloss>`                  | :ref:`springlength<tendon-fixed-springlength>`                  | :ref:`margin<tendon-fixed-margin>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | :ref:`user<tendon-fixed-user>`                                  |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| fixed |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <fixed-joint>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`joint<fixed-joint-joint>`                                 | :ref:`coef<fixed-joint-coef>`                                   |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`actuator<actuator>`          |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`general                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-general>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-general-name>`                              | :ref:`class<actuator-general-class>`                            | :ref:`group<actuator-general-group>`                            | :ref:`ctrllimited<actuator-general-ctrllimited>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-general-forcelimited>`              | :ref:`actlimited<actuator-general-actlimited>`                  | :ref:`ctrlrange<actuator-general-ctrlrange>`                    | :ref:`forcerange<actuator-general-forcerange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`actrange<actuator-general-actrange>`                      | :ref:`lengthrange<actuator-general-lengthrange>`                | :ref:`gear<actuator-general-gear>`                              | :ref:`cranklength<actuator-general-cranklength>`                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<actuator-general-user>`                              | :ref:`joint<actuator-general-joint>`                            | :ref:`jointinparent<actuator-general-jointinparent>`            | :ref:`tendon<actuator-general-tendon>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`slidersite<actuator-general-slidersite>`                  | :ref:`cranksite<actuator-general-cranksite>`                    | :ref:`site<actuator-general-site>`                              | :ref:`refsite<actuator-general-refsite>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`body<actuator-general-body>`                              | :ref:`actdim<actuator-general-actdim>`                          | :ref:`dyntype<actuator-general-dyntype>`                        | :ref:`gaintype<actuator-general-gaintype>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`biastype<actuator-general-biastype>`                      | :ref:`dynprm<actuator-general-dynprm>`                          | :ref:`gainprm<actuator-general-gainprm>`                        | :ref:`biasprm<actuator-general-biasprm>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`actearly<actuator-general-actearly>`                      |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`motor                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-motor>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-motor-name>`                                | :ref:`class<actuator-motor-class>`                              | :ref:`group<actuator-motor-group>`                              | :ref:`ctrllimited<actuator-motor-ctrllimited>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-motor-forcelimited>`                | :ref:`ctrlrange<actuator-motor-ctrlrange>`                      | :ref:`forcerange<actuator-motor-forcerange>`                    | :ref:`lengthrange<actuator-motor-lengthrange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<actuator-motor-gear>`                                | :ref:`cranklength<actuator-motor-cranklength>`                  | :ref:`user<actuator-motor-user>`                                | :ref:`joint<actuator-motor-joint>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointinparent<actuator-motor-jointinparent>`              | :ref:`tendon<actuator-motor-tendon>`                            | :ref:`slidersite<actuator-motor-slidersite>`                    | :ref:`cranksite<actuator-motor-cranksite>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`site<actuator-motor-site>`                                | :ref:`refsite<actuator-motor-refsite>`                          |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`position                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-position>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-position-name>`                             | :ref:`class<actuator-position-class>`                           | :ref:`group<actuator-position-group>`                           | :ref:`ctrllimited<actuator-position-ctrllimited>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-position-forcelimited>`             | :ref:`ctrlrange<actuator-position-ctrlrange>`                   | :ref:`forcerange<actuator-position-forcerange>`                 | :ref:`lengthrange<actuator-position-lengthrange>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<actuator-position-gear>`                             | :ref:`cranklength<actuator-position-cranklength>`               | :ref:`user<actuator-position-user>`                             | :ref:`joint<actuator-position-joint>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointinparent<actuator-position-jointinparent>`           | :ref:`tendon<actuator-position-tendon>`                         | :ref:`slidersite<actuator-position-slidersite>`                 | :ref:`cranksite<actuator-position-cranksite>`                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`site<actuator-position-site>`                             | :ref:`refsite<actuator-position-refsite>`                       | :ref:`kp<actuator-position-kp>`                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`velocity                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-velocity>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-velocity-name>`                             | :ref:`class<actuator-velocity-class>`                           | :ref:`group<actuator-velocity-group>`                           | :ref:`ctrllimited<actuator-velocity-ctrllimited>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-velocity-forcelimited>`             | :ref:`ctrlrange<actuator-velocity-ctrlrange>`                   | :ref:`forcerange<actuator-velocity-forcerange>`                 | :ref:`lengthrange<actuator-velocity-lengthrange>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<actuator-velocity-gear>`                             | :ref:`cranklength<actuator-velocity-cranklength>`               | :ref:`user<actuator-velocity-user>`                             | :ref:`joint<actuator-velocity-joint>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointinparent<actuator-velocity-jointinparent>`           | :ref:`tendon<actuator-velocity-tendon>`                         | :ref:`slidersite<actuator-velocity-slidersite>`                 | :ref:`cranksite<actuator-velocity-cranksite>`                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`site<actuator-velocity-site>`                             | :ref:`refsite<actuator-velocity-refsite>`                       | :ref:`kv<actuator-velocity-kv>`                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`intvelocity                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-intvelocity>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-intvelocity-name>`                          | :ref:`class<actuator-intvelocity-class>`                        | :ref:`group<actuator-intvelocity-group>`                        | :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-intvelocity-forcelimited>`          | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`                | :ref:`forcerange<actuator-intvelocity-forcerange>`              | :ref:`actrange<actuator-intvelocity-actrange>`                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`lengthrange<actuator-intvelocity-lengthrange>`            | :ref:`gear<actuator-intvelocity-gear>`                          | :ref:`cranklength<actuator-intvelocity-cranklength>`            | :ref:`user<actuator-intvelocity-user>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`joint<actuator-intvelocity-joint>`                        | :ref:`jointinparent<actuator-intvelocity-jointinparent>`        | :ref:`tendon<actuator-intvelocity-tendon>`                      | :ref:`slidersite<actuator-intvelocity-slidersite>`              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cranksite<actuator-intvelocity-cranksite>`                | :ref:`site<actuator-intvelocity-site>`                          | :ref:`refsite<actuator-intvelocity-refsite>`                    | :ref:`kp<actuator-intvelocity-kp>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`damper                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-damper>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-damper-name>`                               | :ref:`class<actuator-damper-class>`                             | :ref:`group<actuator-damper-group>`                             | :ref:`forcelimited<actuator-damper-forcelimited>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrlrange<actuator-damper-ctrlrange>`                     | :ref:`forcerange<actuator-damper-forcerange>`                   | :ref:`lengthrange<actuator-damper-lengthrange>`                 | :ref:`gear<actuator-damper-gear>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cranklength<actuator-damper-cranklength>`                 | :ref:`user<actuator-damper-user>`                               | :ref:`joint<actuator-damper-joint>`                             | :ref:`jointinparent<actuator-damper-jointinparent>`             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`tendon<actuator-damper-tendon>`                           | :ref:`slidersite<actuator-damper-slidersite>`                   | :ref:`cranksite<actuator-damper-cranksite>`                     | :ref:`site<actuator-damper-site>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refsite<actuator-damper-refsite>`                         | :ref:`kv<actuator-damper-kv>`                                   |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`cylinder                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-cylinder>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-cylinder-name>`                             | :ref:`class<actuator-cylinder-class>`                           | :ref:`group<actuator-cylinder-group>`                           | :ref:`ctrllimited<actuator-cylinder-ctrllimited>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-cylinder-forcelimited>`             | :ref:`ctrlrange<actuator-cylinder-ctrlrange>`                   | :ref:`forcerange<actuator-cylinder-forcerange>`                 | :ref:`lengthrange<actuator-cylinder-lengthrange>`               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<actuator-cylinder-gear>`                             | :ref:`cranklength<actuator-cylinder-cranklength>`               | :ref:`user<actuator-cylinder-user>`                             | :ref:`joint<actuator-cylinder-joint>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointinparent<actuator-cylinder-jointinparent>`           | :ref:`tendon<actuator-cylinder-tendon>`                         | :ref:`slidersite<actuator-cylinder-slidersite>`                 | :ref:`cranksite<actuator-cylinder-cranksite>`                   | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`site<actuator-cylinder-site>`                             | :ref:`refsite<actuator-cylinder-refsite>`                       | :ref:`timeconst<actuator-cylinder-timeconst>`                   | :ref:`area<actuator-cylinder-area>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`diameter<actuator-cylinder-diameter>`                     | :ref:`bias<actuator-cylinder-bias>`                             |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`muscle                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-muscle>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-muscle-name>`                               | :ref:`class<actuator-muscle-class>`                             | :ref:`group<actuator-muscle-group>`                             | :ref:`ctrllimited<actuator-muscle-ctrllimited>`                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcelimited<actuator-muscle-forcelimited>`               | :ref:`ctrlrange<actuator-muscle-ctrlrange>`                     | :ref:`forcerange<actuator-muscle-forcerange>`                   | :ref:`lengthrange<actuator-muscle-lengthrange>`                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gear<actuator-muscle-gear>`                               | :ref:`cranklength<actuator-muscle-cranklength>`                 | :ref:`user<actuator-muscle-user>`                               | :ref:`joint<actuator-muscle-joint>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`jointinparent<actuator-muscle-jointinparent>`             | :ref:`tendon<actuator-muscle-tendon>`                           | :ref:`slidersite<actuator-muscle-slidersite>`                   | :ref:`cranksite<actuator-muscle-cranksite>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`timeconst<actuator-muscle-timeconst>`                     | :ref:`tausmooth<actuator-muscle-tausmooth>`                     | :ref:`range<actuator-muscle-range>`                             | :ref:`force<actuator-muscle-force>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`scale<actuator-muscle-scale>`                             | :ref:`lmin<actuator-muscle-lmin>`                               | :ref:`lmax<actuator-muscle-lmax>`                               | :ref:`vmax<actuator-muscle-vmax>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fpmax<actuator-muscle-fpmax>`                             | :ref:`fvmax<actuator-muscle-fvmax>`                             |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`adhesion                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-adhesion>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-adhesion-name>`                             | :ref:`class<actuator-adhesion-class>`                           | :ref:`group<actuator-adhesion-group>`                           | :ref:`forcelimited<actuator-adhesion-forcelimited>`             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ctrlrange<actuator-adhesion-ctrlrange>`                   | :ref:`forcerange<actuator-adhesion-forcerange>`                 | :ref:`user<actuator-adhesion-user>`                             | :ref:`body<actuator-adhesion-body>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gain<actuator-adhesion-gain>`                             |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <actuator-plugin>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<actuator-plugin-name>`                               | :ref:`class<actuator-plugin-class>`                             | :ref:`plugin<actuator-plugin-plugin>`                           | :ref:`instance<actuator-plugin-instance>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`group<actuator-plugin-group>`                             | :ref:`ctrllimited<actuator-plugin-ctrllimited>`                 | :ref:`forcelimited<actuator-plugin-forcelimited>`               | :ref:`ctrlrange<actuator-plugin-ctrlrange>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`forcerange<actuator-plugin-forcerange>`                   | :ref:`lengthrange<actuator-plugin-lengthrange>`                 | :ref:`gear<actuator-plugin-gear>`                               | :ref:`cranklength<actuator-plugin-cranklength>`                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`joint<actuator-plugin-joint>`                             | :ref:`jointinparent<actuator-plugin-jointinparent>`             | :ref:`site<actuator-plugin-site>`                               | :ref:`tendon<actuator-plugin-tendon>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cranksite<actuator-plugin-cranksite>`                     | :ref:`slidersite<actuator-plugin-slidersite>`                   | :ref:`user<actuator-plugin-user>`                               |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <plugin-config>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`sensor<sensor>`              |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`touch                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-touch>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-touch-name>`                                  | :ref:`site<sensor-touch-site>`                                  | :ref:`cutoff<sensor-touch-cutoff>`                              | :ref:`noise<sensor-touch-noise>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-touch-user>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`accelerometer                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-accelerometer>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-accelerometer-name>`                          | :ref:`site<sensor-accelerometer-site>`                          | :ref:`cutoff<sensor-accelerometer-cutoff>`                      | :ref:`noise<sensor-accelerometer-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-accelerometer-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`velocimeter                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-velocimeter>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-velocimeter-name>`                            | :ref:`site<sensor-velocimeter-site>`                            | :ref:`cutoff<sensor-velocimeter-cutoff>`                        | :ref:`noise<sensor-velocimeter-noise>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-velocimeter-user>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`gyro                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-gyro>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-gyro-name>`                                   | :ref:`site<sensor-gyro-site>`                                   | :ref:`cutoff<sensor-gyro-cutoff>`                               | :ref:`noise<sensor-gyro-noise>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-gyro-user>`                                   |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`force                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-force>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-force-name>`                                  | :ref:`site<sensor-force-site>`                                  | :ref:`cutoff<sensor-force-cutoff>`                              | :ref:`noise<sensor-force-noise>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-force-user>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`torque                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-torque>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-torque-name>`                                 | :ref:`site<sensor-torque-site>`                                 | :ref:`cutoff<sensor-torque-cutoff>`                             | :ref:`noise<sensor-torque-noise>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-torque-user>`                                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`magnetometer                 | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-magnetometer>`             |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-magnetometer-name>`                           | :ref:`site<sensor-magnetometer-site>`                           | :ref:`cutoff<sensor-magnetometer-cutoff>`                       | :ref:`noise<sensor-magnetometer-noise>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-magnetometer-user>`                           |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`rangefinder                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-rangefinder>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-rangefinder-name>`                            | :ref:`site<sensor-rangefinder-site>`                            | :ref:`cutoff<sensor-rangefinder-cutoff>`                        | :ref:`noise<sensor-rangefinder-noise>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-rangefinder-user>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointpos                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointpos>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointpos-name>`                               | :ref:`joint<sensor-jointpos-joint>`                             | :ref:`cutoff<sensor-jointpos-cutoff>`                           | :ref:`noise<sensor-jointpos-noise>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointpos-user>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointvel                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointvel>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointvel-name>`                               | :ref:`joint<sensor-jointvel-joint>`                             | :ref:`cutoff<sensor-jointvel-cutoff>`                           | :ref:`noise<sensor-jointvel-noise>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointvel-user>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonpos                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonpos>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonpos-name>`                              | :ref:`tendon<sensor-tendonpos-tendon>`                          | :ref:`cutoff<sensor-tendonpos-cutoff>`                          | :ref:`noise<sensor-tendonpos-noise>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonpos-user>`                              |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonvel                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonvel>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonvel-name>`                              | :ref:`tendon<sensor-tendonvel-tendon>`                          | :ref:`cutoff<sensor-tendonvel-cutoff>`                          | :ref:`noise<sensor-tendonvel-noise>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonvel-user>`                              |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`actuatorpos                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-actuatorpos>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-actuatorpos-name>`                            | :ref:`actuator<sensor-actuatorpos-actuator>`                    | :ref:`cutoff<sensor-actuatorpos-cutoff>`                        | :ref:`noise<sensor-actuatorpos-noise>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-actuatorpos-user>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`actuatorvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-actuatorvel>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-actuatorvel-name>`                            | :ref:`actuator<sensor-actuatorvel-actuator>`                    | :ref:`cutoff<sensor-actuatorvel-cutoff>`                        | :ref:`noise<sensor-actuatorvel-noise>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-actuatorvel-user>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`actuatorfrc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-actuatorfrc>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-actuatorfrc-name>`                            | :ref:`actuator<sensor-actuatorfrc-actuator>`                    | :ref:`cutoff<sensor-actuatorfrc-cutoff>`                        | :ref:`noise<sensor-actuatorfrc-noise>`                          | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-actuatorfrc-user>`                            |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointactuatorfrc             | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointactuatorfrc>`         |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointactuatorfrc-name>`                       | :ref:`joint<sensor-jointactuatorfrc-joint>`                     | :ref:`cutoff<sensor-jointactuatorfrc-cutoff>`                   | :ref:`noise<sensor-jointactuatorfrc-noise>`                     | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointactuatorfrc-user>`                       |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`ballquat                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-ballquat>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-ballquat-name>`                               | :ref:`joint<sensor-ballquat-joint>`                             | :ref:`cutoff<sensor-ballquat-cutoff>`                           | :ref:`noise<sensor-ballquat-noise>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-ballquat-user>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`ballangvel                   | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-ballangvel>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-ballangvel-name>`                             | :ref:`joint<sensor-ballangvel-joint>`                           | :ref:`cutoff<sensor-ballangvel-cutoff>`                         | :ref:`noise<sensor-ballangvel-noise>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-ballangvel-user>`                             |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointlimitpos                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointlimitpos>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointlimitpos-name>`                          | :ref:`joint<sensor-jointlimitpos-joint>`                        | :ref:`cutoff<sensor-jointlimitpos-cutoff>`                      | :ref:`noise<sensor-jointlimitpos-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointlimitpos-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointlimitvel                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointlimitvel>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointlimitvel-name>`                          | :ref:`joint<sensor-jointlimitvel-joint>`                        | :ref:`cutoff<sensor-jointlimitvel-cutoff>`                      | :ref:`noise<sensor-jointlimitvel-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointlimitvel-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`jointlimitfrc                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-jointlimitfrc>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-jointlimitfrc-name>`                          | :ref:`joint<sensor-jointlimitfrc-joint>`                        | :ref:`cutoff<sensor-jointlimitfrc-cutoff>`                      | :ref:`noise<sensor-jointlimitfrc-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-jointlimitfrc-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonlimitpos               | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonlimitpos>`           |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonlimitpos-name>`                         | :ref:`tendon<sensor-tendonlimitpos-tendon>`                     | :ref:`cutoff<sensor-tendonlimitpos-cutoff>`                     | :ref:`noise<sensor-tendonlimitpos-noise>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonlimitpos-user>`                         |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonlimitvel               | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonlimitvel>`           |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonlimitvel-name>`                         | :ref:`tendon<sensor-tendonlimitvel-tendon>`                     | :ref:`cutoff<sensor-tendonlimitvel-cutoff>`                     | :ref:`noise<sensor-tendonlimitvel-noise>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonlimitvel-user>`                         |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonlimitfrc               | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonlimitfrc>`           |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonlimitfrc-name>`                         | :ref:`tendon<sensor-tendonlimitfrc-tendon>`                     | :ref:`cutoff<sensor-tendonlimitfrc-cutoff>`                     | :ref:`noise<sensor-tendonlimitfrc-noise>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonlimitfrc-user>`                         |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framepos                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framepos>`                 |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framepos-name>`                               | :ref:`objtype<sensor-framepos-objtype>`                         | :ref:`objname<sensor-framepos-objname>`                         | :ref:`reftype<sensor-framepos-reftype>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-framepos-refname>`                         | :ref:`cutoff<sensor-framepos-cutoff>`                           | :ref:`noise<sensor-framepos-noise>`                             | :ref:`user<sensor-framepos-user>`                               | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framequat                    | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framequat>`                |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framequat-name>`                              | :ref:`objtype<sensor-framequat-objtype>`                        | :ref:`objname<sensor-framequat-objname>`                        | :ref:`reftype<sensor-framequat-reftype>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-framequat-refname>`                        | :ref:`cutoff<sensor-framequat-cutoff>`                          | :ref:`noise<sensor-framequat-noise>`                            | :ref:`user<sensor-framequat-user>`                              | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framexaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framexaxis>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framexaxis-name>`                             | :ref:`objtype<sensor-framexaxis-objtype>`                       | :ref:`objname<sensor-framexaxis-objname>`                       | :ref:`reftype<sensor-framexaxis-reftype>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-framexaxis-refname>`                       | :ref:`cutoff<sensor-framexaxis-cutoff>`                         | :ref:`noise<sensor-framexaxis-noise>`                           | :ref:`user<sensor-framexaxis-user>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`frameyaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-frameyaxis>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-frameyaxis-name>`                             | :ref:`objtype<sensor-frameyaxis-objtype>`                       | :ref:`objname<sensor-frameyaxis-objname>`                       | :ref:`reftype<sensor-frameyaxis-reftype>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-frameyaxis-refname>`                       | :ref:`cutoff<sensor-frameyaxis-cutoff>`                         | :ref:`noise<sensor-frameyaxis-noise>`                           | :ref:`user<sensor-frameyaxis-user>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framezaxis                   | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framezaxis>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framezaxis-name>`                             | :ref:`objtype<sensor-framezaxis-objtype>`                       | :ref:`objname<sensor-framezaxis-objname>`                       | :ref:`reftype<sensor-framezaxis-reftype>`                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-framezaxis-refname>`                       | :ref:`cutoff<sensor-framezaxis-cutoff>`                         | :ref:`noise<sensor-framezaxis-noise>`                           | :ref:`user<sensor-framezaxis-user>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framelinvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framelinvel>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framelinvel-name>`                            | :ref:`objtype<sensor-framelinvel-objtype>`                      | :ref:`objname<sensor-framelinvel-objname>`                      | :ref:`reftype<sensor-framelinvel-reftype>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-framelinvel-refname>`                      | :ref:`cutoff<sensor-framelinvel-cutoff>`                        | :ref:`noise<sensor-framelinvel-noise>`                          | :ref:`user<sensor-framelinvel-user>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`frameangvel                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-frameangvel>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-frameangvel-name>`                            | :ref:`objtype<sensor-frameangvel-objtype>`                      | :ref:`objname<sensor-frameangvel-objname>`                      | :ref:`reftype<sensor-frameangvel-reftype>`                      | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`refname<sensor-frameangvel-refname>`                      | :ref:`cutoff<sensor-frameangvel-cutoff>`                        | :ref:`noise<sensor-frameangvel-noise>`                          | :ref:`user<sensor-frameangvel-user>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`framelinacc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-framelinacc>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-framelinacc-name>`                            | :ref:`objtype<sensor-framelinacc-objtype>`                      | :ref:`objname<sensor-framelinacc-objname>`                      | :ref:`cutoff<sensor-framelinacc-cutoff>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`noise<sensor-framelinacc-noise>`                          | :ref:`user<sensor-framelinacc-user>`                            |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`frameangacc                  | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-frameangacc>`              |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-frameangacc-name>`                            | :ref:`objtype<sensor-frameangacc-objtype>`                      | :ref:`objname<sensor-frameangacc-objname>`                      | :ref:`cutoff<sensor-frameangacc-cutoff>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`noise<sensor-frameangacc-noise>`                          | :ref:`user<sensor-frameangacc-user>`                            |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`subtreecom                   | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-subtreecom>`               |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-subtreecom-name>`                             | :ref:`body<sensor-subtreecom-body>`                             | :ref:`cutoff<sensor-subtreecom-cutoff>`                         | :ref:`noise<sensor-subtreecom-noise>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-subtreecom-user>`                             |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`subtreelinvel                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-subtreelinvel>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-subtreelinvel-name>`                          | :ref:`body<sensor-subtreelinvel-body>`                          | :ref:`cutoff<sensor-subtreelinvel-cutoff>`                      | :ref:`noise<sensor-subtreelinvel-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-subtreelinvel-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`subtreeangmom                | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-subtreeangmom>`            |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-subtreeangmom-name>`                          | :ref:`body<sensor-subtreeangmom-body>`                          | :ref:`cutoff<sensor-subtreeangmom-cutoff>`                      | :ref:`noise<sensor-subtreeangmom-noise>`                        | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-subtreeangmom-user>`                          |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`clock                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-clock>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-clock-name>`                                  | :ref:`cutoff<sensor-clock-cutoff>`                              | :ref:`noise<sensor-clock-noise>`                                | :ref:`user<sensor-clock-user>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`user                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-user>`                     |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-user-name>`                                   | :ref:`objtype<sensor-user-objtype>`                             | :ref:`objname<sensor-user-objname>`                             | :ref:`datatype<sensor-user-datatype>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`needstage<sensor-user-needstage>`                         | :ref:`dim<sensor-user-dim>`                                     | :ref:`cutoff<sensor-user-cutoff>`                               | :ref:`noise<sensor-user-noise>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-user-user>`                                   |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`plugin                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-plugin>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-plugin-name>`                                 | :ref:`plugin<sensor-plugin-plugin>`                             | :ref:`instance<sensor-plugin-instance>`                         | :ref:`cutoff<sensor-plugin-cutoff>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`objtype<sensor-plugin-objtype>`                           | :ref:`objname<sensor-plugin-objname>`                           | :ref:`reftype<sensor-plugin-reftype>`                           | :ref:`refname<sensor-plugin-refname>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-plugin-user>`                                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`config                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <plugin-config>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`key<plugin-config-key>`                                   | :ref:`value<plugin-config-value>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |
+| :ref:`keyframe<keyframe>`          |    |                                                                                                                                                                                                                                                                              |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| keyframe |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`key                          | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <keyframe-key>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<keyframe-key-name>`                                  | :ref:`time<keyframe-key-time>`                                  | :ref:`qpos<keyframe-key-qpos>`                                  | :ref:`qvel<keyframe-key-qvel>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`act<keyframe-key-act>`                                    | :ref:`mpos<keyframe-key-mpos>`                                  | :ref:`mquat<keyframe-key-mquat>`                                | :ref:`ctrl<keyframe-key-ctrl>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 
diff --git a/doc/css/theme_overrides.css b/doc/css/theme_overrides.css
index 9ff816dc..8ce81468 100644
--- a/doc/css/theme_overrides.css
+++ b/doc/css/theme_overrides.css
@@ -18,6 +18,10 @@ body {
   color: var(--body-color);
 }
 
+.schema-small {
+  font-size: 93%;
+}
+
 .sidebar-brand-text {
   display: none;
 }
@@ -192,7 +196,7 @@ table.mjcf-attributes tbody tr td,
 table.mjcf-attributes tbody tr:nth-child(2n-1) td {
   border-style: none;
   padding: 0px 0px 0px 0px;
-  width: 33%;
+  width: 25%;
 }
 
 table.mjcf-attributes tbody tr td p {