From 9f79acd7da870f8c8911369264a0ea4ba909d829 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 16 Feb 2023 01:46:50 -0800
Subject: [PATCH] Remove redundant space from XMLreference TOC titles

PiperOrigin-RevId: 510076364
Change-Id: I59e0e7fd2f6eae9b89f5bb00f2192358da8abf7a
---
 doc/XMLreference.rst    | 452 ++++++++++++++++++++--------------------
 doc/includes/macros.rst |   8 +-
 2 files changed, 233 insertions(+), 227 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 57bb92ee..54b76f19 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -100,7 +100,7 @@ prefix in the documentation below.
 .. _include:
 
 **include** (*)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~
 
 This element does not strictly speaking belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
 files in a single document object model (DOM) before parsing. The included file must be a valid XML file with a unique
@@ -118,7 +118,7 @@ how to use includes and how to modularize large files if desired.
 .. _mujoco:
 
 **mujoco** (!)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~
 
 The unique top-level element, identifying the XML file as an MJCF model file.
 
@@ -128,7 +128,7 @@ The unique top-level element, identifying the XML file as an MJCF model file.
 .. _compiler:
 
 **compiler** (*)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~
 
 This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer has
 any effect. The settings here are global and apply to the entire model.
@@ -250,8 +250,8 @@ any effect. The settings here are global and apply to the entire model.
 
 .. _compiler-lengthrange:
 
-:el-prefix:`compiler/` **lengthrange** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`compiler/` |j| **lengthrange** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element controls the computation of actuator length ranges. For an overview of this functionality see :ref:`Length
 range <CLengthRange>` section. Note that if this element is omitted the defaults shown below still apply. In order to
@@ -420,8 +420,8 @@ adjust it properly through the XML.
 
 .. _option-flag:
 
-:el-prefix:`option/` **flag** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`option/` |j| **flag** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element sets the flags that enable and disable different parts of the simulation pipeline. The actual flags used at
 runtime are represented as the bits of two integers, namely mjModel.opt.disableflags and mjModel.opt.enableflags, used
@@ -568,8 +568,8 @@ compilation.
 
 .. _visual-global:
 
-:el-prefix:`visual/` **global** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **global** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
 is effectively a miscellaneous subsection.
@@ -608,8 +608,8 @@ is effectively a miscellaneous subsection.
 
 .. _visual-quality:
 
-:el-prefix:`visual/` **quality** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **quality** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies settings that affect the quality of the rendering. Larger values result in higher quality but
 possibly slower speed. Note that :ref:`simulate.cc <saSimulate>` displays the frames per second (FPS). The target FPS is
@@ -642,8 +642,8 @@ visualization should somehow be simplified.
 
 .. _visual-headlight:
 
-:el-prefix:`visual/` **headlight** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **headlight** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to adjust the properties of the headlight. There is always a built-in headlight, in addition to any
 lights explicitly defined in the model. The headlight is a directional light centered at the current camera and pointed
@@ -663,8 +663,8 @@ to be reduced.
 
 .. _visual-map:
 
-:el-prefix:`visual/` **map** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **map** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to specify scaling quantities that affect both the visualization and built-in mouse perturbations.
 Unlike the scaling quantities in the next element which are specific to spatial extent, the quantities here are
@@ -718,8 +718,8 @@ miscellaneous.
 
 .. _visual-scale:
 
-:el-prefix:`visual/` **scale** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **scale** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The settings in this element control the spatial extent of various decorative objects. In all cases, the rendered size
 equals the mean body size (see :ref:`statistic <statistic>` element below) multiplied by the value of an attribute
@@ -765,8 +765,8 @@ documented below.
 
 .. _visual-rgba:
 
-:el-prefix:`visual/` **rgba** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`visual/` |j| **rgba** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 The settings in this element control the color and transparency (rgba) of various decorative objects. We will call this
 combined attribute "color" to simplify terminology below. All values should be in the range [0 1]. An alpha value of 0
@@ -875,72 +875,72 @@ if omitted.
 
 .. _default-mesh:
 
-:el-prefix:`default/` **mesh** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **mesh** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
 | The only mesh attribute available here is: **scale**.
 
 .. _default-material:
 
-:el-prefix:`default/` **material** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **material** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class.
 | All material attributes are available here except: name, class.
 
 .. _default-joint:
 
-:el-prefix:`default/` **joint** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **joint** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class.
 | All joint attributes are available here except: name, class.
 
 .. _default-geom:
 
-:el-prefix:`default/` **geom** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **geom** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class.
 | All geom attributes are available here except: name, class.
 
 .. _default-site:
 
-:el-prefix:`default/` **site** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **site** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
 | All site attributes are available here except: name, class.
 
 .. _default-camera:
 
-:el-prefix:`default/` **camera** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **camera** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
 | All camera attributes are available here except: name, class.
 
 .. _default-light:
 
-:el-prefix:`default/` **light** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **light** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class.
 | All light attributes are available here except: name, class.
 
 .. _default-pair:
 
-:el-prefix:`default/` **pair** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **pair** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class.
 | All pair attributes are available here except: name, class, geom1, geom2.
 
 .. _default-equality:
 
-:el-prefix:`default/` **equality** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **equality** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual
   equality constraints have types depending on the sub-element used to define them. However here we are setting
@@ -949,8 +949,8 @@ if omitted.
 
 .. _default-tendon:
 
-:el-prefix:`default/` **tendon** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **tendon** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`tendon <tendon>` element of the defaults class. Similar to
   equality constraints, the actual tendons have types, but here we are setting attributes common to all types.
@@ -958,8 +958,8 @@ if omitted.
 
 .. _default-general:
 
-:el-prefix:`default/` **general** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **general** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class.
 | All general attributes are available here except: name, class, joint, jointinparent, site, tendon, slidersite,
@@ -967,8 +967,8 @@ if omitted.
 
 .. _default-motor:
 
-:el-prefix:`default/` **motor** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **motor** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using
 :ref:`Actuator shortcuts <CActuator>`. It does not make sense to use more than one such shortcut in the same defaults
@@ -978,70 +978,70 @@ slidersite, cranksite.
 
 .. _default-position:
 
-:el-prefix:`default/` **position** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **position** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
 .. _default-velocity:
 
-:el-prefix:`default/` **velocity** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **velocity** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
 .. _default-intvelocity:
 
-:el-prefix:`default/` **intvelocity** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **intvelocity** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent,
 site, tendon, slidersite, cranksite.
 
 .. _default-damper:
 
-:el-prefix:`default/` **damper** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **damper** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
 .. _default-cylinder:
 
-:el-prefix:`default/` **cylinder** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **cylinder** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
 .. _default-muscle:
 
-:el-prefix:`default/` **muscle** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **muscle** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
 .. _default-adhesion:
 
-:el-prefix:`default/` **adhesion** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`default/` |j| **adhesion** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body.
 
 .. _custom:
 
 **custom** (*)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~
 
 This is a grouping element for custom numeric and text elements. It does not have attributes.
 
 .. _custom-numeric:
 
-:el-prefix:`custom/` **numeric** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`custom/` |j| **numeric** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom numeric array in mjModel.
 
@@ -1059,8 +1059,8 @@ This element creates a custom numeric array in mjModel.
 
 .. _custom-text:
 
-:el-prefix:`custom/` **text** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`custom/` |j| **text** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and
 other custom computations.
@@ -1072,8 +1072,8 @@ other custom computations.
 
 .. _custom-tuple:
 
-:el-prefix:`custom/` **tuple** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`custom/` |j| **tuple** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired
 objects by name.
@@ -1083,8 +1083,8 @@ objects by name.
 
 .. _tuple-element:
 
-:el-prefix:`custom/tuple/` **element** (*)
-''''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`custom/tuple/` |j| **element** (*)
+''''''''''''''''''''''''''''''''''''''''''''''
 
 This adds an element to the tuple.
 
@@ -1107,8 +1107,8 @@ chapter.
 
 .. _asset-texture:
 
-:el-prefix:`asset/` **texture** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`asset/` |j| **texture** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 | This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which is
   finally referenced from a model element that needs to be textured. MuJoCo provides access to the texture mapping
@@ -1254,8 +1254,8 @@ chapter.
 
 .. _asset-hfield:
 
-:el-prefix:`asset/` **hfield** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`asset/` |j| **hfield** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field,
 also known as terrain map, is a 2D matrix of elevation data. The data can be specified in one of three ways:
@@ -1329,8 +1329,8 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
 
 .. _asset-mesh:
 
-:el-prefix:`asset/` **mesh** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`asset/` |j| **mesh** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is
 :at-val:`mesh` the mesh is instantiated in the model, otherwise a geometric primitive is automatically fitted to it; see
@@ -1476,8 +1476,8 @@ The full list of processing steps applied by the compiler to each mesh is as fol
 
 .. _asset-skin:
 
-:el-prefix:`asset/` **skin** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`asset/` |j| **skin** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Skinned meshes (or skins) were added in MuJoCo 2.0. These are deformable meshes whose vertex positions and normals are
 computed each time the model is rendered. MuJoCo skins are only used for visualization and do not affect the physics
@@ -1565,8 +1565,8 @@ be clear from the above specification.
 
 .. _skin-bone:
 
-:el-prefix:`asset/skin/` **bone** (*)
-'''''''''''''''''''''''''''''''''''''
+:el-prefix:`asset/skin/` |j| **bone** (*)
+'''''''''''''''''''''''''''''''''''''''''
 
 This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here.
 
@@ -1588,8 +1588,8 @@ This element defines a bone of the skin. The bone is a regular MuJoCo body which
 
 .. _asset-material:
 
-:el-prefix:`asset/` **material** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`asset/` |j| **material** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a material asset. It can be referenced from :ref:`skins <asset-skin>`, :ref:`geoms <body-geom>`,
 :ref:`sites <body-site>` and :ref:`tendons <tendon>` to set their appearance. Note that all these elements also have a
@@ -1705,8 +1705,8 @@ defined. Its body name is automatically defined as "world".
 
 .. _body-inertial:
 
-:el-prefix:`body/` **inertial** (?)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **inertial** (?)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element specifies the mass and inertial properties of the body. If this element is not included in a given body,
 the inertial properties are inferred from the geoms attached to the body. When a compiled MJCF model is saved, the XML
@@ -1736,8 +1736,8 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
 
 .. _body-joint:
 
-:el-prefix:`body/` **joint** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **joint** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom
 between the body where it is defined and the body's parent. If multiple joints are defined in the same body, the
@@ -1849,8 +1849,8 @@ unit quaternions.
 
 .. _body-freejoint:
 
-:el-prefix:`body/` **freejoint** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **freejoint** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
 an XML shortcut for
@@ -1872,8 +1872,8 @@ inherited*. If the XML model is saved, it will appear as a regular joint of type
 
 .. _body-geom:
 
-:el-prefix:`body/` **geom** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **geom** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a geom, and attaches it rigidly to the body within which the geom is defined. Multiple geoms can
 be attached to the same body. At runtime they determine the appearance and collision properties of the body. At
@@ -2124,8 +2124,8 @@ helps clarify the role of bodies and geoms in MuJoCo.
 
 .. _body-site:
 
-:el-prefix:`body/` **site** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **site** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a site, which is a simplified and restricted kind of geom. A small subset of the geom attributes
 are available here; see the :ref:`geom <body-geom>` element for their detailed documentation. Semantically sites represent
@@ -2168,8 +2168,8 @@ tendons, constructing slider-crank transmissions for actuators.
 
 .. _body-camera:
 
-:el-prefix:`body/` **camera** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **camera** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the
 world body. The cameras created here are in addition to the default free camera which is always defined and is adjusted
@@ -2219,8 +2219,8 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
 
 .. _body-light:
 
-:el-prefix:`body/` **light** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **light** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
 world body. The lights created here are in addition to the default headlight which is always defined and is adjusted via
@@ -2280,8 +2280,8 @@ the direction specified by the dir attribute. It does not have a full spatial fr
 
 .. _body-composite:
 
-:el-prefix:`body/` **composite** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`body/` |j| **composite** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This is not a model element, but rather a macro which expands into multiple model elements representing a composite
 object. These elements are bodies (with their own joints, geoms and sites) that become children of the parent body
@@ -2402,8 +2402,8 @@ coordinates results in compiler error. See :ref:`CComposite` in the modeling gui
 
 .. _composite-joint:
 
-:el-prefix:`body/composite/` **joint** (*)
-''''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **joint** (*)
+''''''''''''''''''''''''''''''''''''''''''''''
 
 Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other
 joints are optional (e.g. the stretch and twist joints in rope). This sub-element is used to specify which optional
@@ -2446,8 +2446,8 @@ joints should be created, as well as to adjust the attributes of both automatic
 
 .. _composite-tendon:
 
-:el-prefix:`body/composite/` **tendon** (*)
-'''''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **tendon** (*)
+'''''''''''''''''''''''''''''''''''''''''''''''
 
 Tendons are treated similarly to joints in composite objects. The tendon kind specified here together with the composite
 body type imply the tendon type as used in the rest of MJCF. This sub-element is used to both create optional tendons,
@@ -2477,8 +2477,8 @@ composite objects are equality-constrained.
 
 .. _composite-geom:
 
-:el-prefix:`body/composite/` **geom** (?)
-'''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **geom** (?)
+'''''''''''''''''''''''''''''''''''''''''''''
 
 This sub-element adjusts the attributes of the geoms in the composite object. The default attributes are the same as in
 the rest of MJCF (except that user-defined defaults have no effect here). Note that the geom sub-element can appears
@@ -2495,8 +2495,8 @@ joints and tendons have different sets of attributes, while all geoms in the com
 
 .. _composite-site:
 
-:el-prefix:`body/composite/` **site** (?)
-'''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **site** (?)
+'''''''''''''''''''''''''''''''''''''''''''''
 
 This sub-element adjusts the attributes of the sites in the composite object. Otherwise it is the same as geom above.
 
@@ -2505,8 +2505,8 @@ This sub-element adjusts the attributes of the sites in the composite object. Ot
 
 .. _composite-skin:
 
-:el-prefix:`body/composite/` **skin** (?)
-'''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **skin** (?)
+'''''''''''''''''''''''''''''''''''''''''''''
 
 If this element is included, the model compiler will generate a skinned mesh asset and attach it to the element bodies
 of the composite object. Skin can be attached to 2D grid, cloth, box, cylinder and ellipsoid. For other composite types
@@ -2539,8 +2539,8 @@ automatically-generated skin.
 
 .. _composite-pin:
 
-:el-prefix:`body/composite/` **pin** (*)
-''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`body/composite/` |j| **pin** (*)
+''''''''''''''''''''''''''''''''''''''''''''
 
 This sub-element can be used to pin some of the element bodies in grid objects (both 1D and 2D). Pinning means that the
 corresponding body has no joints, and therefore it is rigidly fixed to the parent body. When the parent is the world,
@@ -2562,8 +2562,8 @@ thus the description here is brief.
 
 .. _contact-pair:
 
-:el-prefix:`contact/` **pair** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`contact/` |j| **pair** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a predefined geom pair, which will be checked for collision if the collision attribute of
 :ref:`option <option>` is set to "all" or "predefined". Unlike dynamically generated pairs whose properties are inferred
@@ -2600,8 +2600,8 @@ element.
 
 .. _contact-exclude:
 
-:el-prefix:`contact/` **exclude** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`contact/` |j| **exclude** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
 which refer to geoms, this element refers to bodies. Experience has shown that exclusion is more useful on the level of
@@ -2628,8 +2628,8 @@ all equality constraint types, thus we document them only once, under the :ref:`
 
 .. _equality-connect:
 
-:el-prefix:`equality/` **connect** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`equality/` |j| **connect** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an equality constraint that connects two bodies at a point. The point is not necessarily within the
 geoms volumes of either body. This constraint can be used to define ball joints outside the kinematic tree.
@@ -2661,8 +2661,8 @@ geoms volumes of either body. This constraint can be used to define ball joints
 
 .. _equality-weld:
 
-:el-prefix:`equality/` **weld** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`equality/` |j| **weld** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of
 freedom between them (softly of course, like all other constraints in MuJoCo). The two bodies are not required to be
@@ -2695,8 +2695,8 @@ of the other body, without any joint elements in the child body.
 
 .. _equality-joint:
 
-:el-prefix:`equality/` **joint** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`equality/` |j| **joint** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar
 joint types (slide and hinge) can be used.
@@ -2715,8 +2715,8 @@ joint types (slide and hinge) can be used.
 
 .. _equality-tendon:
 
-:el-prefix:`equality/` **tendon** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`equality/` |j| **tendon** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element constrains the length of one tendon to be a quartic polynomial of another tendon.
 
@@ -2732,8 +2732,8 @@ This element constrains the length of one tendon to be a quartic polynomial of a
 
 .. _equality-distance:
 
-:el-prefix:`equality/` **distance** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`equality/` |j| **distance** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please switch
 to the corresponding version of the documentation.
@@ -2750,8 +2750,8 @@ can also represent different forms of mechanical coupling.
 
 .. _tendon-spatial:
 
-:el-prefix:`tendon/` **spatial** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`tendon/` |j| **spatial** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  .. figure:: images/modeling/tendon.png
     :width: 400px
     :align: right
@@ -2825,8 +2825,8 @@ the obstacle geom.
 
 .. _spatial-site:
 
-:el-prefix:`tendon/spatial/` **site** (*)
-'''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`tendon/spatial/` |j| **site** (*)
+'''''''''''''''''''''''''''''''''''''''''''''
 
 This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to
 bodies.
@@ -2836,8 +2836,8 @@ bodies.
 
 .. _spatial-geom:
 
-:el-prefix:`tendon/spatial/` **geom** (*)
-'''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`tendon/spatial/` |j| **geom** (*)
+'''''''''''''''''''''''''''''''''''''''''''''
 
 This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch
 the geom it has no effect; otherwise the path wraps around the surface of the geom. Wrapping is computed analytically,
@@ -2856,8 +2856,8 @@ constrained to pass through the geom instead of passing around it.
 
 .. _spatial-pulley:
 
-:el-prefix:`tendon/spatial/` **pulley** (*)
-'''''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`tendon/spatial/` |j| **pulley** (*)
+'''''''''''''''''''''''''''''''''''''''''''''''
 
 This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to
 the transmissions described in the :ref:`Actuation model <geActuation>` section of the Computation
@@ -2877,8 +2877,8 @@ illustrated the use of pulleys.
 
 .. _tendon-fixed:
 
-:el-prefix:`tendon/` **fixed** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`tendon/` |j| **fixed** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that
 the tendon length and its gradient are the only quantities needed for simulation. Thus we could define any scalar
@@ -2896,8 +2896,8 @@ as above.
 
 .. _fixed-joint:
 
-:el-prefix:`tendon/fixed/` **joint** (*)
-''''''''''''''''''''''''''''''''''''''''
+:el-prefix:`tendon/fixed/` |j| **joint** (*)
+''''''''''''''''''''''''''''''''''''''''''''
 
 This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is
 multiplied by the corresponding coef value, and added up to obtain the tendon length.
@@ -2919,8 +2919,8 @@ under the :el:`general` actuator.
 
 .. _actuator-general:
 
-:el-prefix:`actuator/` **general** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **general** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a general actuator, providing full access to all actuator components and allowing the user to
 specify them independently.
@@ -3090,8 +3090,8 @@ specify them independently.
 
 .. _actuator-motor:
 
-:el-prefix:`actuator/` **motor** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **motor** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the next three elements are the :ref:`Actuator shortcuts <CActuator>` discussed earlier. When a
 such shortcut is encountered, the parser creates a :el:`general` actuator and sets its dynprm, gainprm and biasprm
@@ -3123,8 +3123,8 @@ This element does not have custom attributes. It only has common attributes, whi
 
 .. _actuator-position:
 
-:el-prefix:`actuator/` **position** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **position** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a position servo. The underlying :el:`general` attributes are set as follows:
 
@@ -3151,8 +3151,8 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-velocity:
 
-:el-prefix:`actuator/` **velocity** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **velocity** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
 position servo and a velocity servo. This is because MuJoCo actuators are SISO while a PD controller takes two control
@@ -3180,8 +3180,8 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-intvelocity:
 
-:el-prefix:`actuator/` **intvelocity** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **intvelocity** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an integrated-velocity servo. For more information, see the
 :ref:`Activation clamping <CActRange>` section of the Modeling chapter. The underlying
@@ -3210,8 +3210,8 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-damper:
 
-:el-prefix:`actuator/` **damper** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **damper** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
 * control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying
@@ -3240,8 +3240,8 @@ This element has one custom attribute in addition to the common attributes:
 
 .. _actuator-cylinder:
 
-:el-prefix:`actuator/` **cylinder** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **cylinder** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
 set as follows:
@@ -3275,8 +3275,8 @@ This element has four custom attributes in addition to the common attributes:
 
 .. _actuator-muscle:
 
-:el-prefix:`actuator/` **muscle** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **muscle** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>`
 section. The underlying :el:`general` attributes are set as follows:
@@ -3324,8 +3324,8 @@ This element has nine custom attributes in addition to the common attributes:
 
 .. _actuator-adhesion:
 
-:el-prefix:`actuator/` **adhesion** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`actuator/` |j| **adhesion** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 ..  youtube:: BcHZ5BFeTmU
     :align: right
@@ -3384,8 +3384,8 @@ themselves are "features" that could be of interest to the user.
 
 .. _sensor-touch:
 
-:el-prefix:`sensor/` **touch** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **touch** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the
 site's volume, and involves a geom attached to the same body as the site, the corresponding contact force is included in
@@ -3401,8 +3401,8 @@ scalar. It is computed by adding up the (scalar) normal forces from all included
 
 .. _sensor-accelerometer:
 
-:el-prefix:`sensor/` **accelerometer** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **accelerometer** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation
 as the site frame. This sensor outputs three numbers, which are the linear acceleration of the site (including gravity)
@@ -3415,8 +3415,8 @@ in local coordinates.
 
 .. _sensor-velocimeter:
 
-:el-prefix:`sensor/` **velocimeter** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **velocimeter** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as
 the site frame. This sensor outputs three numbers, which are the linear velocity of the site in local coordinates.
@@ -3428,8 +3428,8 @@ the site frame. This sensor outputs three numbers, which are the linear velocity
 
 .. _sensor-gyro:
 
-:el-prefix:`sensor/` **gyro** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **gyro** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as
 the site frame. This sensor outputs three numbers, which are the angular velocity of the site in local coordinates. This
@@ -3443,8 +3443,8 @@ simulate an inertial measurement unit (IMU).
 
 .. _sensor-force:
 
-:el-prefix:`sensor/` **force** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **force** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a
 child and a parent body, expressed in the site frame defining the sensor. The convention is that the site is attached to
@@ -3463,8 +3463,8 @@ creating a dummy body welded to its parent (i.e., having no joint elements).
 
 .. _sensor-torque:
 
-:el-prefix:`sensor/` **torque** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **torque** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but
 measures torque rather than force.
@@ -3477,8 +3477,8 @@ measures torque rather than force.
 
 .. _sensor-magnetometer:
 
-:el-prefix:`sensor/` **magnetometer** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **magnetometer** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor
 site frame. The output is a 3D vector.
@@ -3490,8 +3490,8 @@ site frame. The output is a 3D vector.
 
 .. _sensor-rangefinder:
 
-:el-prefix:`sensor/` **rangefinder** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **rangefinder** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a rangefinder. It measures the distance to the nearest geom surface, along the ray defined by the
 positive Z-axis of the sensor site. If the ray does not intersect any geom surface, the sensor output is -1. If the
@@ -3507,8 +3507,8 @@ excluded; this is because sensor calculations are independent of the visualizer.
 
 .. _sensor-jointpos:
 
-:el-prefix:`sensor/` **jointpos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **jointpos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array
 mjData.sensordata quantities that are already computed. This element creates a joint position or angle sensor. It can be
@@ -3522,8 +3522,8 @@ attached to scalar joints (slide or hinge). Its output is scalar.
 
 .. _sensor-jointvel:
 
-:el-prefix:`sensor/` **jointvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **jointvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is
 scalar.
@@ -3536,8 +3536,8 @@ scalar.
 
 .. _sensor-tendonpos:
 
-:el-prefix:`sensor/` **tendonpos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **tendonpos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar.
 
@@ -3548,8 +3548,8 @@ This element creates a tendon length sensor. It can be attached to both spatial
 
 .. _sensor-tendonvel:
 
-:el-prefix:`sensor/` **tendonvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **tendonvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is
 scalar.
@@ -3561,8 +3561,8 @@ scalar.
 
 .. _sensor-actuatorpos:
 
-:el-prefix:`sensor/` **actuatorpos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **actuatorpos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This
 sensor can be attached to any actuator. Its output is scalar.
@@ -3574,8 +3574,8 @@ sensor can be attached to any actuator. Its output is scalar.
 
 .. _sensor-actuatorvel:
 
-:el-prefix:`sensor/` **actuatorvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **actuatorvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar.
 
@@ -3586,8 +3586,8 @@ This element creates an actuator velocity sensor. This sensor can be attached to
 
 .. _sensor-actuatorfrc:
 
-:el-prefix:`sensor/` **actuatorfrc** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **actuatorfrc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the
 generalized force contributed by the actuator (the latter is the product of the scalar force and the vector of moment
@@ -3600,8 +3600,8 @@ arms determined by the transmission). This sensor can be attached to any actuato
 
 .. _sensor-ballquat:
 
-:el-prefix:`sensor/` **ballquat** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **ballquat** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion.
 
@@ -3612,8 +3612,8 @@ This element creates a quaternion sensor for a ball joints. It outputs 4 numbers
 
 .. _sensor-ballangvel:
 
-:el-prefix:`sensor/` **ballangvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **ballangvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of
 the joint. The norm of that vector is the rotation speed in rad/s and the direction is the axis around which the
@@ -3626,8 +3626,8 @@ rotation takes place.
 
 .. _sensor-jointlimitpos:
 
-:el-prefix:`sensor/` **jointlimitpos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **jointlimitpos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for position.
 
@@ -3641,8 +3641,8 @@ This element creates a joint limit sensor for position.
 
 .. _sensor-jointlimitvel:
 
-:el-prefix:`sensor/` **jointlimitvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **jointlimitvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for velocity.
 
@@ -3654,8 +3654,8 @@ This element creates a joint limit sensor for velocity.
 
 .. _sensor-jointlimitfrc:
 
-:el-prefix:`sensor/` **jointlimitfrc** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **jointlimitfrc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a joint limit sensor for constraint force.
 
@@ -3667,8 +3667,8 @@ This element creates a joint limit sensor for constraint force.
 
 .. _sensor-tendonlimitpos:
 
-:el-prefix:`sensor/` **tendonlimitpos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **tendonlimitpos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for position.
 
@@ -3680,8 +3680,8 @@ This element creates a tendon limit sensor for position.
 
 .. _sensor-tendonlimitvel:
 
-:el-prefix:`sensor/` **tendonlimitvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **tendonlimitvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for velocity.
 
@@ -3693,8 +3693,8 @@ This element creates a tendon limit sensor for velocity.
 
 .. _sensor-tendonlimitfrc:
 
-:el-prefix:`sensor/` **tendonlimitfrc** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **tendonlimitfrc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a tendon limit sensor for constraint force.
 
@@ -3706,8 +3706,8 @@ This element creates a tendon limit sensor for constraint force.
 
 .. _sensor-framepos:
 
-:el-prefix:`sensor/` **framepos** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framepos** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or
 optionally with respect to a given frame-of-reference.
@@ -3729,8 +3729,8 @@ optionally with respect to a given frame-of-reference.
 
 .. _sensor-framequat:
 
-:el-prefix:`sensor/` **framequat** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framequat** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the
 object, in global coordinates.
@@ -3748,8 +3748,8 @@ object, in global coordinates.
 
 .. _sensor-framexaxis:
 
-:el-prefix:`sensor/` **framexaxis** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framexaxis** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the
 object, in global coordinates.
@@ -3767,8 +3767,8 @@ object, in global coordinates.
 
 .. _sensor-frameyaxis:
 
-:el-prefix:`sensor/` **frameyaxis** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **frameyaxis** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the
 object, in global coordinates.
@@ -3786,8 +3786,8 @@ object, in global coordinates.
 
 .. _sensor-framezaxis:
 
-:el-prefix:`sensor/` **framezaxis** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framezaxis** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the
 object, in global coordinates.
@@ -3805,8 +3805,8 @@ object, in global coordinates.
 
 .. _sensor-framelinvel:
 
-:el-prefix:`sensor/` **framelinvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framelinvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global
 coordinates.
@@ -3824,8 +3824,8 @@ coordinates.
 
 .. _sensor-frameangvel:
 
-:el-prefix:`sensor/` **frameangvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **frameangvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global
 coordinates.
@@ -3843,8 +3843,8 @@ coordinates.
 
 .. _sensor-framelinacc:
 
-:el-prefix:`sensor/` **framelinacc** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **framelinacc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global
 coordinates.
@@ -3858,8 +3858,8 @@ coordinates.
 
 .. _sensor-frameangacc:
 
-:el-prefix:`sensor/` **frameangacc** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **frameangacc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global
 coordinates.
@@ -3873,8 +3873,8 @@ coordinates.
 
 .. _sensor-subtreecom:
 
-:el-prefix:`sensor/` **subtreecom** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **subtreecom** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in
 global coordinates.
@@ -3886,8 +3886,8 @@ global coordinates.
 
 .. _sensor-subtreelinvel:
 
-:el-prefix:`sensor/` **subtreelinvel** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **subtreelinvel** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a
 specified body, in global coordinates.
@@ -3899,8 +3899,8 @@ specified body, in global coordinates.
 
 .. _sensor-subtreeangmom:
 
-:el-prefix:`sensor/` **subtreeangmom** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **subtreeangmom** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted
 at a specified body, in global coordinates.
@@ -3912,8 +3912,8 @@ at a specified body, in global coordinates.
 
 .. _sensor-clock:
 
-:el-prefix:`sensor/` **clock** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **clock** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates sensor that returns the simulation time.
 
@@ -3922,8 +3922,8 @@ This element creates sensor that returns the simulation time.
 
 .. _sensor-user:
 
-:el-prefix:`sensor/` **user** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`sensor/` |j| **user** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user
 should install the callback :ref:`mjcb_sensor` which is expected to fill in the sensor data in mjData.sensordata. The
@@ -3965,8 +3965,8 @@ in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a sel
 
 .. _keyframe-key:
 
-:el-prefix:`keyframe/` **key** (*)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+:el-prefix:`keyframe/` |j| **key** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element sets the data for one of the keyframes. They are set in the order in which they appear here.
 
diff --git a/doc/includes/macros.rst b/doc/includes/macros.rst
index ace6ee04..1f2b7b4f 100644
--- a/doc/includes/macros.rst
+++ b/doc/includes/macros.rst
@@ -18,4 +18,10 @@
 
 .. |br| raw:: html
 
-  <br/>
\ No newline at end of file
+  <br/>
+
+..
+   Macro for unicode word-joiner character.
+
+.. |j| unicode:: U+2060
+   :trim: