diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 52424030..98807f9e 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1018,6 +1018,8 @@ tendon, slidersite, cranksite.
 All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site,
 tendon, slidersite, cranksite.
 
+.. _default-adhesion:
+
 :el-prefix:`default/` **adhesion** (?)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index e921334d..b87af4b4 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -1,13 +1,13 @@
 +--------------------------+----+------------------------------------------------------------------------------------+
-| :el:`mujoco`             | !  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| :ref:`mujoco             | !  | .. table::                                                                         |
+| <mujoco>`                |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`model`             |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`compiler`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`compiler        | \* | .. table::                                                                         |
+| <compiler>`              |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`autolimits`        | :at:`boundmass`         | :at:`boundinertia`      | |
@@ -25,8 +25,8 @@
 |                          |    |    | :at:`exactmeshinertia`  | :at:`assetdir`          |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`lengthrange`    | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`lengthrange    | ?  | .. table::                                                                         |
+| <compiler-lengthrange>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`mode`              | :at:`useexisting`       | :at:`uselimit`          | |
@@ -38,8 +38,8 @@
 |                          |    |    | :at:`tolrange`          |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`option`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`option          | \* | .. table::                                                                         |
+| <option>`                |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`timestep`          | :at:`apirate`           | :at:`impratio`          | |
@@ -59,8 +59,8 @@
 |                          |    |    | :at:`mpr_iterations`    |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`flag`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`flag           | ?  | .. table::                                                                         |
+| <option-flag>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`constraint`        | :at:`equality`          | :at:`frictionloss`      | |
@@ -76,36 +76,37 @@
 |                          |    |    | :at:`fwdinv`            | :at:`sensornoise`       | :at:`multiccd`          | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`size`            | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`size            | \* | .. table::                                                                         |
+| <size>`                  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`njmax`             | :at:`nconmax`           | :at:`nstack`            | |
+|                          |    |    | :at:`memory`            | :at:`njmax`             | :at:`nconmax`           | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`nuserdata`         | :at:`nkey`              | :at:`nuser_body`        | |
+|                          |    |    | :at:`nstack`            | :at:`nuserdata`         | :at:`nkey`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`nuser_jnt`         | :at:`nuser_geom`        | :at:`nuser_site`        | |
+|                          |    |    | :at:`nuser_body`        | :at:`nuser_jnt`         | :at:`nuser_geom`        | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`nuser_cam`         | :at:`nuser_tendon`      | :at:`nuser_actuator`    | |
+|                          |    |    | :at:`nuser_site`        | :at:`nuser_cam`         | :at:`nuser_tendon`      | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`nuser_sensor`      |                         |                         | |
+|                          |    |    | :at:`nuser_actuator`    | :at:`nuser_sensor`      |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`visual`          | \* | *no attribute*                                                                     |
+| |_|:ref:`visual          | \* | *no attribute*                                                                     |
+| <visual>`                |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`global`         | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`global         | ?  | .. table::                                                                         |
+| <visual-global>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`fovy`              | :at:`ipd`               | :at:`azimuth`           | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`elevation`         | :at:`linewidth`         | :at:`glow`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`offwidth`          | :at:`offheight`         |                         | |
+|                          |    |    | :at:`offwidth`          | :at:`offheight`         | :at:`realtime`          | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`quality`        | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`quality        | ?  | .. table::                                                                         |
+| <visual-quality>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`shadowsize`        | :at:`offsamples`        | :at:`numslices`         | |
@@ -113,8 +114,8 @@
 |                          |    |    | :at:`numstacks`         | :at:`numquads`          |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`headlight`      | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`headlight      | ?  | .. table::                                                                         |
+| <visual-headlight>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ambient`           | :at:`diffuse`           | :at:`specular`          | |
@@ -122,8 +123,8 @@
 |                          |    |    | :at:`active`            |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`map`            | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`map            | ?  | .. table::                                                                         |
+| <visual-map>`            |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`stiffness`         | :at:`stiffnessrot`      | :at:`force`             | |
@@ -137,8 +138,8 @@
 |                          |    |    | :at:`actuatortendon`    |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`scale`          | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`scale          | ?  | .. table::                                                                         |
+| <visual-scale>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`forcewidth`        | :at:`contactwidth`      | :at:`contactheight`     | |
@@ -154,8 +155,8 @@
 |                          |    |    | :at:`slidercrank`       |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`rgba`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`rgba           | ?  | .. table::                                                                         |
+| <visual-rgba>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`fog`               | :at:`haze`              | :at:`force`             | |
@@ -175,8 +176,8 @@
 |                          |    |    | :at:`crankbroken`       |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`statistic`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`statistic       | \* | .. table::                                                                         |
+| <statistic>`             |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`meaninertia`       | :at:`meanmass`          | :at:`meansize`          | |
@@ -184,22 +185,22 @@
 |                          |    |    | :at:`extent`            | :at:`center`            |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`default`         | R  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`default         | R  | .. table::                                                                         |
+| <default>`               |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`class`             |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`mesh`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`mesh           | ?  | .. table::                                                                         |
+| <default-mesh>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`scale`             |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`material`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`material       | ?  | .. table::                                                                         |
+| <default-material>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`texture`           | :at:`emission`          | :at:`specular`          | |
@@ -209,8 +210,8 @@
 |                          |    |    | :at:`texrepeat`         | :at:`texuniform`        |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`joint`          | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`joint          | ?  | .. table::                                                                         |
+| <default-joint>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`type`              | :at:`group`             | :at:`pos`               | |
@@ -228,8 +229,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`geom`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`geom           | ?  | .. table::                                                                         |
+| <default-geom>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`type`              | :at:`pos`               | :at:`quat`              | |
@@ -255,8 +256,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`site`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`site           | ?  | .. table::                                                                         |
+| <default-site>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`type`              | :at:`group`             | :at:`pos`               | |
@@ -270,8 +271,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`camera`         | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`camera         | ?  | .. table::                                                                         |
+| <default-camera>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`fovy`              | :at:`ipd`               | :at:`pos`               | |
@@ -283,8 +284,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`light`          | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`light          | ?  | .. table::                                                                         |
+| <default-light>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`pos`               | :at:`dir`               | :at:`directional`       | |
@@ -296,8 +297,8 @@
 |                          |    |    | :at:`diffuse`           | :at:`specular`          | :at:`mode`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`pair`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`pair           | ?  | .. table::                                                                         |
+| <default-pair>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`condim`            | :at:`friction`          | :at:`solref`            | |
@@ -305,15 +306,15 @@
 |                          |    |    | :at:`solimp`            | :at:`gap`               | :at:`margin`            | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`equality`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`equality       | ?  | .. table::                                                                         |
+| <default-equality>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`active`            | :at:`solref`            | :at:`solimp`            | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendon`         | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendon         | ?  | .. table::                                                                         |
+| <default-tendon>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`group`             | :at:`limited`           | :at:`range`             | |
@@ -329,8 +330,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`general`        | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`general        | ?  | .. table::                                                                         |
+| <default-general>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`actlimited`        | |
@@ -346,8 +347,8 @@
 |                          |    |    | :at:`biasprm`           |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`motor`          | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`motor          | ?  | .. table::                                                                         |
+| <default-motor>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -357,8 +358,8 @@
 |                          |    |    | :at:`user`              | :at:`group`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`position`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`position       | ?  | .. table::                                                                         |
+| <default-position>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -368,8 +369,8 @@
 |                          |    |    | :at:`user`              | :at:`group`             | :at:`kp`                | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`velocity`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`velocity       | ?  | .. table::                                                                         |
+| <default-velocity>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -379,8 +380,8 @@
 |                          |    |    | :at:`user`              | :at:`group`             | :at:`kv`                | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`intvelocity`    | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`intvelocity    | ?  | .. table::                                                                         |
+| <default-intvelocity>`   |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -392,8 +393,8 @@
 |                          |    |    | :at:`kp`                |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`damper`         | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`damper         | ?  | .. table::                                                                         |
+| <default-damper>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
@@ -403,8 +404,8 @@
 |                          |    |    | :at:`group`             | :at:`kv`                |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`cylinder`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`cylinder       | ?  | .. table::                                                                         |
+| <default-cylinder>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -416,8 +417,8 @@
 |                          |    |    | :at:`area`              | :at:`diameter`          | :at:`bias`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`muscle`         | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`muscle         | ?  | .. table::                                                                         |
+| <default-muscle>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
@@ -433,8 +434,8 @@
 |                          |    |    | :at:`fpmax`             | :at:`fvmax`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`adhesion`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`adhesion       | ?  | .. table::                                                                         |
+| <default-adhesion>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
@@ -443,6 +444,7 @@
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_|:el:`extension`       | \* | *no attribute*                                                                     |
+|                          |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:el:`required`       | \* | .. table::                                                                         |
 |                          |    |    :class: mjcf-attributes                                                         |
@@ -465,40 +467,42 @@
 |                          |    |    | :at:`key`               | :at:`value`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`custom`          | \* | *no attribute*                                                                     |
+| |_|:ref:`custom          | \* | *no attribute*                                                                     |
+| <custom>`                |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`numeric`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`numeric        | \* | .. table::                                                                         |
+| <custom-numeric>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`size`              | :at:`data`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`text`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`text           | \* | .. table::                                                                         |
+| <custom-text>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`data`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tuple`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tuple          | \* | .. table::                                                                         |
+| <custom-tuple>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`element`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`element        | \* | .. table::                                                                         |
+| <tuple-element>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`objtype`           | :at:`objname`           | :at:`prm`               | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`asset`           | \* | *no attribute*                                                                     |
+| |_|:ref:`asset           | \* | *no attribute*                                                                     |
+| <asset>`                 |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`texture`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`texture        | \* | .. table::                                                                         |
+| <asset-texture>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`type`              | :at:`file`              | |
@@ -516,8 +520,8 @@
 |                          |    |    | :at:`height`            | :at:`hflip`             | :at:`vflip`             | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`hfield`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`hfield         | \* | .. table::                                                                         |
+| <asset-hfield>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`file`              | :at:`nrow`              | |
@@ -525,8 +529,8 @@
 |                          |    |    | :at:`ncol`              | :at:`size`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`mesh`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`mesh           | \* | .. table::                                                                         |
+| <asset-mesh>`            |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`file`              | |
@@ -538,8 +542,8 @@
 |                          |    |    | :at:`scale`             | :at:`smoothnormal`      |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`skin`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`skin           | \* | .. table::                                                                         |
+| <asset-skin>`            |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`file`              | :at:`material`          | |
@@ -549,8 +553,8 @@
 |                          |    |    | :at:`texcoord`          | :at:`face`              | :at:`group`             | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`bone`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`bone           | \* | .. table::                                                                         |
+| <skin-bone>`             |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`body`              | :at:`bindpos`           | :at:`bindquat`          | |
@@ -558,8 +562,8 @@
 |                          |    |    | :at:`vertid`            | :at:`vertweight`        |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`material`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`material       | \* | .. table::                                                                         |
+| <asset-material>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`texture`           | |
@@ -571,8 +575,8 @@
 |                          |    |    | :at:`rgba`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`body`            | R  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_|:ref:`body            | R  | .. table::                                                                         |
+| <body>`                  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`childclass`        | :at:`pos`               | |
@@ -584,8 +588,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`inertial`       | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`inertial       | ?  | .. table::                                                                         |
+| <body-inertial>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`pos`               | :at:`quat`              | :at:`mass`              | |
@@ -595,8 +599,8 @@
 |                          |    |    | :at:`zaxis`             | :at:`euler`             | :at:`fullinertia`       | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`joint`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`joint          | \* | .. table::                                                                         |
+| <body-joint>`            |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
@@ -614,15 +618,15 @@
 |                          |    |    | :at:`damping`           | :at:`frictionloss`      | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`freejoint`      | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`freejoint      | \* | .. table::                                                                         |
+| <body-freejoint>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`group`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`geom`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`geom           | \* | .. table::                                                                         |
+| <body-geom>`             |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
@@ -648,8 +652,8 @@
 |                          |    |    | :at:`fluidshape`        | :at:`fluidcoef`         | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`site`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`site           | \* | .. table::                                                                         |
+| <body-site>`             |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
@@ -663,8 +667,8 @@
 |                          |    |    | :at:`euler`             | :at:`rgba`              | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`camera`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`camera         | \* | .. table::                                                                         |
+| <body-camera>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`fovy`              | |
@@ -678,8 +682,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`light`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`light          | \* | .. table::                                                                         |
+| <body-light>`            |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`directional`       | |
@@ -693,8 +697,8 @@
 |                          |    |    | :at:`specular`          | :at:`mode`              | :at:`target`            | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`composite`      | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`composite      | \* | .. table::                                                                         |
+| <body-composite>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`prefix`            | :at:`type`              | :at:`count`             | |
@@ -704,8 +708,8 @@
 |                          |    |    | :at:`solrefsmooth`      | :at:`solimpsmooth`      |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`joint`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`joint          | \* | .. table::                                                                         |
+| <composite-joint>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`kind`              | :at:`group`             | :at:`stiffness`         | |
@@ -719,8 +723,8 @@
 |                          |    |    | :at:`frictionloss`      | :at:`solreffriction`    | :at:`solimpfriction`    | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`tendon`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`tendon         | \* | .. table::                                                                         |
+| <composite-tendon>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`kind`              | :at:`group`             | :at:`stiffness`         | |
@@ -736,8 +740,8 @@
 |                          |    |    | :at:`rgba`              | :at:`width`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`skin`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`skin           | ?  | .. table::                                                                         |
+| <composite-skin>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`texcoord`          | :at:`material`          | :at:`group`             | |
@@ -745,8 +749,8 @@
 |                          |    |    | :at:`rgba`              | :at:`inflate`           | :at:`subgrid`           | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`geom`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`geom           | ?  | .. table::                                                                         |
+| <composite-geom>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`type`              | :at:`contype`           | :at:`conaffinity`       | |
@@ -762,8 +766,8 @@
 |                          |    |    | :at:`margin`            | :at:`gap`               |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`site`           | ?  | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`site           | ?  | .. table::                                                                         |
+| <composite-site>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`group`             | :at:`size`              | :at:`material`          | |
@@ -771,17 +775,18 @@
 |                          |    |    | :at:`rgba`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`pin`            | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`pin            | \* | .. table::                                                                         |
+| <composite-pin>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`coord`             |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`contact`         | \* | *no attribute*                                                                     |
+| |_|:ref:`contact         | \* | *no attribute*                                                                     |
+| <contact>`               |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`pair`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`pair           | \* | .. table::                                                                         |
+| <contact-pair>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`geom1`             | |
@@ -793,17 +798,18 @@
 |                          |    |    | :at:`margin`            |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`exclude`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`exclude        | \* | .. table::                                                                         |
+| <contact-exclude>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`body1`             | :at:`body2`             | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`equality`        | \* | *no attribute*                                                                     |
+| |_|:ref:`equality        | \* | *no attribute*                                                                     |
+| <equality>`              |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`connect`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`connect        | \* | .. table::                                                                         |
+| <equality-connect>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`body1`             | |
@@ -813,8 +819,8 @@
 |                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`weld`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`weld           | \* | .. table::                                                                         |
+| <equality-weld>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`body1`             | |
@@ -826,8 +832,8 @@
 |                          |    |    | :at:`torquescale`       |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`joint`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`joint          | \* | .. table::                                                                         |
+| <equality-joint>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`joint1`            | |
@@ -837,8 +843,8 @@
 |                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendon`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendon         | \* | .. table::                                                                         |
+| <equality-tendon>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`tendon1`           | |
@@ -848,8 +854,8 @@
 |                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`distance`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`distance       | \* | .. table::                                                                         |
+| <equality-distance>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`geom1`             | |
@@ -859,10 +865,11 @@
 |                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`tendon`          | \* | *no attribute*                                                                     |
+| |_|:ref:`tendon          | \* | *no attribute*                                                                     |
+| <tendon>`                |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`spatial`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`spatial        | \* | .. table::                                                                         |
+| <tendon-spatial>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -878,29 +885,29 @@
 |                          |    |    | :at:`damping`           | :at:`rgba`              | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`site`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`site           | \* | .. table::                                                                         |
+| <spatial-site>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`site`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`geom`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`geom           | \* | .. table::                                                                         |
+| <spatial-geom>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`geom`              | :at:`sidesite`          |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`pulley`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`pulley         | \* | .. table::                                                                         |
+| <spatial-pulley>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`divisor`           |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`fixed`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`fixed          | \* | .. table::                                                                         |
+| <tendon-fixed>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -914,17 +921,18 @@
 |                          |    |    | :at:`stiffness`         | :at:`damping`           | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_3|:el:`joint`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_3|:ref:`joint          | \* | .. table::                                                                         |
+| <fixed-joint>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`joint`             | :at:`coef`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`actuator`        | \* | *no attribute*                                                                     |
+| |_|:ref:`actuator        | \* | *no attribute*                                                                     |
+| <actuator>`              |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`general`        | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`general        | \* | .. table::                                                                         |
+| <actuator-general>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -946,8 +954,8 @@
 |                          |    |    | :at:`dynprm`            | :at:`gainprm`           | :at:`biasprm`           | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`motor`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`motor          | \* | .. table::                                                                         |
+| <actuator-motor>`        |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -963,8 +971,8 @@
 |                          |    |    | :at:`cranksite`         | :at:`site`              | :at:`refsite`           | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`position`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`position       | \* | .. table::                                                                         |
+| <actuator-position>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -982,8 +990,8 @@
 |                          |    |    | :at:`kp`                |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`velocity`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`velocity       | \* | .. table::                                                                         |
+| <actuator-velocity>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1001,8 +1009,8 @@
 |                          |    |    | :at:`kv`                |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`intvelocity`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`intvelocity    | \* | .. table::                                                                         |
+| <actuator-intvelocity>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1020,8 +1028,8 @@
 |                          |    |    | :at:`refsite`           | :at:`kp`                |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`damper`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`damper         | \* | .. table::                                                                         |
+| <actuator-damper>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1037,8 +1045,8 @@
 |                          |    |    | :at:`site`              | :at:`refsite`           | :at:`kv`                | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`cylinder`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`cylinder       | \* | .. table::                                                                         |
+| <actuator-cylinder>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1058,8 +1066,8 @@
 |                          |    |    | :at:`bias`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`muscle`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`muscle         | \* | .. table::                                                                         |
+| <actuator-muscle>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1081,8 +1089,8 @@
 |                          |    |    | :at:`fvmax`             |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`adhesion`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`adhesion       | \* | .. table::                                                                         |
+| <actuator-adhesion>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
@@ -1118,10 +1126,11 @@
 |                          |    |    | :at:`key`               | :at:`value`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`sensor`          | \* | *no attribute*                                                                     |
+| |_|:ref:`sensor          | \* | *no attribute*                                                                     |
+| <sensor>`                |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`touch`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`touch          | \* | .. table::                                                                         |
+| <sensor-touch>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1129,8 +1138,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`accelerometer`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`accelerometer  | \* | .. table::                                                                         |
+| <sensor-accelerometer>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1138,8 +1147,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`velocimeter`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`velocimeter    | \* | .. table::                                                                         |
+| <sensor-velocimeter>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1147,8 +1156,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`gyro`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`gyro           | \* | .. table::                                                                         |
+| <sensor-gyro>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1156,8 +1165,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`force`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`force          | \* | .. table::                                                                         |
+| <sensor-force>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1165,8 +1174,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`torque`         | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`torque         | \* | .. table::                                                                         |
+| <sensor-torque>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1174,8 +1183,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`magnetometer`   | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`magnetometer   | \* | .. table::                                                                         |
+| <sensor-magnetometer>`   |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1183,8 +1192,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`rangefinder`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`rangefinder    | \* | .. table::                                                                         |
+| <sensor-rangefinder>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
@@ -1192,8 +1201,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`jointpos`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`jointpos       | \* | .. table::                                                                         |
+| <sensor-jointpos>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1201,8 +1210,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`jointvel`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`jointvel       | \* | .. table::                                                                         |
+| <sensor-jointvel>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1210,8 +1219,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendonpos`      | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendonpos      | \* | .. table::                                                                         |
+| <sensor-tendonpos>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
@@ -1219,8 +1228,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendonvel`      | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendonvel      | \* | .. table::                                                                         |
+| <sensor-tendonvel>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
@@ -1228,8 +1237,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`actuatorpos`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`actuatorpos    | \* | .. table::                                                                         |
+| <sensor-actuatorpos>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
@@ -1237,8 +1246,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`actuatorvel`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`actuatorvel    | \* | .. table::                                                                         |
+| <sensor-actuatorvel>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
@@ -1246,8 +1255,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`actuatorfrc`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`actuatorfrc    | \* | .. table::                                                                         |
+| <sensor-actuatorfrc>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
@@ -1255,8 +1264,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`ballquat`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`ballquat       | \* | .. table::                                                                         |
+| <sensor-ballquat>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1264,8 +1273,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`ballangvel`     | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`ballangvel     | \* | .. table::                                                                         |
+| <sensor-ballangvel>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1273,8 +1282,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`jointlimitpos`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`jointlimitpos  | \* | .. table::                                                                         |
+| <sensor-jointlimitpos>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1282,8 +1291,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`jointlimitvel`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`jointlimitvel  | \* | .. table::                                                                         |
+| <sensor-jointlimitvel>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1291,8 +1300,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`jointlimitfrc`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`jointlimitfrc  | \* | .. table::                                                                         |
+| <sensor-jointlimitfrc>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
@@ -1300,8 +1309,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendonlimitpos` | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendonlimitpos | \* | .. table::                                                                         |
+| <sensor-tendonlimitpos>` |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
@@ -1309,8 +1318,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendonlimitvel` | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendonlimitvel | \* | .. table::                                                                         |
+| <sensor-tendonlimitvel>` |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
@@ -1318,8 +1327,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`tendonlimitfrc` | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`tendonlimitfrc | \* | .. table::                                                                         |
+| <sensor-tendonlimitfrc>` |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
@@ -1327,8 +1336,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framepos`       | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framepos       | \* | .. table::                                                                         |
+| <sensor-framepos>`       |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1338,8 +1347,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framequat`      | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framequat      | \* | .. table::                                                                         |
+| <sensor-framequat>`      |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1349,8 +1358,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framexaxis`     | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framexaxis     | \* | .. table::                                                                         |
+| <sensor-framexaxis>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1360,8 +1369,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`frameyaxis`     | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`frameyaxis     | \* | .. table::                                                                         |
+| <sensor-frameyaxis>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1371,8 +1380,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framezaxis`     | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framezaxis     | \* | .. table::                                                                         |
+| <sensor-framezaxis>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1382,8 +1391,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framelinvel`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framelinvel    | \* | .. table::                                                                         |
+| <sensor-framelinvel>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1393,8 +1402,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`frameangvel`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`frameangvel    | \* | .. table::                                                                         |
+| <sensor-frameangvel>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1404,8 +1413,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`framelinacc`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`framelinacc    | \* | .. table::                                                                         |
+| <sensor-framelinacc>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1413,8 +1422,8 @@
 |                          |    |    | :at:`cutoff`            | :at:`noise`             | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`frameangacc`    | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`frameangacc    | \* | .. table::                                                                         |
+| <sensor-frameangacc>`    |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1422,8 +1431,8 @@
 |                          |    |    | :at:`cutoff`            | :at:`noise`             | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`subtreecom`     | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`subtreecom     | \* | .. table::                                                                         |
+| <sensor-subtreecom>`     |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
@@ -1431,8 +1440,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`subtreelinvel`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`subtreelinvel  | \* | .. table::                                                                         |
+| <sensor-subtreelinvel>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
@@ -1440,8 +1449,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`subtreeangmom`  | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`subtreeangmom  | \* | .. table::                                                                         |
+| <sensor-subtreeangmom>`  |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
@@ -1449,8 +1458,8 @@
 |                          |    |    | :at:`noise`             | :at:`user`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`clock`          | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`clock          | \* | .. table::                                                                         |
+| <sensor-clock>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`cutoff`            | :at:`noise`             | |
@@ -1458,8 +1467,8 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`user`           | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`user           | \* | .. table::                                                                         |
+| <sensor-user>`           |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
@@ -1487,10 +1496,11 @@
 |                          |    |    | :at:`key`               | :at:`value`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_|:el:`keyframe`        | \* | *no attribute*                                                                     |
+| |_|:ref:`keyframe        | \* | *no attribute*                                                                     |
+| <keyframe>`              |    |                                                                                    |
 +--------------------------+----+------------------------------------------------------------------------------------+
-| |_2|:el:`key`            | \* | .. table::                                                                         |
-|                          |    |    :class: mjcf-attributes                                                         |
+| |_2|:ref:`key            | \* | .. table::                                                                         |
+| <keyframe-key>`          |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`name`              | :at:`time`              | :at:`qpos`              | |
@@ -1500,3 +1510,4 @@
 |                          |    |    | :at:`mquat`             | :at:`ctrl`              |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
+