+--------------------------+----+------------------------------------------------------------------------------------+
| :ref:`mujoco             | !  | .. table::                                                                         |
| <mujoco>`                |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`model`             |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`compiler        | \* | .. table::                                                                         |
| <compiler>`              |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`autolimits`        | :at:`boundmass`         | :at:`boundinertia`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`settotalmass`      | :at:`balanceinertia`    | :at:`strippath`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`coordinate`        | :at:`angle`             | :at:`fitaabb`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`eulerseq`          | :at:`meshdir`           | :at:`texturedir`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`discardvisual`     | :at:`convexhull`        | :at:`usethread`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fusestatic`        | :at:`inertiafromgeom`   | :at:`inertiagrouprange` | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`exactmeshinertia`  | :at:`assetdir`          |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`lengthrange    | ?  | .. table::                                                                         |
| <compiler-lengthrange>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`mode`              | :at:`useexisting`       | :at:`uselimit`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`accel`             | :at:`maxforce`          | :at:`timeconst`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`timestep`          | :at:`inttotal`          | :at:`interval`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tolrange`          |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`option          | \* | .. table::                                                                         |
| <option>`                |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`timestep`          | :at:`apirate`           | :at:`impratio`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tolerance`         | :at:`noslip_tolerance`  | :at:`mpr_tolerance`     | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gravity`           | :at:`wind`              | :at:`magnetic`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`density`           | :at:`viscosity`         | :at:`o_margin`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`o_solref`          | :at:`o_solimp`          | :at:`integrator`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`collision`         | :at:`cone`              | :at:`jacobian`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solver`            | :at:`iterations`        | :at:`noslip_iterations` | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`mpr_iterations`    |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`flag           | ?  | .. table::                                                                         |
| <option-flag>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`constraint`        | :at:`equality`          | :at:`frictionloss`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`limit`             | :at:`contact`           | :at:`passive`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gravity`           | :at:`clampctrl`         | :at:`warmstart`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`filterparent`      | :at:`actuation`         | :at:`refsafe`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`sensor`            | :at:`override`          | :at:`energy`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fwdinv`            | :at:`sensornoise`       | :at:`multiccd`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`size            | \* | .. table::                                                                         |
| <size>`                  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`memory`            | :at:`njmax`             | :at:`nconmax`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`nstack`            | :at:`nuserdata`         | :at:`nkey`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`nuser_body`        | :at:`nuser_jnt`         | :at:`nuser_geom`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`nuser_site`        | :at:`nuser_cam`         | :at:`nuser_tendon`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`nuser_actuator`    | :at:`nuser_sensor`      |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`visual          | \* | *no attribute*                                                                     |
| <visual>`                |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_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:`realtime`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`quality        | ?  | .. table::                                                                         |
| <visual-quality>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`shadowsize`        | :at:`offsamples`        | :at:`numslices`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`numstacks`         | :at:`numquads`          |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`headlight      | ?  | .. table::                                                                         |
| <visual-headlight>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ambient`           | :at:`diffuse`           | :at:`specular`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`active`            |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`map            | ?  | .. table::                                                                         |
| <visual-map>`            |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`stiffness`         | :at:`stiffnessrot`      | :at:`force`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`torque`            | :at:`alpha`             | :at:`fogstart`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fogend`            | :at:`znear`             | :at:`zfar`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`haze`              | :at:`shadowclip`        | :at:`shadowscale`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`actuatortendon`    |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`scale          | ?  | .. table::                                                                         |
| <visual-scale>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcewidth`        | :at:`contactwidth`      | :at:`contactheight`     | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`connect`           | :at:`com`               | :at:`camera`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`light`             | :at:`selectpoint`       | :at:`jointlength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointwidth`        | :at:`actuatorlength`    | :at:`actuatorwidth`     | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`framelength`       | :at:`framewidth`        | :at:`constraint`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`slidercrank`       |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`rgba           | ?  | .. table::                                                                         |
| <visual-rgba>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fog`               | :at:`haze`              | :at:`force`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`inertia`           | :at:`joint`             | :at:`actuator`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`actuatornegative`  | :at:`actuatorpositive`  | :at:`com`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`camera`            | :at:`light`             | :at:`selectpoint`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`connect`           | :at:`contactpoint`      | :at:`contactforce`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`contactfriction`   | :at:`contacttorque`     | :at:`contactgap`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rangefinder`       | :at:`constraint`        | :at:`slidercrank`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`crankbroken`       |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`statistic       | \* | .. table::                                                                         |
| <statistic>`             |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`meaninertia`       | :at:`meanmass`          | :at:`meansize`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`extent`            | :at:`center`            |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`default         | R  | .. table::                                                                         |
| <default>`               |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`class`             |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`mesh           | ?  | .. table::                                                                         |
| <default-mesh>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`scale`             |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`material       | ?  | .. table::                                                                         |
| <default-material>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`texture`           | :at:`emission`          | :at:`specular`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`shininess`         | :at:`reflectance`       | :at:`rgba`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`texrepeat`         | :at:`texuniform`        |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint          | ?  | .. table::                                                                         |
| <default-joint>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`type`              | :at:`group`             | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`axis`              | :at:`springdamper`      | :at:`limited`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreflimit`       | :at:`solimplimit`       | :at:`solreffriction`    | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimpfriction`    | :at:`stiffness`         | :at:`range`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`margin`            | :at:`ref`               | :at:`springref`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`armature`          | :at:`damping`           | :at:`frictionloss`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`geom           | ?  | .. table::                                                                         |
| <default-geom>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`type`              | :at:`pos`               | :at:`quat`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`contype`           | :at:`conaffinity`       | :at:`condim`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`priority`          | :at:`size`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`material`          | :at:`friction`          | :at:`mass`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`density`           | :at:`shellinertia`      | :at:`solmix`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gap`               | :at:`fromto`            | :at:`axisangle`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`xyaxes`            | :at:`zaxis`             | :at:`euler`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`hfield`            | :at:`mesh`              | :at:`fitscale`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              | :at:`fluidshape`        | :at:`fluidcoef`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`site           | ?  | .. table::                                                                         |
| <default-site>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`type`              | :at:`group`             | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`quat`              | :at:`material`          | :at:`size`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fromto`            | :at:`axisangle`         | :at:`xyaxes`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`zaxis`             | :at:`euler`             | :at:`rgba`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`camera         | ?  | .. table::                                                                         |
| <default-camera>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fovy`              | :at:`ipd`               | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`quat`              | :at:`axisangle`         | :at:`xyaxes`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`zaxis`             | :at:`euler`             | :at:`mode`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`light          | ?  | .. table::                                                                         |
| <default-light>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`pos`               | :at:`dir`               | :at:`directional`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`castshadow`        | :at:`active`            | :at:`attenuation`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cutoff`            | :at:`exponent`          | :at:`ambient`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`diffuse`           | :at:`specular`          | :at:`mode`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`pair           | ?  | .. table::                                                                         |
| <default-pair>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`condim`            | :at:`friction`          | :at:`solref`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimp`            | :at:`gap`               | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`equality       | ?  | .. table::                                                                         |
| <default-equality>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`active`            | :at:`solref`            | :at:`solimp`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendon         | ?  | .. table::                                                                         |
| <default-tendon>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`limited`           | :at:`range`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreflimit`       | :at:`solimplimit`       | :at:`solreffriction`    | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimpfriction`    | :at:`frictionloss`      | :at:`springlength`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`width`             | :at:`material`          | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`stiffness`         | :at:`damping`           | :at:`rgba`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`general        | ?  | .. table::                                                                         |
| <default-general>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`actlimited`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrlrange`         | :at:`forcerange`        | :at:`actrange`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gear`              | :at:`cranklength`       | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`actdim`            | :at:`dyntype`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gaintype`          | :at:`biastype`          | :at:`dynprm`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gainprm`           | :at:`biasprm`           |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor          | ?  | .. table::                                                                         |
| <default-motor>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`group`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`position       | ?  | .. table::                                                                         |
| <default-position>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`group`             | :at:`kp`                | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocity       | ?  | .. table::                                                                         |
| <default-velocity>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`group`             | :at:`kv`                | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`intvelocity    | ?  | .. table::                                                                         |
| <default-intvelocity>`   |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`actrange`          | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`kp`                |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`damper         | ?  | .. table::                                                                         |
| <default-damper>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gear`              | :at:`cranklength`       | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`kv`                |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`cylinder       | ?  | .. table::                                                                         |
| <default-cylinder>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`group`             | :at:`timeconst`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`area`              | :at:`diameter`          | :at:`bias`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`muscle         | ?  | .. table::                                                                         |
| <default-muscle>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`group`             | :at:`timeconst`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`range`             | :at:`force`             | :at:`scale`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`lmin`              | :at:`lmax`              | :at:`vmax`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fpmax`             | :at:`fvmax`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`adhesion       | ?  | .. table::                                                                         |
| <default-adhesion>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gain`              | :at:`user`              | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`extension`       | \* | *no attribute*                                                                     |
|                          |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`plugin`            |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`instance`       | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_4|:el:`config`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`key`               | :at:`value`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`custom          | \* | *no attribute*                                                                     |
| <custom>`                |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`numeric        | \* | .. table::                                                                         |
| <custom-numeric>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`size`              | :at:`data`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`text           | \* | .. table::                                                                         |
| <custom-text>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`data`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tuple          | \* | .. table::                                                                         |
| <custom-tuple>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`element        | \* | .. table::                                                                         |
| <tuple-element>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`objtype`           | :at:`objname`           | :at:`prm`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`asset           | \* | *no attribute*                                                                     |
| <asset>`                 |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`texture        | \* | .. table::                                                                         |
| <asset-texture>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`type`              | :at:`file`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gridsize`          | :at:`gridlayout`        | :at:`fileright`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fileleft`          | :at:`fileup`            | :at:`filedown`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`filefront`         | :at:`fileback`          | :at:`builtin`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgb1`              | :at:`rgb2`              | :at:`mark`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`markrgb`           | :at:`random`            | :at:`width`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`height`            | :at:`hflip`             | :at:`vflip`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`hfield         | \* | .. table::                                                                         |
| <asset-hfield>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`file`              | :at:`nrow`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ncol`              | :at:`size`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`mesh           | \* | .. table::                                                                         |
| <asset-mesh>`            |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`file`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`vertex`            | :at:`normal`            | :at:`texcoord`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`face`              | :at:`refpos`            | :at:`refquat`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`scale`             | :at:`smoothnormal`      |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`skin           | \* | .. table::                                                                         |
| <asset-skin>`            |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`file`              | :at:`material`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              | :at:`inflate`           | :at:`vertex`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`texcoord`          | :at:`face`              | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`bone           | \* | .. table::                                                                         |
| <skin-bone>`             |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`body`              | :at:`bindpos`           | :at:`bindquat`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`vertid`            | :at:`vertweight`        |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`material       | \* | .. table::                                                                         |
| <asset-material>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`texture`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`texrepeat`         | :at:`texuniform`        | :at:`emission`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`specular`          | :at:`shininess`         | :at:`reflectance`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`body            | R  | .. table::                                                                         |
| <body>`                  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`childclass`        | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`quat`              | :at:`mocap`             | :at:`axisangle`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`xyaxes`            | :at:`zaxis`             | :at:`euler`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gravcomp`          | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`plugin`            | :at:`instance`          |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`key`               | :at:`value`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`inertial       | ?  | .. table::                                                                         |
| <body-inertial>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`pos`               | :at:`quat`              | :at:`mass`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`diaginertia`       | :at:`axisangle`         | :at:`xyaxes`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`zaxis`             | :at:`euler`             | :at:`fullinertia`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint          | \* | .. table::                                                                         |
| <body-joint>`            |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`pos`               | :at:`axis`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`springdamper`      | :at:`limited`           | :at:`solreflimit`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimplimit`       | :at:`solreffriction`    | :at:`solimpfriction`    | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`stiffness`         | :at:`range`             | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ref`               | :at:`springref`         | :at:`armature`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`damping`           | :at:`frictionloss`      | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`freejoint      | \* | .. table::                                                                         |
| <body-freejoint>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`group`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`geom           | \* | .. table::                                                                         |
| <body-geom>`             |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`contype`           | :at:`conaffinity`       | :at:`condim`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`priority`          | :at:`size`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`material`          | :at:`friction`          | :at:`mass`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`density`           | :at:`shellinertia`      | :at:`solmix`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gap`               | :at:`fromto`            | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`quat`              | :at:`axisangle`         | :at:`xyaxes`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`zaxis`             | :at:`euler`             | :at:`hfield`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`mesh`              | :at:`fitscale`          | :at:`rgba`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fluidshape`        | :at:`fluidcoef`         | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`site           | \* | .. table::                                                                         |
| <body-site>`             |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`type`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`pos`               | :at:`quat`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`material`          | :at:`size`              | :at:`fromto`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`axisangle`         | :at:`xyaxes`            | :at:`zaxis`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`euler`             | :at:`rgba`              | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`camera         | \* | .. table::                                                                         |
| <body-camera>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`fovy`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ipd`               | :at:`pos`               | :at:`quat`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`axisangle`         | :at:`xyaxes`            | :at:`zaxis`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`euler`             | :at:`mode`              | :at:`target`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`light          | \* | .. table::                                                                         |
| <body-light>`            |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`directional`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`castshadow`        | :at:`active`            | :at:`pos`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`dir`               | :at:`attenuation`       | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`exponent`          | :at:`ambient`           | :at:`diffuse`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`specular`          | :at:`mode`              | :at:`target`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`composite      | \* | .. table::                                                                         |
| <body-composite>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`prefix`            | :at:`type`              | :at:`count`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`spacing`           | :at:`offset`            | :at:`flatinertia`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solrefsmooth`      | :at:`solimpsmooth`      | :at:`vertex`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`initial`           | :at:`curve`             | :at:`size`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`plugin`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`plugin`            | :at:`instance`          |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_4|:el:`config`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`key`               | :at:`value`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`joint          | \* | .. table::                                                                         |
| <composite-joint>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`kind`              | :at:`group`             | :at:`stiffness`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`damping`           | :at:`armature`          | :at:`solreffix`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimpfix`         | :at:`type`              | :at:`axis`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`limited`           | :at:`range`             | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreflimit`       | :at:`solimplimit`       | :at:`frictionloss`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreffriction`    | :at:`solimpfriction`    |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`tendon         | \* | .. table::                                                                         |
| <composite-tendon>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`kind`              | :at:`group`             | :at:`stiffness`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`damping`           | :at:`solreffix`         | :at:`solimpfix`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`limited`           | :at:`range`             | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreflimit`       | :at:`solimplimit`       | :at:`frictionloss`      | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solreffriction`    | :at:`solimpfriction`    | :at:`material`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              | :at:`width`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`skin           | ?  | .. table::                                                                         |
| <composite-skin>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`texcoord`          | :at:`material`          | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              | :at:`inflate`           | :at:`subgrid`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`geom           | ?  | .. table::                                                                         |
| <composite-geom>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`type`              | :at:`contype`           | :at:`conaffinity`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`condim`            | :at:`group`             | :at:`priority`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`size`              | :at:`material`          | :at:`rgba`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`friction`          | :at:`mass`              | :at:`density`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solmix`            | :at:`solref`            | :at:`solimp`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`margin`            | :at:`gap`               |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`site           | ?  | .. table::                                                                         |
| <composite-site>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`group`             | :at:`size`              | :at:`material`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`rgba`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`pin            | \* | .. table::                                                                         |
| <composite-pin>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`coord`             |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`contact         | \* | *no attribute*                                                                     |
| <contact>`               |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`pair           | \* | .. table::                                                                         |
| <contact-pair>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`geom1`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`geom2`             | :at:`condim`            | :at:`friction`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            | :at:`gap`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`margin`            |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`exclude        | \* | .. table::                                                                         |
| <contact-exclude>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`body1`             | :at:`body2`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`equality        | \* | *no attribute*                                                                     |
| <equality>`              |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`connect        | \* | .. table::                                                                         |
| <equality-connect>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`body1`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`body2`             | :at:`anchor`            | :at:`active`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`weld           | \* | .. table::                                                                         |
| <equality-weld>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`body1`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`body2`             | :at:`relpose`           | :at:`anchor`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`active`            | :at:`solref`            | :at:`solimp`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`torquescale`       |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint          | \* | .. table::                                                                         |
| <equality-joint>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`joint1`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`joint2`            | :at:`polycoef`          | :at:`active`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendon         | \* | .. table::                                                                         |
| <equality-tendon>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`tendon1`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tendon2`           | :at:`polycoef`          | :at:`active`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`distance       | \* | .. table::                                                                         |
| <equality-distance>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`geom1`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`geom2`             | :at:`distance`          | :at:`active`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solref`            | :at:`solimp`            |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`tendon          | \* | *no attribute*                                                                     |
| <tendon>`                |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`spatial        | \* | .. table::                                                                         |
| <tendon-spatial>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`limited`           | :at:`range`             | :at:`solreflimit`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimplimit`       | :at:`solreffriction`    | :at:`solimpfriction`    | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`frictionloss`      | :at:`springlength`      | :at:`width`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`material`          | :at:`margin`            | :at:`stiffness`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`damping`           | :at:`rgba`              | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`site           | \* | .. table::                                                                         |
| <spatial-site>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`site`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`geom           | \* | .. table::                                                                         |
| <spatial-geom>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`geom`              | :at:`sidesite`          |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`pulley         | \* | .. table::                                                                         |
| <spatial-pulley>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`divisor`           |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`fixed          | \* | .. table::                                                                         |
| <tendon-fixed>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`limited`           | :at:`range`             | :at:`solreflimit`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`solimplimit`       | :at:`solreffriction`    | :at:`solimpfriction`    | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`frictionloss`      | :at:`springlength`      | :at:`margin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`stiffness`         | :at:`damping`           | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`joint          | \* | .. table::                                                                         |
| <fixed-joint>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`joint`             | :at:`coef`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`actuator        | \* | *no attribute*                                                                     |
| <actuator>`              |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`general        | \* | .. table::                                                                         |
| <actuator-general>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`actlimited`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrlrange`         | :at:`forcerange`        | :at:`actrange`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`lengthrange`       | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`joint`             | :at:`jointinparent`     | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tendon`            | :at:`slidersite`        | :at:`cranksite`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`site`              | :at:`refsite`           | :at:`body`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`actdim`            | :at:`dyntype`           | :at:`gaintype`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`biastype`          | :at:`dynprm`            | :at:`gainprm`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`biasprm`           |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor          | \* | .. table::                                                                         |
| <actuator-motor>`        |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`lengthrange`       | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`joint`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointinparent`     | :at:`tendon`            | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranksite`         | :at:`site`              | :at:`refsite`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`position       | \* | .. table::                                                                         |
| <actuator-position>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`lengthrange`       | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`joint`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointinparent`     | :at:`tendon`            | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranksite`         | :at:`site`              | :at:`refsite`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`kp`                |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocity       | \* | .. table::                                                                         |
| <actuator-velocity>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`lengthrange`       | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`joint`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointinparent`     | :at:`tendon`            | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranksite`         | :at:`site`              | :at:`refsite`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`kv`                |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`intvelocity    | \* | .. table::                                                                         |
| <actuator-intvelocity>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`actrange`          | :at:`lengthrange`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`gear`              | :at:`cranklength`       | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`joint`             | :at:`jointinparent`     | :at:`tendon`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`slidersite`        | :at:`cranksite`         | :at:`site`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`refsite`           | :at:`kp`                |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`damper         | \* | .. table::                                                                         |
| <actuator-damper>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`lengthrange`       | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`joint`             | :at:`jointinparent`     | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tendon`            | :at:`slidersite`        | :at:`cranksite`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`site`              | :at:`refsite`           | :at:`kv`                | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`cylinder       | \* | .. table::                                                                         |
| <actuator-cylinder>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`lengthrange`       | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`joint`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointinparent`     | :at:`tendon`            | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranksite`         | :at:`site`              | :at:`refsite`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`timeconst`         | :at:`area`              | :at:`diameter`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`bias`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`muscle         | \* | .. table::                                                                         |
| <actuator-muscle>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`ctrllimited`       | :at:`forcelimited`      | :at:`ctrlrange`         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcerange`        | :at:`lengthrange`       | :at:`gear`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranklength`       | :at:`user`              | :at:`joint`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`jointinparent`     | :at:`tendon`            | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cranksite`         | :at:`timeconst`         | :at:`range`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`force`             | :at:`scale`             | :at:`lmin`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`lmax`              | :at:`vmax`              | :at:`fpmax`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`fvmax`             |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`adhesion       | \* | .. table::                                                                         |
| <actuator-adhesion>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`group`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              | :at:`body`              | :at:`gain`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`class`             | :at:`plugin`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`instance`          | :at:`group`             | :at:`ctrllimited`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`forcelimited`      | :at:`ctrlrange`         | :at:`forcerange`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`lengthrange`       | :at:`gear`              | :at:`cranklength`       | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`joint`             | :at:`jointinparent`     | :at:`site`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`tendon`            | :at:`cranksite`         | :at:`slidersite`        | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`key`               | :at:`value`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`sensor          | \* | *no attribute*                                                                     |
| <sensor>`                |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`touch          | \* | .. table::                                                                         |
| <sensor-touch>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`accelerometer  | \* | .. table::                                                                         |
| <sensor-accelerometer>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocimeter    | \* | .. table::                                                                         |
| <sensor-velocimeter>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`gyro           | \* | .. table::                                                                         |
| <sensor-gyro>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`force          | \* | .. table::                                                                         |
| <sensor-force>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`torque         | \* | .. table::                                                                         |
| <sensor-torque>`         |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`magnetometer   | \* | .. table::                                                                         |
| <sensor-magnetometer>`   |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`rangefinder    | \* | .. table::                                                                         |
| <sensor-rangefinder>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`site`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointpos       | \* | .. table::                                                                         |
| <sensor-jointpos>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointvel       | \* | .. table::                                                                         |
| <sensor-jointvel>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonpos      | \* | .. table::                                                                         |
| <sensor-tendonpos>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonvel      | \* | .. table::                                                                         |
| <sensor-tendonvel>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorpos    | \* | .. table::                                                                         |
| <sensor-actuatorpos>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorvel    | \* | .. table::                                                                         |
| <sensor-actuatorvel>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorfrc    | \* | .. table::                                                                         |
| <sensor-actuatorfrc>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`actuator`          | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`ballquat       | \* | .. table::                                                                         |
| <sensor-ballquat>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`ballangvel     | \* | .. table::                                                                         |
| <sensor-ballangvel>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitpos  | \* | .. table::                                                                         |
| <sensor-jointlimitpos>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitvel  | \* | .. table::                                                                         |
| <sensor-jointlimitvel>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitfrc  | \* | .. table::                                                                         |
| <sensor-jointlimitfrc>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`joint`             | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitpos | \* | .. table::                                                                         |
| <sensor-tendonlimitpos>` |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitvel | \* | .. table::                                                                         |
| <sensor-tendonlimitvel>` |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitfrc | \* | .. table::                                                                         |
| <sensor-tendonlimitfrc>` |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`tendon`            | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framepos       | \* | .. table::                                                                         |
| <sensor-framepos>`       |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framequat      | \* | .. table::                                                                         |
| <sensor-framequat>`      |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framexaxis     | \* | .. table::                                                                         |
| <sensor-framexaxis>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameyaxis     | \* | .. table::                                                                         |
| <sensor-frameyaxis>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framezaxis     | \* | .. table::                                                                         |
| <sensor-framezaxis>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framelinvel    | \* | .. table::                                                                         |
| <sensor-framelinvel>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameangvel    | \* | .. table::                                                                         |
| <sensor-frameangvel>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framelinacc    | \* | .. table::                                                                         |
| <sensor-framelinacc>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cutoff`            | :at:`noise`             | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameangacc    | \* | .. table::                                                                         |
| <sensor-frameangacc>`    |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cutoff`            | :at:`noise`             | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreecom     | \* | .. table::                                                                         |
| <sensor-subtreecom>`     |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreelinvel  | \* | .. table::                                                                         |
| <sensor-subtreelinvel>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreeangmom  | \* | .. table::                                                                         |
| <sensor-subtreeangmom>`  |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`body`              | :at:`cutoff`            | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`noise`             | :at:`user`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`clock          | \* | .. table::                                                                         |
| <sensor-clock>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`cutoff`            | :at:`noise`             | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`user`              |                         |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`user           | \* | .. table::                                                                         |
| <sensor-user>`           |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`datatype`          | :at:`needstage`         | :at:`dim`               | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cutoff`            | :at:`noise`             | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`plugin`            | :at:`instance`          | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`cutoff`            | :at:`objtype`           | :at:`objname`           | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`reftype`           | :at:`refname`           | :at:`user`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config`         | \* | .. table::                                                                         |
|                          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`key`               | :at:`value`             |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`keyframe        | \* | *no attribute*                                                                     |
| <keyframe>`              |    |                                                                                    |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`key            | \* | .. table::                                                                         |
| <keyframe-key>`          |    |    :class: mjcf-attributes                                                         |
|                          |    |                                                                                    |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`name`              | :at:`time`              | :at:`qpos`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`qvel`              | :at:`act`               | :at:`mpos`              | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
|                          |    |    | :at:`mquat`             | :at:`ctrl`              |                         | |
|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+