diff --git a/docs/Doxyfile b/docs/Doxyfile
index ffbeb280bb..fd5ff82a36 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -261,11 +261,7 @@ TAB_SIZE               = 4
 # commands \{ and \} for these it is advised to use the version @{ and @} or use
 # a double escape (\\{ and \\})
 
-ALIASES                = \
-    "cb{1}=@code{\1}" \
-    "cpp=@code{.cpp}" \
-    "cmake=@code{.cmake}" \
-    "ce=@endcode"
+ALIASES                =
 
 # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
 # only. Doxygen will then generate output that is more tailored for C. For
@@ -2137,7 +2133,8 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             = CORRADE_UNUSED=
+PREDEFINED             = DOXYGEN_GENERATING_OUTPUT \
+    CORRADE_UNUSED=
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The
diff --git a/docs/Doxyfile-mcss b/docs/Doxyfile-mcss
index 446dba437f..e47fd878c5 100644
--- a/docs/Doxyfile-mcss
+++ b/docs/Doxyfile-mcss
@@ -40,6 +40,7 @@ ALIASES                = \
     "cpp=@code{.cpp}" \
     "glsl=@code{.glsl}" \
     "cmake=@code{.cmake}" \
+    "relativeref{2}=@ref \1::\2 \"\2\"" \
     "ce=@endcode" \
     "m_div{1}=@xmlonly<mcss:div xmlns:mcss=\"http://mcss.mosra.cz/doxygen/\" mcss:class=\"\1\">@endxmlonly" \
     "m_enddiv=@xmlonly</mcss:div>@endxmlonly" \
diff --git a/docs/README.md b/docs/README.md
index 0bdbde8790..6cddf97baa 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -71,3 +71,18 @@ nano Doxyfile # modify it to have GENERATE_TAGFILE = bullet.tag
 doxygen # it'll complain about some CHM file, ignore that
 cp bullet.tag ../habitat-sim/docs/
 ```
+
+### Updating the CSS theme, refreshing the compiled version of it
+
+Make your changes to `theme.css`. Easiest is to experiment in a browser
+inspector and then copy the updated colors over to the theme file. Note that
+the color variables are shared by multiple places, so for example changing
+colors of the warning note will also affect labels and table backgrounds.
+
+Then, run `./build.sh` (which regenerates `theme-compiled.css`, which is
+deliberately *not* tracked in Git) and verify the generated output in the
+browser again.
+
+The `theme.css` should then get synced with the `habitat-lab` and
+`habitat-website` repositories so it's always possible to play with the colors
+in context of one repository and sync it to the others.
diff --git a/docs/m.css b/docs/m.css
index a0d292ec31..0da03060e3 160000
--- a/docs/m.css
+++ b/docs/m.css
@@ -1 +1 @@
-Subproject commit a0d292ec311b97fefd21e93cdefb60f88d19ede6
+Subproject commit 0da03060e30a23c0e9e54b0e25b71e9d2733d616
diff --git a/docs/theme.css b/docs/theme.css
index d35f52bebc..293df63258 100644
--- a/docs/theme.css
+++ b/docs/theme.css
@@ -97,10 +97,10 @@
 
   --success-color: #3bd267;
   --success-link-active-color: #acecbe;
-  --success-filled-color: #acecbe;
-  --success-filled-background-color: #2a703f;
-  --success-filled-link-color: #3bd267;
-  --success-filled-link-active-color: #acecbe;
+  --success-filled-color: #2a703f;
+  --success-filled-background-color: #d9efdf;
+  --success-filled-link-color: #00cf3c;
+  --success-filled-link-active-color: #53e97d;
 
   --warning-color: #6d7207;
   --warning-link-active-color: #e9ecae;
@@ -118,8 +118,8 @@
 
   --info-color: #2f83cc;
   --info-link-active-color: #5297d7;
-  --info-filled-color: #a5caeb;
-  --info-filled-background-color: #2a4f70;
+  --info-filled-color: #2a4f70;
+  --info-filled-background-color: #d7ebfe;
   --info-filled-link-color: #5297d7;
   --info-filled-link-active-color: #a5caeb;