diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index b64782f2..f851d7ec 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3791,8 +3791,6 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
 .. _flex-contact:
 .. _flexcomp-contact:
 
-.. _flexcomp-contact-:
-
 .. _flex-contact-contype:
 .. _flexcomp-contact-contype:
 
@@ -3865,7 +3863,7 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
 
 
 **deformable** (*)
-~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~~~
 
 
 .. _contact:
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 85d5c7b4..0458347c 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -517,7 +517,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`friction<flexcomp-contact-friction>`                      | :ref:`solmix<flexcomp-contact-solmix>`                          | :ref:`solref<flexcomp-contact-solref>`                          | :ref:`solimp<flexcomp-contact-solimp>`                          | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`margin<flexcomp-contact-margin>`                          | :ref:`gap<flexcomp-contact-gap>`                                | :ref:`<flexcomp-contact->`                                      |                                                                 | |
+|                                    |    |    | :ref:`margin<flexcomp-contact-margin>`                          | :ref:`gap<flexcomp-contact-gap>`                                |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| flexcomp |br| |_2| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 51f43a04..6b41cc5d 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -142,7 +142,7 @@ Python bindings
 24. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
     camera name used the default camera.
 25. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
-   visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
+    visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
 26. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
     and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
 
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 84bc1638..0019576b 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -300,7 +300,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"<"},
             {"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
             {"contact", "?", "10", "contype", "conaffinity", "condim", "priority",
-                "friction", "solmix", "solref", "solimp", "margin", "gap", },
+                "friction", "solmix", "solref", "solimp", "margin", "gap"},
             {"pin", "*", "4", "id", "range", "grid", "gridrange"},
         {">"},
     {">"},