diff --git a/doc/includes/references.h b/doc/includes/references.h
index b97f2b93..35fd7ff1 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -347,8 +347,8 @@ struct mjData_ {
   mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
 
   // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:                (nv x 1)
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator
+  mjtNum* qfrc_inverse;      // net external force; should equal:
+                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
 
   // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
   mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 2b5eb7c6..b5b0373b 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -375,8 +375,8 @@ struct mjData_ {
   mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
 
   // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:                (nv x 1)
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator
+  mjtNum* qfrc_inverse;      // net external force; should equal:
+                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
 
   // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
   mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
diff --git a/python/mujoco/introspect/codegen/generate_structs.py b/python/mujoco/introspect/codegen/generate_structs.py
index 1c50db22..24da6e2e 100644
--- a/python/mujoco/introspect/codegen/generate_structs.py
+++ b/python/mujoco/introspect/codegen/generate_structs.py
@@ -47,7 +47,7 @@ _EXCLUDED = (
     'mjResource_',
 )
 
-_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s\s+\((.+) x (.+)\)\Z')
+_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
 
 
 def traverse(node, visitor):
@@ -93,16 +93,19 @@ class MjStructVisitor:
     # No valid normalization, just parse the declname.
     return type_parsing.parse_type(declname)
 
-  def _make_comment(self, node: ClangJsonNode) -> str:
+  def _make_comment(self, node: ClangJsonNode, strip: bool = True) -> str:
     """Makes a comment string from a Clang AST FullComment node."""
     kind = node.get('kind')
     if kind == 'TextComment':
-      return node['text'].replace('\N{NO-BREAK SPACE}', ' ').strip()
+      retval = node['text'].replace('\N{NO-BREAK SPACE}', ' ')
     else:
       strings = []
       for child in node['inner']:
-        strings.append(self._make_comment(child))
-      return ''.join(strings).strip()
+        strings.append(self._make_comment(child, strip=False))
+      retval = ''.join(strings)
+    if strip:
+      retval = retval.strip()
+    return retval
 
   def _make_field(
       self, node: ClangJsonNode
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 51799032..3db9e84c 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -1744,14 +1744,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='constraint solver reference:frictionloss (nv x mjNREF)',
+                 doc='constraint solver reference:frictionloss',
+                 array_extent=('nv', 'mjNREF'),
              ),
              StructFieldDecl(
                  name='dof_solimp',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='constraint solver impedance:frictionloss (nv x mjNIMP)',
+                 doc='constraint solver impedance:frictionloss',
+                 array_extent=('nv', 'mjNIMP'),
              ),
              StructFieldDecl(
                  name='dof_frictionloss',
@@ -1958,7 +1960,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(ngeom x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('ngeom',),
              ),
              StructFieldDecl(
                  name='geom_gap',
@@ -2117,7 +2120,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='global position rel. to sub-com in qpos0 (ncam x 3)',
+                 doc='global position rel. to sub-com in qpos0',
+                 array_extent=('ncam', 3),
              ),
              StructFieldDecl(
                  name='cam_pos0',
@@ -2268,7 +2272,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='global position rel. to sub-com in qpos0 (nlight x 3)',
+                 doc='global position rel. to sub-com in qpos0',
+                 array_extent=('nlight', 3),
              ),
              StructFieldDecl(
                  name='light_pos0',
@@ -2403,7 +2408,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(nflex x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('nflex',),
              ),
              StructFieldDecl(
                  name='flex_gap',
@@ -2434,7 +2440,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of active element layers, 3D only (nflex x 1)',
+                 doc='number of active element layers, 3D only',
+                 array_extent=('nflex',),
              ),
              StructFieldDecl(
                  name='flex_dim',
@@ -2649,7 +2656,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='shell fragment vertex ids (dim per frag) (nflexshelldata x 1)',  # pylint: disable=line-too-long
+                 doc='shell fragment vertex ids (dim per frag)',
+                 array_extent=('nflexshelldata',),
              ),
              StructFieldDecl(
                  name='flex_evpair',
@@ -2992,7 +3000,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address of asset path for mesh; -1: none (nmesh x 1)',
+                 doc='address of asset path for mesh; -1: none',
+                 array_extent=('nmesh',),
              ),
              StructFieldDecl(
                  name='mesh_polynum',
@@ -3239,7 +3248,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address of asset path for skin; -1: none (nskin x 1)',
+                 doc='address of asset path for skin; -1: none',
+                 array_extent=('nskin',),
              ),
              StructFieldDecl(
                  name='hfield_size',
@@ -3454,7 +3464,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='body1<<16 + body2',
+                 doc='body1 << 16 + body2',
                  array_extent=('npair',),
              ),
              StructFieldDecl(
@@ -3486,7 +3496,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(npair x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('npair',),
              ),
              StructFieldDecl(
                  name='pair_gap',
@@ -3509,7 +3520,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='body1<<16 + body2',
+                 doc='body1 << 16 + body2',
                  array_extent=('nexclude',),
              ),
              StructFieldDecl(
@@ -3581,7 +3592,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc="address of first object in tendon's path (ntendon x 1)",
+                 doc="address of first object in tendon's path",
+                 array_extent=('ntendon',),
              ),
              StructFieldDecl(
                  name='tendon_num',
@@ -4124,7 +4136,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc="address to each instance's config attrib (nplugin x 1)",
+                 doc="address to each instance's config attrib",
+                 array_extent=('nplugin',),
              ),
              StructFieldDecl(
                  name='numeric_adr',
@@ -5600,7 +5613,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='reduced dof-dof: address of each row in C_colind (nv x 1)',  # pylint: disable=line-too-long
+                 doc='reduced dof-dof: address of each row in C_colind',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='C_colind',
@@ -5727,7 +5741,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc="net external force; should equal:                (nv x 1)qfrc_applied + J'*xfrc_applied + qfrc_actuator",  # pylint: disable=line-too-long
+                 doc="net external force; should equal: qfrc_applied + J'*xfrc_applied + qfrc_actuator",  # pylint: disable=line-too-long
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='cacc',
@@ -5814,28 +5829,32 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of non-zeros in constraint Jacobian row T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='number of non-zeros in constraint Jacobian row T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_rowadr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='row start address in colind array              T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='row start address in colind array              T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_rowsuper',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of subsequent rows in supernode         T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='number of subsequent rows in supernode         T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_colind',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='column indices in constraint Jacobian          T (nJ x 1)',  # pylint: disable=line-too-long
+                 doc='column indices in constraint Jacobian          T',
+                 array_extent=('nJ',),
              ),
              StructFieldDecl(
                  name='efc_J',
@@ -9122,7 +9141,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='settotalmass',
                  type=ValueType(name='double'),
-                 doc='rescale masses and inertias;<=0: ignore',
+                 doc='rescale masses and inertias; <=0: ignore',
              ),
              StructFieldDecl(
                  name='balanceinertia',
@@ -9901,7 +9920,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='gap',
                  type=ValueType(name='double'),
-                 doc='include in solver if dist<margin-gap',
+                 doc='include in solver if dist < margin-gap',
              ),
              StructFieldDecl(
                  name='mass',