diff --git a/doc/changelog.rst b/doc/changelog.rst
index c93cc451..8b2080c2 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -87,6 +87,7 @@ Bug fixes
 ^^^^^^^^^
 22. Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying contact information
     correctly (:github:issue:`1710`).
+23. Fix an issue with saving to XML that caused frames to be written multiple times (:github:issue:`1802`).
 
 Version 3.1.6 (Jun 3, 2024)
 ---------------------------
diff --git a/doc/programming/modeledit.rst b/doc/programming/modeledit.rst
index 080f07da..24aa64ae 100644
--- a/doc/programming/modeledit.rst
+++ b/doc/programming/modeledit.rst
@@ -109,7 +109,7 @@ Known issues
   which is already using this API.
 - One of the central design consideration of the new API is incremental compilation, meaning that after making small
   changes to a spec that has already been compiled, subsequent re-compilation will be very fast. While the code is
-  written to support inceremntal compilation, this functionality is not fully implemented and will be added in the
+  written to support incremental compilation, this functionality is not fully implemented and will be added in the
   future, resulting in faster re-compilation times.
 - Since the main test for the new API is the MJCF parser, which always constructs a model from scratch, there
   might be latent bugs related to model editing. Please report such bugs if you encounter them.