diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index b87af4b4..72b51f20 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -588,6 +588,20 @@
 |                          |    |    | :at:`user`              |                         |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
+| |_2|:el:`plugin`         | \* | .. table::                                                                         |
+|                          |    |    :class: mjcf-attributes                                                         |
+|                          |    |                                                                                    |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`name`              | :at:`plugin`            | :at:`instance`          | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
++--------------------------+----+------------------------------------------------------------------------------------+
+| |_3|:el:`config`         | \* | .. table::                                                                         |
+|                          |    |    :class: mjcf-attributes                                                         |
+|                          |    |                                                                                    |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`key`               | :at:`value`             |                         | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
++--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:ref:`inertial       | ?  | .. table::                                                                         |
 | <body-inertial>`         |    |    :class: mjcf-attributes                                                         |
 |                          |    |                                                                                    |
@@ -705,7 +719,25 @@
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`spacing`           | :at:`offset`            | :at:`flatinertia`       | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`solrefsmooth`      | :at:`solimpsmooth`      |                         | |
+|                          |    |    | :at:`solrefsmooth`      | :at:`solimpsmooth`      | :at:`vertex`            | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`flat`              | :at:`initial`           | :at:`curve`             | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`size`              |                         |                         | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
++--------------------------+----+------------------------------------------------------------------------------------+
+| |_3|:el:`plugin`         | \* | .. table::                                                                         |
+|                          |    |    :class: mjcf-attributes                                                         |
+|                          |    |                                                                                    |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`name`              | :at:`plugin`            | :at:`instance`          | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
++--------------------------+----+------------------------------------------------------------------------------------+
+| |_4|:el:`config`         | \* | .. table::                                                                         |
+|                          |    |    :class: mjcf-attributes                                                         |
+|                          |    |                                                                                    |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`key`               | :at:`value`             |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_3|:ref:`joint          | \* | .. table::                                                                         |