diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 2f8fdbb5..c9de4f53 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3655,11 +3655,6 @@ saving the XML:
    </mujoco>
 
 
-.. _body-flexcomp-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
 .. _body-flexcomp-name:
 
 :at:`name`: :at-val:`string, required`
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index e7fbe7ff..84b5aff4 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -487,19 +487,17 @@
 | :ref:`flexcomp                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <body-flexcomp>`                   |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-flexcomp-name>`                                 | :ref:`class<body-flexcomp-class>`                               | :ref:`type<body-flexcomp-type>`                                 | :ref:`group<body-flexcomp-group>`                               | |
+|                                    |    |    | :ref:`name<body-flexcomp-name>`                                 | :ref:`type<body-flexcomp-type>`                                 | :ref:`group<body-flexcomp-group>`                               | :ref:`dim<body-flexcomp-dim>`                                   | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`dim<body-flexcomp-dim>`                                   | :ref:`count<body-flexcomp-count>`                               | :ref:`spacing<body-flexcomp-spacing>`                           | :ref:`radius<body-flexcomp-radius>`                             | |
+|                                    |    |    | :ref:`count<body-flexcomp-count>`                               | :ref:`spacing<body-flexcomp-spacing>`                           | :ref:`radius<body-flexcomp-radius>`                             | :ref:`rigid<body-flexcomp-rigid>`                               | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rigid<body-flexcomp-rigid>`                               | :ref:`mass<body-flexcomp-mass>`                                 | :ref:`inertiabox<body-flexcomp-inertiabox>`                     | :ref:`scale<body-flexcomp-scale>`                               | |
+|                                    |    |    | :ref:`mass<body-flexcomp-mass>`                                 | :ref:`inertiabox<body-flexcomp-inertiabox>`                     | :ref:`scale<body-flexcomp-scale>`                               | :ref:`file<body-flexcomp-file>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`file<body-flexcomp-file>`                                 | :ref:`point<body-flexcomp-point>`                               | :ref:`element<body-flexcomp-element>`                           | :ref:`texcoord<body-flexcomp-texcoord>`                         | |
+|                                    |    |    | :ref:`point<body-flexcomp-point>`                               | :ref:`element<body-flexcomp-element>`                           | :ref:`texcoord<body-flexcomp-texcoord>`                         | :ref:`material<body-flexcomp-material>`                         | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<body-flexcomp-material>`                         | :ref:`rgba<body-flexcomp-rgba>`                                 | :ref:`flatskin<body-flexcomp-flatskin>`                         | :ref:`pos<body-flexcomp-pos>`                                   | |
+|                                    |    |    | :ref:`rgba<body-flexcomp-rgba>`                                 | :ref:`flatskin<body-flexcomp-flatskin>`                         | :ref:`pos<body-flexcomp-pos>`                                   | :ref:`quat<body-flexcomp-quat>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`quat<body-flexcomp-quat>`                                 | :ref:`axisangle<body-flexcomp-axisangle>`                       | :ref:`xyaxes<body-flexcomp-xyaxes>`                             | :ref:`zaxis<body-flexcomp-zaxis>`                               | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`euler<body-flexcomp-euler>`                               |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`axisangle<body-flexcomp-axisangle>`                       | :ref:`xyaxes<body-flexcomp-xyaxes>`                             | :ref:`zaxis<body-flexcomp-zaxis>`                               | :ref:`euler<body-flexcomp-euler>`                               | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| flexcomp |br| |_2| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 8cf7e0d1..49f9c007 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -293,7 +293,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
               {"config", "*", "2", "key", "value"},
             {">"},
         {">"},
-        {"flexcomp", "*", "25", "name", "class", "type", "group", "dim",
+        {"flexcomp", "*", "24", "name", "type", "group", "dim",
             "count", "spacing", "radius", "rigid", "mass", "inertiabox",
             "scale", "file", "point", "element", "texcoord", "material", "rgba",
             "flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler"},