diff --git a/doc/includes/references.h b/doc/includes/references.h
index 457dc11b7f..820e571e50 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -256,8 +256,8 @@ struct mjData_ {
   int*    ten_J_colind;      // column indices in sparse Jacobian                (ntendon x nv)
   mjtNum* ten_J;             // tendon Jacobian                                  (ntendon x nv)
   mjtNum* ten_length;        // tendon lengths                                   (ntendon x 1)
-  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap*2 x 1)
-  mjtNum* wrap_xpos;         // Cartesian 3D points in all path                  (nwrap*2 x 3)
+  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap x 2)
+  mjtNum* wrap_xpos;         // Cartesian 3D points in all paths                 (nwrap x 6)
 
   // computed by mj_fwdPosition/mj_transmission
   mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
@@ -1388,8 +1388,8 @@ struct mjModel_ {
   mjtNum*   key_qpos;             // key position                             (nkey x nq)
   mjtNum*   key_qvel;             // key velocity                             (nkey x nv)
   mjtNum*   key_act;              // key activation                           (nkey x na)
-  mjtNum*   key_mpos;             // key mocap position                       (nkey x 3*nmocap)
-  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x 4*nmocap)
+  mjtNum*   key_mpos;             // key mocap position                       (nkey x nmocap*3)
+  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x nmocap*4)
   mjtNum*   key_ctrl;             // key control                              (nkey x nu)
 
   // names
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index dbe05f403b..44342c900f 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -284,8 +284,8 @@ struct mjData_ {
   int*    ten_J_colind;      // column indices in sparse Jacobian                (ntendon x nv)
   mjtNum* ten_J;             // tendon Jacobian                                  (ntendon x nv)
   mjtNum* ten_length;        // tendon lengths                                   (ntendon x 1)
-  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap*2 x 1)
-  mjtNum* wrap_xpos;         // Cartesian 3D points in all path                  (nwrap*2 x 3)
+  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap x 2)
+  mjtNum* wrap_xpos;         // Cartesian 3D points in all paths                 (nwrap x 6)
 
   // computed by mj_fwdPosition/mj_transmission
   mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 32b65b740a..7893a8b343 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -1095,8 +1095,8 @@ struct mjModel_ {
   mjtNum*   key_qpos;             // key position                             (nkey x nq)
   mjtNum*   key_qvel;             // key velocity                             (nkey x nv)
   mjtNum*   key_act;              // key activation                           (nkey x na)
-  mjtNum*   key_mpos;             // key mocap position                       (nkey x 3*nmocap)
-  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x 4*nmocap)
+  mjtNum*   key_mpos;             // key mocap position                       (nkey x nmocap*3)
+  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x nmocap*4)
   mjtNum*   key_ctrl;             // key control                              (nkey x nu)
 
   // names
diff --git a/introspect/structs.py b/introspect/structs.py
index 19549b89c9..d844f0c64e 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -4075,7 +4075,7 @@
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc='key mocap position',
-                 array_extent=('nkey', '3*nmocap'),
+                 array_extent=('nkey', 'nmocap*3'),
              ),
              StructFieldDecl(
                  name='key_mquat',
@@ -4083,7 +4083,7 @@
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc='key mocap quaternion',
-                 array_extent=('nkey', '4*nmocap'),
+                 array_extent=('nkey', 'nmocap*4'),
              ),
              StructFieldDecl(
                  name='key_ctrl',
@@ -5126,15 +5126,15 @@
                      inner_type=ValueType(name='int'),
                  ),
                  doc='geom id; -1: site; -2: pulley',
-                 array_extent=('nwrap*2',),
+                 array_extent=('nwrap', 2),
              ),
              StructFieldDecl(
                  name='wrap_xpos',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='Cartesian 3D points in all path',
-                 array_extent=('nwrap*2', 3),
+                 doc='Cartesian 3D points in all paths',
+                 array_extent=('nwrap', 6),
              ),
              StructFieldDecl(
                  name='actuator_length',