We use the DocFlex/XML XML Schema Documentation Generator to automatically produce hyperlinked documentation of the schema as part of the online documentation at the PreTeXt website, located at mathbook.pugetsound.edu/doc/schema/. Because this is produced from the XSD version of the schema, it will reproduce the small inaccuracies mentioned above. But it is still a very convenient and informative way to explore the schema, or use it for reference. If you know of a similar tool of the same quality, but which documents RELAX-NG schema, a report would be greatly appreciated.