diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 21b150b7..a5769bbf 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -176,7 +176,7 @@ MJAPI void mj_deleteModel(mjModel* m);
 // Return size of buffer needed to hold model.
 MJAPI int mj_sizeModel(const mjModel* m);
 
-// Allocate mjData correponding to given model.
+// Allocate mjData corresponding to given model.
 // If the model buffer is unallocated the initial configuration will not be set.
 MJAPI mjData* mj_makeData(const mjModel* m);
 
@@ -345,7 +345,7 @@ MJAPI void mj_collision(const mjModel* m, mjData* d);
 // Construct constraints.
 MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
 
-// Compute inverse constaint inertia efc_AR.
+// Compute inverse constraint inertia efc_AR.
 MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
 
 // Compute efc_vel, efc_aref.
@@ -419,7 +419,7 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
 // Destination can be sparse uncompressed, or dense when all int* are NULL
 MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
 
-// Apply cartesian force and torque (outside xfrc_applied mechanism).
+// Apply Cartesian force and torque (outside xfrc_applied mechanism).
 MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
                       const mjtNum point[3], int body, mjtNum* qfrc_target);
 
diff --git a/introspect/functions.py b/introspect/functions.py
index ed5eda36..205e8420 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -579,7 +579,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Allocate mjData correponding to given model. If the model buffer is unallocated the initial configuration will not be set.',  # pylint: disable=line-too-long
+         doc='Allocate mjData corresponding to given model. If the model buffer is unallocated the initial configuration will not be set.',  # pylint: disable=line-too-long
      )),
     ('mj_copyData',
      FunctionDecl(
@@ -1704,7 +1704,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Compute inverse constaint inertia efc_AR.',
+         doc='Compute inverse constraint inertia efc_AR.',
      )),
     ('mj_referenceConstraint',
      FunctionDecl(
@@ -2393,7 +2393,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Apply cartesian force and torque (outside xfrc_applied mechanism).',  # pylint: disable=line-too-long
+         doc='Apply Cartesian force and torque (outside xfrc_applied mechanism).',  # pylint: disable=line-too-long
      )),
     ('mj_objectVelocity',
      FunctionDecl(
diff --git a/plugin/elasticity/cable.cc b/plugin/elasticity/cable.cc
index 65412ae9..779b1d07 100644
--- a/plugin/elasticity/cable.cc
+++ b/plugin/elasticity/cable.cc
@@ -73,7 +73,7 @@ void QuatDiff(mjtNum* quat, const mjtNum body_quat[4],
 //     stiffness   - material parameters
 //     quat        - orientation of the body in local coordinates
 //     omega0      - initial curvature
-//     xquat       - cartesian orientation of the body (optional)
+//     xquat       - Cartesian orientation of the body (optional)
 //     scl         - scaling of the force
 //   outputs:
 //     stress      - local stress contribution
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index ca8430a3..5ee036bd 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -82,7 +82,7 @@ MJAPI const char* mj_validateReferences(const mjModel* m);
 
 //------------------------------- mjData -----------------------------------------------------------
 
-// Allocate mjData correponding to given model.
+// Allocate mjData corresponding to given model.
 // If the model buffer is unallocated the initial configuration will not be set.
 MJAPI mjData* mj_makeData(const mjModel* m);
 
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index db944822..ffff9dd4 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1068,7 +1068,7 @@ void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
 
 //-------------------------- perturbations ---------------------------------------------------------
 
-// add cartesian force and torque to qfrc_target
+// add Cartesian force and torque to qfrc_target
 void mj_applyFT(const mjModel* m, mjData* d,
                 const mjtNum force[3], const mjtNum torque[3],
                 const mjtNum point[3], int body, mjtNum* qfrc_target) {
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
index b53f5c99..18fbaf33 100644
--- a/src/engine/engine_support.h
+++ b/src/engine/engine_support.h
@@ -114,7 +114,7 @@ MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
 
 //-------------------------- perturbations ---------------------------------------------------------
 
-// apply cartesian force and torque
+// apply Cartesian force and torque
 MJAPI void mj_applyFT(const mjModel* m, mjData* d,
                       const mjtNum force[3], const mjtNum torque[3],
                       const mjtNum point[3], int body, mjtNum* qfrc_target);