diff --git a/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h b/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
index 3ae2be88..13536d8e 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
@@ -40,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsMaterialAPI
 ///
-/// API providing extension attributes to represent physicsl MuJoCo materials.
+/// API providing extension attributes to represent physical MuJoCo materials.
 ///
 class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
  public:
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index a2d759ef..4d3848ce 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -528,7 +528,7 @@ class "MjcJointAPI" (
 }
 
 class "MjcMaterialAPI" (
-    doc = "API providing extension attributes to represent physicsl MuJoCo materials."
+    doc = "API providing extension attributes to represent physical MuJoCo materials."
 )
 {
     uniform double mjc:rollingfriction = 0.0001 (
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 48e93689..7e424f1f 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -1017,7 +1017,7 @@ class "MjcMaterialAPI"
     customData = {
         string className = "MaterialAPI"
     }
-    doc = """API providing extension attributes to represent physicsl MuJoCo materials."""
+    doc = """API providing extension attributes to represent physical MuJoCo materials."""
 
     inherits = </APISchemaBase>
 )