diff --git a/doc/includes/references.h b/doc/includes/references.h
index 18473228..a9a50278 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2639,9 +2639,9 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
                           mjvSceneState* scnstate);
 void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                   const mjvPerturb* pert, int catmask, mjvScene* scn);
-void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
-void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
-void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
+void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
+void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 void mjr_defaultContext(mjrContext* con);
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 void mjr_changeFont(int fontscale, mjrContext* con);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 72bfc367..a6506395 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -688,13 +688,13 @@ MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                         const mjvPerturb* pert, int catmask, mjvScene* scn);
 
 // Make list of lights.
-MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // Update camera.
-MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
+MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
 
 // Update skins.
-MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 
 
 //---------------------------------- OpenGL rendering ----------------------------------------------
diff --git a/introspect/functions.py b/introspect/functions.py
index d643828b..2bb72499 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -4478,7 +4478,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
@@ -4504,7 +4504,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
@@ -4536,7 +4536,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData'),
+                     inner_type=ValueType(name='mjData', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 9dca56bd..f35df109 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -2063,7 +2063,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
 
 // make list of lights only
-void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn) {
+void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
   mjvLight* thislight;
 
   // clear counter
@@ -2130,7 +2130,7 @@ void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn) {
 
 
 // update camera only
-void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn) {
+void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn) {
   mjtNum ca, sa, ce, se, move[3], *mat;
   mjtNum headpos[3], forward[3], up[3], right[3], ipd;
 
@@ -2560,7 +2560,7 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
 
 
 // update all skins, here for backward API compatibility
-void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
+void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn) {
   mjvOption opt;
   mjv_defaultOption(&opt);
   mjv_updateActiveSkin(m, d, scn, &opt);
@@ -2570,7 +2570,7 @@ void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
 
 
 // update visible skins only
-void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
+void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt) {
   // process skins
   for (int i=0; i < m->nskin; i++) {
     // get info
diff --git a/src/engine/engine_vis_visualize.h b/src/engine/engine_vis_visualize.h
index 33e8d2e2..e5437624 100644
--- a/src/engine/engine_vis_visualize.h
+++ b/src/engine/engine_vis_visualize.h
@@ -48,19 +48,19 @@ MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                         const mjvPerturb* pert, int catmask, mjvScene* scn);
 
 // make list of lights only
-MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // update camera only
-MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn);
+MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
 
 // update visible flexes only
 MJAPI void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
 
 // update skins only
-MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
+MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
 
 // update visible skins only
-MJAPI void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
+MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt);
 
 #define mjNCATENARY 31