diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index 879d4bda..ba1a6135 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -84,13 +84,29 @@ changed by the user.
 mjtByte
 ^^^^^^^
 
-Byte type used to represent boolean variables.
+Byte type used to represent small integers and binary data.
 
 .. code-block:: C
 
    typedef unsigned char mjtByte;
 
 
+.. _mjtBool:
+
+mjtBool
+^^^^^^^
+
+Boolean type used to represent true/false values.
+
+.. code-block:: C
+
+   #ifndef __cplusplus
+     typedef _Bool mjtBool;
+   #else
+     typedef bool mjtBool;
+   #endif
+
+
 .. _mjtSize:
 
 mjtSize
diff --git a/doc/programming/index.rst b/doc/programming/index.rst
index 852685cb..99cc50dc 100644
--- a/doc/programming/index.rst
+++ b/doc/programming/index.rst
@@ -230,8 +230,7 @@ to which the symbol belongs. First we list the prefixes corresponding to type de
    Core simulation data structure (C struct), for example :ref:`mjModel`. If all characters
    after the prefix are capital, for example :ref:`mjMIN`, this is a macro or a symbol (#define).
 ``mjt``
-   Primitive type, for example :ref:`mjtGeom`. Except for mjtByte and mjtNum, all other
-   definitions in this family are enums.
+   Primitive type, for example :ref:`mjtNum` and :ref:`mjtGeom`. Most types in this family are enums.
 ``mjf``
    Callback function type, for example :ref:`mjfGeneric`.
 ``mjv``
diff --git a/include/mujoco/mjassert.h b/include/mujoco/mjassert.h
index 5c69f940..169cbb30 100644
--- a/include/mujoco/mjassert.h
+++ b/include/mujoco/mjassert.h
@@ -36,16 +36,17 @@
     typedef char mj_assert_##type[sizeof(type) == (size) ? 1 : -1]
 #endif
 
-// mjtnum.h
-MJ_ASSERT_SIZE(mjtByte, 1);
-MJ_ASSERT_SIZE(mjtSize, 8);
+// primitive types
 #if !defined(mjUSESINGLE)
 MJ_ASSERT_SIZE(mjtNum, 8);
 #else
 MJ_ASSERT_SIZE(mjtNum, 4);
 #endif
+MJ_ASSERT_SIZE(mjtByte, 1);
+MJ_ASSERT_SIZE(mjtBool, 1);
+MJ_ASSERT_SIZE(mjtSize, 8);
 
-// mjmodel.h
+// mjModel enums
 MJ_ASSERT_SIZE(mjtDisableBit, 4);
 MJ_ASSERT_SIZE(mjtEnableBit, 4);
 MJ_ASSERT_SIZE(mjtJoint, 4);
@@ -79,7 +80,7 @@ MJ_ASSERT_SIZE(mjtLRMode, 4);
 MJ_ASSERT_SIZE(mjtFlexSelf, 4);
 MJ_ASSERT_SIZE(mjtSDFType, 4);
 
-// mjdata.h
+// mjData enums
 MJ_ASSERT_SIZE(mjtState, 4);
 MJ_ASSERT_SIZE(mjtConstraint, 4);
 MJ_ASSERT_SIZE(mjtConstraintState, 4);
diff --git a/include/mujoco/mjtype.h b/include/mujoco/mjtype.h
index 62426a11..b3296824 100644
--- a/include/mujoco/mjtype.h
+++ b/include/mujoco/mjtype.h
@@ -15,6 +15,7 @@
 #ifndef MUJOCO_INCLUDE_MJTYPE_H_
 #define MUJOCO_INCLUDE_MJTYPE_H_
 
+#include <stdbool.h>
 #include <stdint.h>
 
 
@@ -33,9 +34,13 @@
 
 //---------------------------------- byte definition -----------------------------------------------
 
-typedef unsigned char mjtByte;    // used for true/false
-
+typedef unsigned char mjtByte;    // used for small integers and binary data
 
+#ifndef __cplusplus
+  typedef _Bool mjtBool;          // used for boolean values
+#else
+  typedef bool mjtBool;           // used for boolean values
+#endif
 
 //---------------------------------- size definition -----------------------------------------------
 
diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index 724325c6..5dee5684 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -22,7 +22,7 @@ from introspect import ast_nodes
 from introspect import structs
 
 
-SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtNum'}
+SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtBool', 'mjtNum'}
 
 # pylint: disable=bad-whitespace
 # key, parent, default, listname, objtype
diff --git a/wasm/codegen/generators/constants.py b/wasm/codegen/generators/constants.py
index 2338dff0..fedb130f 100644
--- a/wasm/codegen/generators/constants.py
+++ b/wasm/codegen/generators/constants.py
@@ -24,6 +24,7 @@ PRIMITIVE_TYPES: Set[str] = {
     "float",
     "int",
     "mjtByte",
+    "mjtBool",
     "mjtMeshBuiltin",
     "mjtNum",
     "mjtObj",  # Adding this to the primitives because it is used as int,
diff --git a/wasm/codegen/generators/functions.py b/wasm/codegen/generators/functions.py
index bc0f73d1..bb296d12 100644
--- a/wasm/codegen/generators/functions.py
+++ b/wasm/codegen/generators/functions.py
@@ -148,7 +148,7 @@ def get_param_string(p: ast_nodes.FunctionParameterDecl) -> str:
         return f"const String& {p.name}"
     elif (
         p.type.inner_type.name
-        in ["int", "float", "double", "mjtNum", "mjtByte"]
+        in ["int", "float", "double", "mjtNum", "mjtByte", "mjtBool"]
         and p.type.inner_type.is_const
     ):
       return f"const NumberArray& {p.name}"