diff --git a/include/mujoco/mjplugin.h b/include/mujoco/mjplugin.h
index c142d517..0fc31a6c 100644
--- a/include/mujoco/mjplugin.h
+++ b/include/mujoco/mjplugin.h
@@ -48,7 +48,7 @@ typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* n
 // callback for checking if the current resource was modified from the time
 // specified by the timestamp
 // returns 0 if the resource's timestamp matches the provided timestamp
-// returns > 0 if the the resource is younger than the given timestamp
+// returns > 0 if the resource is younger than the given timestamp
 // returns < 0 if the resource is older than the given timestamp
 typedef int (*mjfResourceModified)(const mjResource* resource, const char* timestamp);
 
diff --git a/src/engine/engine_callback.c b/src/engine/engine_callback.c
index 67249f2a..148f6dc3 100644
--- a/src/engine/engine_callback.c
+++ b/src/engine/engine_callback.c
@@ -29,7 +29,7 @@ mjfAct mjcb_act_dyn      = 0;
 
 
 
-// reset callbacks to defauls
+// reset callbacks to defaults
 void mj_resetCallbacks(void) {
   mjcb_passive  = 0;
   mjcb_control  = 0;
diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
index 1860ad4d..d4e78f00 100644
--- a/src/engine/engine_collision_box.c
+++ b/src/engine/engine_collision_box.c
@@ -475,7 +475,7 @@ int mjraw_CapsuleBox(mjContact* con, mjtNum margin,
   } else if (cltype >= 0 && cltype / 3 == 1) {  // we are on box's edge
     // hacks to find the relative orientation of capsule and edge
     // there are 2 cases:
-    //    c1= 2^n: edge and capsule are oriented in a T configuaration (no more contacts
+    //    c1= 2^n: edge and capsule are oriented in a T configuration (no more contacts
     //    c1!=2^n: oriented in a cross X configuration
 
     c1 = axisdir ^ clcorner;  // same trick
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 36c81652..655d0b48 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -1153,7 +1153,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
 
   // init with pairs involving always-colliding bodies
   for (int b1=0; b1 < nbody; b1++) {
-    // cannot colide
+    // cannot collide
     if (!canCollide(m, b1)) {
       continue;
     }
@@ -1163,7 +1163,7 @@ int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
         (m->body_weldid[b1] == 0 && hasPlane(m, b1))) {
       // add b1:body pairs that are not welded together
       for (int b2=0; b2 < nbody; b2++) {
-        // cannot colide
+        // cannot collide
         if (!canCollide(m, b2)) {
           continue;
         }
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 29f30a2e..68465374 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1408,7 +1408,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     // add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
     ctx->nH = m->nC + ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
 
-    // shift H row adresses to make room for C
+    // shift H row addresses to make room for C
     int shift = 0;
     for (int r = 0; r < nv - 1; r++) {
       shift += d->C_rownnz[r];
@@ -1443,7 +1443,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     ctx->nL = mju_cholFactorCount(ctx->L_rownnz, HT_rownnz, HT_rowadr, HT_colind, nv, d);
     mj_freeStack(d);
 
-    // compute L row adresses: rowadr = cumsum(rownnz)
+    // compute L row addresses: rowadr = cumsum(rownnz)
     ctx->L_rowadr[0] = 0;
     for (int r=1; r < nv; r++) {
       ctx->L_rowadr[r] = ctx->L_rowadr[r-1] + ctx->L_rownnz[r-1];
diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h
index 91ea13cc..66e59842 100644
--- a/src/engine/engine_util_solve.h
+++ b/src/engine/engine_util_solve.h
@@ -114,7 +114,7 @@ MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index,
                            mjtNum** H, mjtNum** g, int n,
                            mjtNum** lower, mjtNum** upper);
 
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options (see implemetation)
+// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options (see implementation)
 MJAPI int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index,
                           const mjtNum* H, const mjtNum* g, int n,
                           const mjtNum* lower, const mjtNum* upper,
diff --git a/src/render/render_context.c b/src/render/render_context.c
index b0b2a361..6adb4f11 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -895,7 +895,7 @@ static void setVertexHaze(float* v, float az, float h, float r) {
 
 // truncated cone for haze rendering
 static void haze(int nSlice, float r, const float* rgba) {
-  // compute elevation h for transparancy transition point
+  // compute elevation h for transparency transition point
   float alpha = atan2f(1, r);
   float beta = (float)(0.75*mjPI) - alpha;
   float h = sqrtf(0.5f) * r * sinf(alpha) / sinf(beta);
diff --git a/src/ui/ui_main.c b/src/ui/ui_main.c
index c1146363..6cfa003b 100644
--- a/src/ui/ui_main.c
+++ b/src/ui/ui_main.c
@@ -228,7 +228,7 @@ static void initOpenGL(const mjrRect* r, const mjrContext* con) {
 
 
 
-// get text width up to specificed limit (0: 0, -1: entire string)
+// get text width up to specified limit (0: 0, -1: entire string)
 static int textwidth(const char* text, const mjrContext* con, int limit) {
   int i = 0, width = 0;
 
@@ -1523,7 +1523,7 @@ static void setitemskip(mjuiSection* s, int pass) {
 
 
 
-// Compute UI sizes: internal fuction, may be called twice per resize
+// Compute UI sizes: internal function, may be called twice per resize
 static void tryresize(mjUI* ui, const mjrContext* con) {
   // scale theme sizes
   int w_master =   SCL(ui->spacing.total,    con);
@@ -2969,7 +2969,7 @@ void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con) {
       mjr_rectangle(r, ui->color.select2[0],
         ui->color.select2[1], ui->color.select2[2], 1);
 
-      // hightlight row under mouse
+      // highlight row under mouse
       int k = findselect(it, ui, state, con);
       if (k >= 0) {
         mjrRect r1 = r;
diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index ab34b7b8..b90245cd 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -139,7 +139,7 @@ void mjCComposite::SetDefault(void) {
     }
   }
 
-  // set all deafult groups to 3
+  // set all default groups to 3
   for (int i=0; i<mjNCOMPKINDS; i++) {
     def[i].spec.geom->group = 3;
     def[i].spec.site->group = 3;
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 7b1b0116..338c1896 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -1527,7 +1527,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
     // read elements, discard all tags
     element.reserve(numNodeTags*numElements);
     for (size_t i=0; i<numElements; i++) {
-      int nodeTag = 0, physicalEntityTag = 0, elmentModelEntityTag = 0;
+      int nodeTag = 0, physicalEntityTag = 0, elementModelEntityTag = 0;
       if (i != 0) {
         ss >> tag >> elementType >> numTags;
         if (!ss.good()) {
@@ -1535,7 +1535,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
         }
       }
       if (numTags > 0) {
-        ss >> physicalEntityTag >> elmentModelEntityTag;
+        ss >> physicalEntityTag >> elementModelEntityTag;
         if (!ss.good()) {
           throw mjCError(NULL, "Error reading Elements");
         }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 532eece0..2a926855 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -131,7 +131,7 @@ mjCModel::mjCModel() {
 
   //------------------------ auto-computed statistics
 #ifndef MEMORY_SANITIZER
-  // initializing as best practice, but want MSAN to catch unintialized use
+  // initializing as best practice, but want MSAN to catch uninitialized use
   meaninertia_auto = 0;
   meanmass_auto = 0;
   meansize_auto = 0;
@@ -1845,7 +1845,7 @@ void mjCModel::AutoSpringDamper(mjModel* m) {
     int adr = m->jnt_dofadr[n];
     int ndim = mjCJoint::nv((mjtJoint)m->jnt_type[n]);
 
-    // get timeconst and dampratio from joint specificatin
+    // get timeconst and dampratio from joint specification
     mjtNum timeconst = (mjtNum)joints_[n]->springdamper[0];
     mjtNum dampratio = (mjtNum)joints_[n]->springdamper[1];
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 82c46acd..c1f49f29 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1123,7 +1123,7 @@ void mjCBody::NameSpace(const mjCModel* m) {
 
 
 
-// apply prefix and suffix, propagate to all descendents or only to child bodies
+// apply prefix and suffix, propagate to all descendants or only to child bodies
 void mjCBody::NameSpace_(const mjCModel* m, bool propagate) {
   mjCBase::NameSpace(m);
   if (!plugin_instance_name.empty()) {
@@ -5487,7 +5487,7 @@ void mjCTendon::Compile(void) {
       case mjWRAP_PULLEY:
         // pulley should not follow other pulley
         if (i>0 && path[i-1]->type==mjWRAP_PULLEY) {
-          throw mjCError(this, "tendon '%s' (id = %d): consequtive pulleys (pos %d)",
+          throw mjCError(this, "tendon '%s' (id = %d): consecutive pulleys (pos %d)",
                          name.c_str(), id, i);
         }
 
diff --git a/src/user/user_resource.cc b/src/user/user_resource.cc
index 980d7ee9..b82d7c0c 100644
--- a/src/user/user_resource.cc
+++ b/src/user/user_resource.cc
@@ -249,7 +249,7 @@ void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
 
 
 // return 0 if the resource's timestamp matches the provided timestamp
-// return > 0 if the the resource is younger than the given timestamp
+// return > 0 if the resource is younger than the given timestamp
 // return < 0 if the resource is older than the given timestamp
 int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
   // provider is not OS filesystem
diff --git a/src/user/user_resource.h b/src/user/user_resource.h
index 82a70ed6..1d2093b6 100644
--- a/src/user/user_resource.h
+++ b/src/user/user_resource.h
@@ -42,7 +42,7 @@ MJAPI int mju_readResource(mjResource* resource, const void** buffer);
 MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
 
 // return 0 if the resource's timestamp matches the provided timestamp
-// return > 0 if the the resource is younger than the given timestamp
+// return > 0 if the resource is younger than the given timestamp
 // return < 0 if the resource is older than the given timestamp
 MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
 
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index 803c22d4..db022bfb 100644
--- a/src/user/user_util.cc
+++ b/src/user/user_util.cc
@@ -993,7 +993,7 @@ std::string FilePath::PathReduce(const std::string& str) {
   int j = abs_prefix.size();
 
   for (int i = j; i < str.size(); ++i) {
-    if (IsSeperator(str[i])) {
+    if (IsSeparator(str[i])) {
       std::string temp = str.substr(j, i - j);
       j = i + 1;
       if (temp == ".." && !dirs.empty() && dirs.back() != "..") {
diff --git a/src/user/user_util.h b/src/user/user_util.h
index 8a95d61e..1d516ab8 100644
--- a/src/user/user_util.h
+++ b/src/user/user_util.h
@@ -211,7 +211,7 @@ class FilePath {
  private:
   static std::string AbsPrefix(const std::string& str);
   static std::string PathReduce(const std::string& str);
-  static bool IsSeperator(char c) {
+  static bool IsSeparator(char c) {
     return c == '/' || c == '\\';
   }
   static std::string Combine(const std::string& s1, const std::string& s2);