diff --git a/doc/includes/references.h b/doc/includes/references.h
index 948d88f9..58a6b7d5 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2500,7 +2500,7 @@ struct mjUI_ {                    // entire UI
 
   // UI sizes (framebuffer units)
   int width;                      // width
-  int height;                     // current heigth
+  int height;                     // current height
   int maxheight;                  // height when all sections open
   int scroll;                     // scroll from top of UI
 
diff --git a/include/mujoco/mjui.h b/include/mujoco/mjui.h
index f68141ce..990bf11e 100644
--- a/include/mujoco/mjui.h
+++ b/include/mujoco/mjui.h
@@ -304,7 +304,7 @@ struct mjUI_ {                    // entire UI
 
   // UI sizes (framebuffer units)
   int width;                      // width
-  int height;                     // current heigth
+  int height;                     // current height
   int maxheight;                  // height when all sections open
   int scroll;                     // scroll from top of UI
 
diff --git a/introspect/structs.py b/introspect/structs.py
index 194e410d..396b4dbe 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -12380,7 +12380,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='height',
                  type=ValueType(name='int'),
-                 doc='current heigth',
+                 doc='current height',
              ),
              StructFieldDecl(
                  name='maxheight',
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 9ad010c1..815c3007 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -988,7 +988,7 @@ def _site_dof_mask(m: Model) -> np.ndarray:
   mask = np.ones((m.nu, m.nv))
   for i in np.nonzero(m.actuator_trnid[:, 1] != -1)[0]:
     id_, refid = m.actuator_trnid[i]
-    # intialize last dof address for each body
+    # initialize last dof address for each body
     b0 = m.body_weldid[m.site_bodyid[id_]]
     b1 = m.body_weldid[m.site_bodyid[refid]]
     dofadr0 = m.body_dofadr[b0] + m.body_dofnum[b0] - 1
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index b90ba5d8..b9e1e6bf 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -147,7 +147,7 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
     mj_collision(m, d);  // timed internally (POS_COLLISION)
   }
 
-  // have threadpool: inertia and collision on seperate threads
+  // have threadpool: inertia and collision on separate threads
   else {
     mjTask tasks[2];
     mjFwdPositionArgs forward_args;
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index e77520e2..12538817 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -278,7 +278,7 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
     return 0;
   }
 
-  // intialize last dof address for each body
+  // initialize last dof address for each body
   da1 = m->body_dofadr[b1] + m->body_dofnum[b1] - 1;
   da2 = m->body_dofadr[b2] + m->body_dofnum[b2] - 1;
 
@@ -361,7 +361,7 @@ int mj_bodyChain(const mjModel* m, int body, int* chain) {
       return 0;
     }
 
-    // intialize last dof
+    // initialize last dof
     int da = m->body_dofadr[body] + m->body_dofnum[body] - 1;
     int NV = 0;
 
diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c
index eb3530b1..2cb8c8a0 100644
--- a/src/engine/engine_vis_interact.c
+++ b/src/engine/engine_vis_interact.c
@@ -497,7 +497,7 @@ void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
     // get current model rotation
     mju_f2n(rotate, scn->rotate, 4);
 
-    // compose rotation, normalize and and set
+    // compose rotation, normalize and set
     mju_mulQuat(result, quat, rotate);
     mju_normalize4(result);
     mju_n2f(scn->rotate, result, 4);