diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 2923c26a..8d643c21 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -18,7 +18,7 @@ The model and all files referenced in it can be loaded from disk or from a VFS w
 
 .. mujoco-include:: mj_loadXML
 
-Parse XML file in MJCF or URDF format, compile it, return low-level model.
+Parse XML file in MJCF or URDF format, compile it; return low-level model.
 
 If vfs is not NULL, look up files in vfs before reading from disk.
 
@@ -77,7 +77,7 @@ If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read
 
 .. mujoco-include:: mj_copyBack
 
-Copy real-valued arrays from model to spec, returns 1 on success.
+Copy real-valued arrays from model to spec; return 1 on success.
 
 .. _mj_recompile:
 
@@ -1188,7 +1188,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
 
 .. mujoco-include:: mj_rayHfield
 
-Intersect ray with hfield, return nearest distance or -1 if no intersection.
+Intersect ray with hfield; return nearest distance or -1 if no intersection.
 
 .. _mj_rayMesh:
 
@@ -1197,7 +1197,7 @@ Intersect ray with hfield, return nearest distance or -1 if no intersection.
 
 .. mujoco-include:: mj_rayMesh
 
-Intersect ray with mesh, return nearest distance or -1 if no intersection.
+Intersect ray with mesh; return nearest distance or -1 if no intersection.
 
 .. _mju_rayGeom:
 
@@ -1206,7 +1206,7 @@ Intersect ray with mesh, return nearest distance or -1 if no intersection.
 
 .. mujoco-include:: mju_rayGeom
 
-Intersect ray with pure geom, return nearest distance or -1 if no intersection.
+Intersect ray with pure geom; return nearest distance or -1 if no intersection.
 
 .. _mju_rayFlex:
 
@@ -1215,7 +1215,7 @@ Intersect ray with pure geom, return nearest distance or -1 if no intersection.
 
 .. mujoco-include:: mju_rayFlex
 
-Intersect ray with flex, return nearest distance or -1 if no intersection,
+Intersect ray with flex; return nearest distance or -1 if no intersection,
 and also output nearest vertex id.
 
 *Nullable:* ``vertid``
@@ -1227,7 +1227,7 @@ and also output nearest vertex id.
 
 .. mujoco-include:: mju_raySkin
 
-Intersect ray with skin, return nearest distance or -1 if no intersection,
+Intersect ray with skin; return nearest distance or -1 if no intersection,
 and also output nearest vertex id.
 
 *Nullable:* ``vertid``
@@ -1366,7 +1366,7 @@ Add file to VFS. The directory argument is optional and can be NULL or empty. Re
 
 .. mujoco-include:: mj_addBufferVFS
 
-Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.
+Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
 
 .. _mj_deleteFileVFS:
 
@@ -1375,7 +1375,7 @@ Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to
 
 .. mujoco-include:: mj_deleteFileVFS
 
-Delete file from VFS, return 0: success, -1: not found in VFS.
+Delete file from VFS; return 0: success, -1: not found in VFS.
 
 .. _mj_deleteVFS:
 
@@ -1419,7 +1419,7 @@ Get the capacity of the asset cache in bytes.
 
 .. mujoco-include:: mj_setCacheCapacity
 
-Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
+Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
 
 .. _mj_getCache:
 
@@ -1724,7 +1724,7 @@ Free memory allocation in mjSpec.
 
 .. mujoco-include:: mjs_activatePlugin
 
-Activate plugin. Returns 0 on success.
+Activate plugin; return 0 on success.
 
 .. _mjs_setDeepCopy:
 
@@ -1733,7 +1733,7 @@ Activate plugin. Returns 0 on success.
 
 .. mujoco-include:: mjs_setDeepCopy
 
-Turn deep copy on or off attach. Returns 0 on success.
+Turn deep copy on or off attach; return 0 on success.
 
 .. _Errorandmemory:
 
@@ -1914,7 +1914,7 @@ Convert pyramid representation to contact force.
 
 .. mujoco-include:: mju_springDamper
 
-Integrate spring-damper analytically, return pos(dt).
+Integrate spring-damper analytically; return pos(dt).
 
 .. _mju_min:
 
@@ -2999,8 +2999,9 @@ Set default resource provider definition.
 .. mujoco-include:: mjp_registerResourceProvider
 
 Globally register a resource provider in a thread-safe manner. The provider must have a prefix
-that is not a sub-prefix or super-prefix of any current registered providers.  This function
-returns a slot number > 0 on success.
+that is not a sub-prefix or super-prefix of any current registered providers.
+
+Return a slot number >= 0 on success, -1 on failure.
 
 .. _mjp_resourceProviderCount:
 
@@ -3334,7 +3335,7 @@ Set res = vec1 + vec2*scl.
 
 .. mujoco-include:: mju_normalize3
 
-Normalize vector, return length before normalization.
+Normalize vector; return length before normalization.
 
 .. _mju_norm3:
 
@@ -3424,7 +3425,7 @@ Set res = vec.
 
 .. mujoco-include:: mju_normalize4
 
-Normalize vector, return length before normalization.
+Normalize vector; return length before normalization.
 
 .. _mju_zero:
 
@@ -3541,7 +3542,7 @@ Set res = vec1 + vec2*scl.
 
 .. mujoco-include:: mju_normalize
 
-Normalize vector, return length before normalization.
+Normalize vector; return length before normalization.
 
 .. _mju_norm:
 
@@ -3586,7 +3587,7 @@ Multiply transposed matrix and vector: res = mat' * vec.
 
 .. mujoco-include:: mju_mulVecMatVec
 
-Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
+Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
 
 .. _mju_transpose:
 
@@ -3675,7 +3676,7 @@ Sparse math
 .. mujoco-include:: mju_dense2sparse
 
 Convert matrix from dense to sparse.
- nnz is size of res and colind, return 1 if too small, 0 otherwise.
+ nnz is size of res and colind; return 1 if too small, 0 otherwise.
 
 .. _mju_sparse2dense:
 
@@ -3808,7 +3809,7 @@ Construct quaternion performing rotation from z-axis to given vector.
 
 Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
 
-Returns the number of iterations required to converge
+Return the number of iterations required to converge.
 
 .. _mju_euler2Quat:
 
@@ -4050,7 +4051,7 @@ Attachment
 
 .. mujoco-include:: mjs_attach
 
-Attach child to a parent, return the attached element if success or NULL otherwise.
+Attach child to a parent; return the attached element if success or NULL otherwise.
 
 .. _AddTreeElements:
 
@@ -4063,7 +4064,7 @@ Tree elements
 
 .. mujoco-include:: mjs_addBody
 
-Add child body to body, return child.
+Add child body to body; return child.
 
 *Nullable:* ``def``
 
@@ -4074,7 +4075,7 @@ Add child body to body, return child.
 
 .. mujoco-include:: mjs_addSite
 
-Add site to body, return site spec.
+Add site to body; return site spec.
 
 *Nullable:* ``def``
 
@@ -4147,7 +4148,7 @@ Add frame to body.
 
 .. mujoco-include:: mjs_delete
 
-Remove object corresponding to the given element, return 0 on success.
+Remove object corresponding to the given element; return 0 on success.
 
 .. _AddNonTreeElements:
 
@@ -4575,7 +4576,7 @@ Attribute setters
 
 .. mujoco-include:: mjs_setName
 
-Set element's name, return 0 on success.
+Set element's name; return 0 on success.
 
 .. _mjs_setBuffer:
 
@@ -4756,7 +4757,7 @@ Set element's default.
 
 .. mujoco-include:: mjs_setFrame
 
-Set element's enclosing frame, return 0 on success.
+Set element's enclosing frame; return 0 on success.
 
 .. _mjs_resolveOrientation:
 
@@ -4765,7 +4766,7 @@ Set element's enclosing frame, return 0 on success.
 
 .. mujoco-include:: mjs_resolveOrientation
 
-Resolve alternative orientations to quat, return error if any.
+Resolve alternative orientations to quat; return error if any.
 
 .. _mjs_bodyToFrame:
 
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 00d42673..4e75ef2f 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -78,13 +78,13 @@ MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
 // Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
 MJAPI void mj_defaultVFS(mjVFS* vfs);
 
-// Add file to VFS, return 0: success, 2: repeated name, -1: failed to load.
+// Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.
 MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
 
-// Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.
+// Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
 MJAPI int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
 
-// Delete file from VFS, return 0: success, -1: not found in VFS.
+// Delete file from VFS; return 0: success, -1: not found in VFS.
 MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
 
 // Delete all files from VFS and deallocates VFS internal memory.
@@ -98,7 +98,7 @@ MJAPI size_t mj_getCacheSize(const mjCache* cache);
 // Get the capacity of the asset cache in bytes.
 MJAPI size_t mj_getCacheCapacity(const mjCache* cache);
 
-// Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
+// Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
 MJAPI size_t mj_setCacheCapacity(mjCache* cache, size_t size);
 
 // Get the internal asset cache used by the compiler.
@@ -109,7 +109,7 @@ MJAPI void mj_clearCache(mjCache* cache);
 
 //---------------------------------- Parse and compile ---------------------------------------------
 
-// Parse XML file in MJCF or URDF format, compile it, return low-level model.
+// Parse XML file in MJCF or URDF format, compile it; return low-level model.
 // If vfs is not NULL, look up files in vfs before reading from disk.
 // If error is not NULL, it must have size error_sz.
 // Nullable: vfs, error
@@ -132,10 +132,10 @@ MJAPI mjSpec* mj_parse(const char* filename, const char* content_type,
 // Nullable: vfs
 MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
 
-// Copy real-valued arrays from model to spec, returns 1 on success.
+// Copy real-valued arrays from model to spec; return 1 on success.
 MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
 
-// Recompile spec to model, preserving the state, return 0 on success.
+// Recompile spec to model, preserving the state; return 0 on success.
 // Nullable: vfs
 MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
 
@@ -147,12 +147,12 @@ MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, in
 // Free last XML model if loaded. Called internally at each load.
 MJAPI void mj_freeLastXML(void);
 
-// Save spec to XML string, return 0 on success, -1 on failure.
-// If length of the output buffer is too small, returns the required size.
+// Save spec to XML string; return 0 on success, -1 on failure.
+// If length of the output buffer is too small; return the required size.
 // Nullable: error
 MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
 
-// Save spec to XML file, return 0 on success, -1 otherwise.
+// Save spec to XML file; return 0 on success, -1 otherwise.
 // Nullable: error
 MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
 
@@ -285,10 +285,10 @@ MJAPI mjSpec* mj_copySpec(const mjSpec* s);
 // Free memory allocation in mjSpec.
 MJAPI void mj_deleteSpec(mjSpec* s);
 
-// Activate plugin. Returns 0 on success.
+// Activate plugin; return 0 on success.
 MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
 
-// Turn deep copy on or off attach. Returns 0 on success.
+// Turn deep copy on or off attach; return 0 on success.
 MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
 
 
@@ -544,10 +544,10 @@ MJAPI void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* ja
 // Compute subtree angular momentum matrix.
 MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
 
-// Get id of object with the specified mjtObj type and name, returns -1 if id not found.
+// Get id of object with the specified mjtObj type and name; return -1 if id not found.
 MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
 
-// Get name of object with the specified mjtObj type and id, returns NULL if name not found.
+// Get name of object with the specified mjtObj type and id; return NULL if name not found.
 MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
 
 // Convert sparse inertia matrix M into full (i.e. dense) matrix.
@@ -577,7 +577,7 @@ MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
 MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
                                  int objtype, int objid, mjtNum res[6], int flg_local);
 
-// Returns smallest signed distance between two geoms and optionally segment from geom1 to geom2.
+// Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
 // Nullable: fromto
 MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
                              mjtNum distmax, mjtNum fromto[6]);
@@ -641,26 +641,26 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons
                     const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
                     int geomid[1]);
 
-// Intersect ray with hfield, return nearest distance or -1 if no intersection.
+// Intersect ray with hfield; return nearest distance or -1 if no intersection.
 MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
                           const mjtNum pnt[3], const mjtNum vec[3]);
 
-// Intersect ray with mesh, return nearest distance or -1 if no intersection.
+// Intersect ray with mesh; return nearest distance or -1 if no intersection.
 MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
                         const mjtNum pnt[3], const mjtNum vec[3]);
 
-// Intersect ray with pure geom, return nearest distance or -1 if no intersection.
+// Intersect ray with pure geom; return nearest distance or -1 if no intersection.
 MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
                          const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
 
-// Intersect ray with flex, return nearest distance or -1 if no intersection,
+// Intersect ray with flex; return nearest distance or -1 if no intersection,
 // and also output nearest vertex id.
 // Nullable: vertid
 MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,
                          mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid,
                          const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
 
-// Intersect ray with skin, return nearest distance or -1 if no intersection,
+// Intersect ray with skin; return nearest distance or -1 if no intersection,
 // and also output nearest vertex id.
 // Nullable: vertid
 MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
@@ -725,7 +725,7 @@ MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb*
 // Return the average of two OpenGL cameras.
 MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
 
-// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
+// Select geom, flex or skin with mouse; return bodyid; -1: none selected.
 // Nullable: geomid, flexid, skinid
 MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
                      mjtNum aspectratio, mjtNum relx, mjtNum rely,
@@ -906,7 +906,7 @@ MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
 MJAPI void mjui_update(int section, int item, const mjUI* ui,
                        const mjuiState* state, const mjrContext* con);
 
-// Handle UI event, return pointer to changed item, NULL if no change.
+// Handle UI event; return pointer to changed item, NULL if no change.
 MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
 
 // Copy UI image to current buffer.
@@ -1022,7 +1022,7 @@ MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
 // Set res = vec1 + vec2*scl.
 MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
 
-// Normalize vector, return length before normalization.
+// Normalize vector; return length before normalization.
 MJAPI mjtNum mju_normalize3(mjtNum vec[3]);
 
 // Return vector length (without normalizing the vector).
@@ -1052,7 +1052,7 @@ MJAPI void mju_unit4(mjtNum res[4]);
 // Set res = vec.
 MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
 
-// Normalize vector, return length before normalization.
+// Normalize vector; return length before normalization.
 MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
 
 // Set res = 0.
@@ -1091,7 +1091,7 @@ MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
 // Set res = vec1 + vec2*scl.
 MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
 
-// Normalize vector, return length before normalization.
+// Normalize vector; return length before normalization.
 MJAPI mjtNum mju_normalize(mjtNum* res, int n);
 
 // Return vector length (without normalizing vector).
@@ -1106,7 +1106,7 @@ MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
 // Multiply transposed matrix and vector: res = mat' * vec.
 MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
 
-// Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
+// Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
 MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
 
 // Transpose matrix: res = mat'.
@@ -1144,7 +1144,7 @@ MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_forc
 //---------------------------------- Sparse math ---------------------------------------------------
 
 // Convert matrix from dense to sparse.
-//  nnz is size of res and colind, return 1 if too small, 0 otherwise.
+//  nnz is size of res and colind; return 1 if too small, 0 otherwise.
 MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
                            int* rownnz, int* rowadr, int* colind, int nnz);
 
@@ -1192,7 +1192,7 @@ MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
 MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
 
 // Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
-// Returns the number of iterations required to converge
+// Return the number of iterations required to converge.
 MJAPI int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
 
 // Convert sequence of Euler angles (radians) to quaternion.
@@ -1228,7 +1228,7 @@ MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
 MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
 
 // Band-dense Cholesky decomposition.
-//  Returns minimum value in the factorized diagonal, or 0 if rank-deficient.
+//  Return minimum value in the factorized diagonal, or 0 if rank-deficient.
 //  mat has (ntotal-ndense) x nband + ndense x ntotal elements.
 //  The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.
 //  The second ndense x ntotal store the band part as entire dense rows.
@@ -1257,7 +1257,7 @@ MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
 // Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
 MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
 
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper, return rank or -1 if failed
+// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper; return rank or -1 if failed
 //   inputs:
 //     n           - problem dimension
 //     H           - SPD matrix                n*n
@@ -1308,7 +1308,7 @@ MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum*
 // Convert pyramid representation to contact force.
 MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
 
-// Integrate spring-damper analytically, return pos(dt).
+// Integrate spring-damper analytically; return pos(dt).
 MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
 
 // Return min(a,b) with single evaluation of a and b.
@@ -1459,8 +1459,8 @@ MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
 MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
 
 // Globally register a resource provider in a thread-safe manner. The provider must have a prefix
-// that is not a sub-prefix or super-prefix of any current registered providers.  This function
-// returns a slot number > 0 on success.
+// that is not a sub-prefix or super-prefix of any current registered providers.
+// Return a slot number >= 0 on success, -1 on failure.
 MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
 
 // Return the number of globally registered resource providers.
@@ -1509,18 +1509,18 @@ MJAPI void mju_taskJoin(mjTask* task);
 
 //---------------------------------- Attachment ----------------------------------------------------
 
-// Attach child to a parent, return the attached element if success or NULL otherwise.
+// Attach child to a parent; return the attached element if success or NULL otherwise.
 MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                              const char* prefix, const char* suffix);
 
 
 //---------------------------------- Tree elements -------------------------------------------------
 
-// Add child body to body, return child.
+// Add child body to body; return child.
 // Nullable: def
 MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
 
-// Add site to body, return site spec.
+// Add site to body; return site spec.
 // Nullable: def
 MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
 
@@ -1546,7 +1546,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Remove object corresponding to the given element, return 0 on success.
+// Remove object corresponding to the given element; return 0 on success.
 MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
 
 
@@ -1611,33 +1611,33 @@ MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefa
 
 //---------------------------------- Set actuator parameters ---------------------------------------
 
-// Set actuator to motor, return error if any.
+// Set actuator to motor; return error if any.
 MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
 
-// Set actuator to position, return error if any.
+// Set actuator to position; return error if any.
 MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
                                     double dampratio[1], double timeconst[1], double inheritrange);
 
-// Set actuator to integrated velocity, return error if any.
+// Set actuator to integrated velocity; return error if any.
 MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
                                        double dampratio[1], double timeconst[1], double inheritrange);
 
-// Set actuator to velocity servo, return error if any.
+// Set actuator to velocity servo; return error if any.
 MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
 
-// Set actuator to activate damper, return error if any.
+// Set actuator to activate damper; return error if any.
 MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
 
-// Set actuator to hydraulic or pneumatic cylinder, return error if any.
+// Set actuator to hydraulic or pneumatic cylinder; return error if any.
 MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
                                     double bias, double area, double diameter);
 
-// Set actuator to muscle, return error if any.a
+// Set actuator to muscle; return error if any.a
 MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
                                   double range[2], double force, double scale, double lmin,
                                   double lmax, double vmax, double fpmax, double fvmax);
 
-// Set actuator to active adhesion, return error if any.
+// Set actuator to active adhesion; return error if any.
 MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
 
 
@@ -1728,7 +1728,7 @@ MJAPI double mjs_getWrapCoef(mjsWrap* wrap);
 
 //---------------------------------- Attribute setters ---------------------------------------------
 
-// Set element's name, return 0 on success.
+// Set element's name; return 0 on success.
 MJAPI int mjs_setName(mjsElement* element, const char* name);
 
 // Copy buffer.
@@ -1792,10 +1792,10 @@ MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
 // Set element's default.
 MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
 
-// Set element's enclosing frame, return 0 on success.
+// Set element's enclosing frame; return 0 on success.
 MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 
-// Resolve alternative orientations to quat, return error if any.
+// Resolve alternative orientations to quat; return error if any.
 MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
                                          const mjsOrientation* orientation);
 
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 1726aa94..6554eb9e 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -64,7 +64,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Add file to VFS, return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
+         doc='Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
      )),
     ('mj_addBufferVFS',
      FunctionDecl(
@@ -94,7 +94,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
+         doc='Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
      )),
     ('mj_deleteFileVFS',
      FunctionDecl(
@@ -114,7 +114,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Delete file from VFS, return 0: success, -1: not found in VFS.',
+         doc='Delete file from VFS; return 0: success, -1: not found in VFS.',
      )),
     ('mj_deleteVFS',
      FunctionDecl(
@@ -174,7 +174,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='size_t'),
              ),
          ),
-         doc='Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.',  # pylint: disable=line-too-long
+         doc='Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.',  # pylint: disable=line-too-long
      )),
     ('mj_getCache',
      FunctionDecl(
@@ -231,7 +231,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.',  # pylint: disable=line-too-long
+         doc='Parse XML file in MJCF or URDF format, compile it; return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.',  # pylint: disable=line-too-long
      )),
     ('mj_parseXML',
      FunctionDecl(
@@ -382,7 +382,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Copy real-valued arrays from model to spec, returns 1 on success.',  # pylint: disable=line-too-long
+         doc='Copy real-valued arrays from model to spec; return 1 on success.',
      )),
     ('mj_recompile',
      FunctionDecl(
@@ -415,7 +415,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Recompile spec to model, preserving the state, return 0 on success.',  # pylint: disable=line-too-long
+         doc='Recompile spec to model, preserving the state; return 0 on success.',  # pylint: disable=line-too-long
      )),
     ('mj_saveLastXML',
      FunctionDecl(
@@ -488,7 +488,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Save spec to XML string, return 0 on success, -1 on failure. If length of the output buffer is too small, returns the required size.',  # pylint: disable=line-too-long
+         doc='Save spec to XML string; return 0 on success, -1 on failure. If length of the output buffer is too small; return the required size.',  # pylint: disable=line-too-long
      )),
     ('mj_saveXML',
      FunctionDecl(
@@ -519,7 +519,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Save spec to XML file, return 0 on success, -1 otherwise.',
+         doc='Save spec to XML file; return 0 on success, -1 otherwise.',
      )),
     ('mju_getXMLDependencies',
      FunctionDecl(
@@ -1258,7 +1258,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Activate plugin. Returns 0 on success.',
+         doc='Activate plugin; return 0 on success.',
      )),
     ('mjs_setDeepCopy',
      FunctionDecl(
@@ -1276,7 +1276,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Turn deep copy on or off attach. Returns 0 on success.',
+         doc='Turn deep copy on or off attach; return 0 on success.',
      )),
     ('mj_printFormattedModel',
      FunctionDecl(
@@ -3122,7 +3122,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Get id of object with the specified mjtObj type and name, returns -1 if id not found.',  # pylint: disable=line-too-long
+         doc='Get id of object with the specified mjtObj type and name; return -1 if id not found.',  # pylint: disable=line-too-long
      )),
     ('mj_id2name',
      FunctionDecl(
@@ -3146,7 +3146,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Get name of object with the specified mjtObj type and id, returns NULL if name not found.',  # pylint: disable=line-too-long
+         doc='Get name of object with the specified mjtObj type and id; return NULL if name not found.',  # pylint: disable=line-too-long
      )),
     ('mj_fullM',
      FunctionDecl(
@@ -3454,7 +3454,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Returns smallest signed distance between two geoms and optionally segment from geom1 to geom2.',  # pylint: disable=line-too-long
+         doc='Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.',  # pylint: disable=line-too-long
      )),
     ('mj_contactForce',
      FunctionDecl(
@@ -3890,7 +3890,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Intersect ray with hfield, return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
+         doc='Intersect ray with hfield; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
      )),
     ('mj_rayMesh',
      FunctionDecl(
@@ -3928,7 +3928,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Intersect ray with mesh, return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
+         doc='Intersect ray with mesh; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
      )),
     ('mju_rayGeom',
      FunctionDecl(
@@ -3975,7 +3975,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
+         doc='Intersect ray with pure geom; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
      )),
     ('mju_rayFlex',
      FunctionDecl(
@@ -4041,7 +4041,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Intersect ray with flex, return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
+         doc='Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
      )),
     ('mju_raySkin',
      FunctionDecl(
@@ -4091,7 +4091,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
+         doc='Intersect ray with skin; return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
      )),
     ('mjv_defaultCamera',
      FunctionDecl(
@@ -4640,7 +4640,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Select geom, flex or skin with mouse, return bodyid; -1: none selected.',  # pylint: disable=line-too-long
+         doc='Select geom, flex or skin with mouse; return bodyid; -1: none selected.',  # pylint: disable=line-too-long
      )),
     ('mjv_defaultOption',
      FunctionDecl(
@@ -5879,7 +5879,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Handle UI event, return pointer to changed item, NULL if no change.',  # pylint: disable=line-too-long
+         doc='Handle UI event; return pointer to changed item, NULL if no change.',  # pylint: disable=line-too-long
      )),
     ('mjui_render',
      FunctionDecl(
@@ -6355,7 +6355,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Normalize vector, return length before normalization.',
+         doc='Normalize vector; return length before normalization.',
      )),
     ('mju_norm3',
      FunctionDecl(
@@ -6568,7 +6568,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Normalize vector, return length before normalization.',
+         doc='Normalize vector; return length before normalization.',
      )),
     ('mju_zero',
      FunctionDecl(
@@ -6884,7 +6884,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Normalize vector, return length before normalization.',
+         doc='Normalize vector; return length before normalization.',
      )),
     ('mju_norm',
      FunctionDecl(
@@ -7024,7 +7024,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc="Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.",  # pylint: disable=line-too-long
+         doc="Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.",  # pylint: disable=line-too-long
      )),
     ('mju_transpose',
      FunctionDecl(
@@ -7340,7 +7340,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='int'),
              ),
          ),
-         doc='Convert matrix from dense to sparse.  nnz is size of res and colind, return 1 if too small, 0 otherwise.',  # pylint: disable=line-too-long
+         doc='Convert matrix from dense to sparse.  nnz is size of res and colind; return 1 if too small, 0 otherwise.',  # pylint: disable=line-too-long
      )),
     ('mju_sparse2dense',
      FunctionDecl(
@@ -7719,7 +7719,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. Returns the number of iterations required to converge',  # pylint: disable=line-too-long
+         doc='Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. Return the number of iterations required to converge.',  # pylint: disable=line-too-long
      )),
     ('mju_euler2Quat',
      FunctionDecl(
@@ -7983,7 +7983,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='mjtNum'),
              ),
          ),
-         doc='Band-dense Cholesky decomposition.  Returns minimum value in the factorized diagonal, or 0 if rank-deficient.  mat has (ntotal-ndense) x nband + ndense x ntotal elements.  The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.  The second ndense x ntotal store the band part as entire dense rows.  Add diagadd+diagmul*mat_ii to diagonal before factorization.',  # pylint: disable=line-too-long
+         doc='Band-dense Cholesky decomposition.  Return minimum value in the factorized diagonal, or 0 if rank-deficient.  mat has (ntotal-ndense) x nband + ndense x ntotal elements.  The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.  The second ndense x ntotal store the band part as entire dense rows.  Add diagadd+diagmul*mat_ii to diagonal before factorization.',  # pylint: disable=line-too-long
      )),
     ('mju_cholSolveBand',
      FunctionDecl(
@@ -8252,7 +8252,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc="minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper, return rank or -1 if failed   inputs:     n           - problem dimension     H           - SPD matrix                n*n     g           - bias vector               n     lower       - lower bounds              n     upper       - upper bounds              n     res         - solution warmstart        n   return value:     nfree <= n  - rank of unconstrained subspace, -1 if failure   outputs (required):     res         - solution                  n     R           - subspace Cholesky factor  nfree*nfree    allocated: n*(n+7)   outputs (optional):     index       - set of free dimensions    nfree          allocated: n   notes:     the initial value of res is used to warmstart the solver     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output     index (if given) must have allocated size n, but only nfree values are used in output     only the lower triangles of H and R and are read from and written to, respectively     the convenience function mju_boxQPmalloc allocates the required data structures",  # pylint: disable=line-too-long
+         doc="minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper; return rank or -1 if failed   inputs:     n           - problem dimension     H           - SPD matrix                n*n     g           - bias vector               n     lower       - lower bounds              n     upper       - upper bounds              n     res         - solution warmstart        n   return value:     nfree <= n  - rank of unconstrained subspace, -1 if failure   outputs (required):     res         - solution                  n     R           - subspace Cholesky factor  nfree*nfree    allocated: n*(n+7)   outputs (optional):     index       - set of free dimensions    nfree          allocated: n   notes:     the initial value of res is used to warmstart the solver     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output     index (if given) must have allocated size n, but only nfree values are used in output     only the lower triangles of H and R and are read from and written to, respectively     the convenience function mju_boxQPmalloc allocates the required data structures",  # pylint: disable=line-too-long
      )),
     ('mju_boxQPmalloc',
      FunctionDecl(
@@ -8495,7 +8495,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='mjtNum'),
              ),
          ),
-         doc='Integrate spring-damper analytically, return pos(dt).',
+         doc='Integrate spring-damper analytically; return pos(dt).',
      )),
     ('mju_min',
      FunctionDecl(
@@ -9267,7 +9267,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers.  This function returns a slot number > 0 on success.',  # pylint: disable=line-too-long
+         doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers. Return a slot number >= 0 on success, -1 on failure.',  # pylint: disable=line-too-long
      )),
     ('mjp_resourceProviderCount',
      FunctionDecl(
@@ -9484,7 +9484,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Attach child to a parent, return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
+         doc='Attach child to a parent; return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
      )),
     ('mjs_addBody',
      FunctionDecl(
@@ -9507,7 +9507,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Add child body to body, return child.',
+         doc='Add child body to body; return child.',
      )),
     ('mjs_addSite',
      FunctionDecl(
@@ -9530,7 +9530,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  nullable=True,
              ),
          ),
-         doc='Add site to body, return site spec.',
+         doc='Add site to body; return site spec.',
      )),
     ('mjs_addJoint',
      FunctionDecl(
@@ -9680,7 +9680,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Remove object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
+         doc='Remove object corresponding to the given element; return 0 on success.',  # pylint: disable=line-too-long
      )),
     ('mjs_addActuator',
      FunctionDecl(
@@ -10041,7 +10041,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Set actuator to motor, return error if any.',
+         doc='Set actuator to motor; return error if any.',
      )),
     ('mjs_setToPosition',
      FunctionDecl(
@@ -10086,7 +10086,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to position, return error if any.',
+         doc='Set actuator to position; return error if any.',
      )),
     ('mjs_setToIntVelocity',
      FunctionDecl(
@@ -10131,7 +10131,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to integrated velocity, return error if any.',
+         doc='Set actuator to integrated velocity; return error if any.',
      )),
     ('mjs_setToVelocity',
      FunctionDecl(
@@ -10151,7 +10151,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to velocity servo, return error if any.',
+         doc='Set actuator to velocity servo; return error if any.',
      )),
     ('mjs_setToDamper',
      FunctionDecl(
@@ -10171,7 +10171,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to activate damper, return error if any.',
+         doc='Set actuator to activate damper; return error if any.',
      )),
     ('mjs_setToCylinder',
      FunctionDecl(
@@ -10203,7 +10203,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to hydraulic or pneumatic cylinder, return error if any.',  # pylint: disable=line-too-long
+         doc='Set actuator to hydraulic or pneumatic cylinder; return error if any.',  # pylint: disable=line-too-long
      )),
     ('mjs_setToMuscle',
      FunctionDecl(
@@ -10265,7 +10265,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to muscle, return error if any.a',
+         doc='Set actuator to muscle; return error if any.a',
      )),
     ('mjs_setToAdhesion',
      FunctionDecl(
@@ -10285,7 +10285,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='double'),
              ),
          ),
-         doc='Set actuator to active adhesion, return error if any.',
+         doc='Set actuator to active adhesion; return error if any.',
      )),
     ('mjs_addMesh',
      FunctionDecl(
@@ -10809,7 +10809,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc="Set element's name, return 0 on success.",
+         doc="Set element's name; return 0 on success.",
      )),
     ('mjs_setBuffer',
      FunctionDecl(
@@ -11202,7 +11202,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc="Set element's enclosing frame, return 0 on success.",
+         doc="Set element's enclosing frame; return 0 on success.",
      )),
     ('mjs_resolveOrientation',
      FunctionDecl(
@@ -11235,7 +11235,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Resolve alternative orientations to quat, return error if any.',
+         doc='Resolve alternative orientations to quat; return error if any.',
      )),
     ('mjs_bodyToFrame',
      FunctionDecl(