diff --git a/doc/includes/references.h b/doc/includes/references.h
index 434a7cb0..a3390fa5 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -988,7 +988,7 @@ struct mjModel_ {
   int nmeshpolymap;               // number of polygons in vertex map
   int nskin;                      // number of skins
   int nskinvert;                  // number of vertices in all skins
-  int nskintexvert;               // number of vertiex with texcoords in all skins
+  int nskintexvert;               // number of vertices with texcoords in all skins
   int nskinface;                  // number of triangular faces in all skins
   int nskinbone;                  // number of bones in all skins
   int nskinbonevert;              // number of vertices in all skin bones
@@ -1268,7 +1268,7 @@ struct mjModel_ {
   mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
   mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
   mjtByte*  flex_edgeequality;    // is edge equality constraint defined      (nflex x 1)
-  mjtByte*  flex_rigid;           // are all verices in the same body         (nflex x 1)
+  mjtByte*  flex_rigid;           // are all vertices in the same body         (nflex x 1)
   mjtByte*  flexedge_rigid;       // are both edge vertices in same body      (nflexedge x 1)
   mjtByte*  flex_centered;        // are all vertex coordinates (0,0,0)       (nflex x 1)
   mjtByte*  flex_flatskin;        // render flex skin with flat shading       (nflex x 1)
@@ -1748,7 +1748,7 @@ struct mjrContext_ {                // custom OpenGL context
 
   // character info
   int charWidth[127];               // character widths: normal and shadow
-  int charWidthBig[127];            // chacarter widths: big
+  int charWidthBig[127];            // character widths: big
   int charHeight;                   // character heights: normal and shadow
   int charHeightBig;                // character heights: big
 
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index a33f148d..c664847f 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -669,7 +669,7 @@ struct mjModel_ {
   int nmeshpolymap;               // number of polygons in vertex map
   int nskin;                      // number of skins
   int nskinvert;                  // number of vertices in all skins
-  int nskintexvert;               // number of vertiex with texcoords in all skins
+  int nskintexvert;               // number of vertices with texcoords in all skins
   int nskinface;                  // number of triangular faces in all skins
   int nskinbone;                  // number of bones in all skins
   int nskinbonevert;              // number of vertices in all skin bones
@@ -949,7 +949,7 @@ struct mjModel_ {
   mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
   mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
   mjtByte*  flex_edgeequality;    // is edge equality constraint defined      (nflex x 1)
-  mjtByte*  flex_rigid;           // are all verices in the same body         (nflex x 1)
+  mjtByte*  flex_rigid;           // are all vertices in the same body         (nflex x 1)
   mjtByte*  flexedge_rigid;       // are both edge vertices in same body      (nflexedge x 1)
   mjtByte*  flex_centered;        // are all vertex coordinates (0,0,0)       (nflex x 1)
   mjtByte*  flex_flatskin;        // render flex skin with flat shading       (nflex x 1)
diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h
index 9a8ed1b7..4eeacea9 100644
--- a/include/mujoco/mjrender.h
+++ b/include/mujoco/mjrender.h
@@ -149,7 +149,7 @@ struct mjrContext_ {                // custom OpenGL context
 
   // character info
   int charWidth[127];               // character widths: normal and shadow
-  int charWidthBig[127];            // chacarter widths: big
+  int charWidthBig[127];            // character widths: big
   int charHeight;                   // character heights: normal and shadow
   int charHeightBig;                // character heights: big
 
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 31417b45..805c76c9 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -1045,7 +1045,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='nskintexvert',
                  type=ValueType(name='int'),
-                 doc='number of vertiex with texcoords in all skins',
+                 doc='number of vertices with texcoords in all skins',
              ),
              StructFieldDecl(
                  name='nskinface',
@@ -2867,7 +2867,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtByte'),
                  ),
-                 doc='are all verices in the same body',
+                 doc='are all vertices in the same body',
                  array_extent=('nflex',),
              ),
              StructFieldDecl(
@@ -7766,7 +7766,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='int'),
                      extents=(127,),
                  ),
-                 doc='chacarter widths: big',
+                 doc='character widths: big',
              ),
              StructFieldDecl(
                  name='charHeight',