diff --git a/src/experimental/platform/plugin.cc b/src/experimental/platform/plugin.cc
index 13c262c1..fb790f63 100644
--- a/src/experimental/platform/plugin.cc
+++ b/src/experimental/platform/plugin.cc
@@ -12,89 +12,62 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "experimental/platform/plugin.h"
+
 #include <functional>
 #include <string_view>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/plugin.h"
 #include "engine/engine_global_table.h"
 
+using GuiPlugin = mujoco::platform::GuiPlugin;
+using ModelPlugin = mujoco::platform::ModelPlugin;
+
 namespace mujoco::platform {
 
-void RegisterGuiPlugin(const GuiPlugin* plugin) {
-  if (plugin->name == nullptr || plugin->name[0] == '\0') {
+template <typename T>
+void RegisterPlugin(T plugin) {
+  if (plugin.name == nullptr || plugin.name[0] == '\0') {
     mju_error("Plugin name must not be empty or null.");
   }
-  GlobalTable<GuiPlugin>::GetSingleton().AppendIfUnique(*plugin);
+  GlobalTable<T>::GetSingleton().AppendIfUnique(plugin);
 }
 
-void ForEachGuiPlugin(const std::function<void(GuiPlugin*)>& fn) {
-  auto& table = GlobalTable<GuiPlugin>::GetSingleton();
+template <typename T>
+void ForEachPlugin(const std::function<void(T*)>& fn) {
+  auto& table = mujoco::GlobalTable<T>::GetSingleton();
   for (int i = 0; i < table.count(); ++i) {
-    const GuiPlugin* plugin = table.GetAtSlot(i);
-    fn(const_cast<GuiPlugin*>(plugin));
-  }
-}
-
-void RegisterModelPlugin(const ModelPlugin* plugin) {
-  if (plugin->name == nullptr || plugin->name[0] == '\0') {
-    mju_error("Plugin name must not be empty or null.");
-  }
-  GlobalTable<ModelPlugin>::GetSingleton().AppendIfUnique(*plugin);
-}
-
-void ForEachModelPlugin(const std::function<void(ModelPlugin*)>& fn) {
-  auto& table = GlobalTable<ModelPlugin>::GetSingleton();
-  for (int i = 0; i < table.count(); ++i) {
-    const ModelPlugin* plugin = table.GetAtSlot(i);
-    fn(const_cast<ModelPlugin*>(plugin));
+    const T* plugin = table.GetAtSlot(i);
+    fn(const_cast<T*>(plugin));
   }
 }
 
 }  // namespace mujoco::platform
 
-using mujoco::GlobalTable;
-using GuiPlugin = mujoco::platform::GuiPlugin;
-using ModelPlugin = mujoco::platform::ModelPlugin;
+#define MUJOCO_SPECIALIZE_PLUGIN(PLUGIN, NAME)                                 \
+  template <>                                                                  \
+  const char* mujoco::GlobalTable<PLUGIN>::HumanReadableTypeName() {           \
+    return NAME;                                                               \
+  }                                                                            \
+  template <>                                                                  \
+  std::string_view mujoco::GlobalTable<PLUGIN>::ObjectKey(const PLUGIN& p) {   \
+    return std::string_view(p.name);                                           \
+  }                                                                            \
+  template <>                                                                  \
+  bool mujoco::GlobalTable<PLUGIN>::ObjectEqual(const PLUGIN& p1,              \
+                                                const PLUGIN& p2) {            \
+    return CaseInsensitiveEqual(p1.name, p2.name);                             \
+  }                                                                            \
+  template <>                                                                  \
+  bool mujoco::GlobalTable<PLUGIN>::CopyObject(PLUGIN& dst, const PLUGIN& src, \
+                                               ErrorMessage& err) {            \
+    dst = src;                                                                 \
+    return true;                                                               \
+  }                                                                            \
+  namespace mujoco::platform {                                                 \
+  template void RegisterPlugin<PLUGIN>(PLUGIN plugin);                         \
+  template void ForEachPlugin<PLUGIN>(const std::function<void(PLUGIN*)>& fn); \
+  }
 
-template <>
-const char* GlobalTable<GuiPlugin>::HumanReadableTypeName() {
-  return "gui plugin";
-}
-
-template <>
-std::string_view GlobalTable<GuiPlugin>::ObjectKey(const GuiPlugin& plugin) {
-  return std::string_view(plugin.name);
-}
-
-template <>
-bool GlobalTable<GuiPlugin>::ObjectEqual(const GuiPlugin& p1, const GuiPlugin& p2) {
-  return CaseInsensitiveEqual(p1.name, p2.name);
-}
-
-template <>
-bool GlobalTable<GuiPlugin>::CopyObject(GuiPlugin& dst, const GuiPlugin& src, ErrorMessage& err) {
-  dst = src;
-  return true;
-}
-
-template <>
-const char* GlobalTable<ModelPlugin>::HumanReadableTypeName() {
-  return "model plugin";
-}
-
-template <>
-std::string_view GlobalTable<ModelPlugin>::ObjectKey(const ModelPlugin& plugin) {
-  return std::string_view(plugin.name);
-}
-
-template <>
-bool GlobalTable<ModelPlugin>::ObjectEqual(const ModelPlugin& p1, const ModelPlugin& p2) {
-  return CaseInsensitiveEqual(p1.name, p2.name);
-}
-
-template <>
-bool GlobalTable<ModelPlugin>::CopyObject(ModelPlugin& dst, const ModelPlugin& src, ErrorMessage& err) {
-  dst = src;
-  return true;
-}
+MUJOCO_SPECIALIZE_PLUGIN(GuiPlugin, "gui plugin");
+MUJOCO_SPECIALIZE_PLUGIN(ModelPlugin, "model plugin");
diff --git a/src/experimental/platform/plugin.h b/src/experimental/platform/plugin.h
index 824b9793..f10fd641 100644
--- a/src/experimental/platform/plugin.h
+++ b/src/experimental/platform/plugin.h
@@ -20,10 +20,16 @@
 
 namespace mujoco::platform {
 
-// Important: Do not inherit from these plugin structs. They are copied by value
-// and therefore any derived classes will be sliced. We assume plugins are
-// effectively globals and so any pointers will be valid for the lifetime
-// of the process.
+// Registers plugins with the global registry. The plugins must have a
+// case-insensitive unique name for the plugin type. Note that plugins are
+// copied by value, so do not use inheritance.
+template <typename T>
+void RegisterPlugin(T plugin);
+
+// Executes the given function for each registered plugin of type T.
+template <typename T>
+void ForEachPlugin(const std::function<void(T*)>& fn);
+
 
 // Plugin for processing custom UI windows. The plugin will be listed in the
 // "Plugins" main menu and, when selected, an ImGui window will be opened with
@@ -47,8 +53,9 @@ struct GuiPlugin final {
   void* data = nullptr;
 };
 
+// Plugin for loading and updating models.
 struct ModelPlugin final {
-  using GetModelToLoadFn = const char* (*)(ModelPlugin * self, int* size,
+  using GetModelToLoadFn = const char* (*)(ModelPlugin* self, int* size,
                                            char* content_type,
                                            int content_type_size,
                                            char* model_name,
@@ -75,20 +82,6 @@ struct ModelPlugin final {
   void* data = nullptr;
 };
 
-// Registers a plugin with a global registry. The plugin must have a
-// case-insensitive unique name.
-void RegisterGuiPlugin(const GuiPlugin* plugin);
-
-// Executes the given function for each registered plugin.
-void ForEachGuiPlugin(const std::function<void(GuiPlugin*)>& fn);
-
-// Registers a plugin with a global registry. The plugin must have a
-// case-insensitive unique name.
-void RegisterModelPlugin(const ModelPlugin* plugin);
-
-// Executes the given function for each registered plugin.
-void ForEachModelPlugin(const std::function<void(ModelPlugin*)>& fn);
-
 }  // namespace mujoco::platform
 
 #endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
diff --git a/src/experimental/platform/renderer.cc b/src/experimental/platform/renderer.cc
index b1b39e52..6fe16730 100644
--- a/src/experimental/platform/renderer.cc
+++ b/src/experimental/platform/renderer.cc
@@ -219,6 +219,6 @@ mjPLUGIN_LIB_INIT {
   plugin.update = [](mujoco::platform::GuiPlugin* self) {
     mjr_updateGui(nullptr);
   };
-  mujoco::platform::RegisterGuiPlugin(&plugin);
+  mujoco::platform::RegisterPlugin(plugin);
 }
 #endif
diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
index 2454821f..6da86d2f 100644
--- a/src/experimental/studio/app.cc
+++ b/src/experimental/studio/app.cc
@@ -227,7 +227,7 @@ if (spec_op_) {
     spec_op_ = nullptr;
   }
 
-  platform::ForEachModelPlugin([&](platform::ModelPlugin* plugin) {
+  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
     if (plugin->post_model_loaded) {
       plugin->post_model_loaded(plugin, model_path_.c_str());
     }
@@ -271,7 +271,7 @@ void App::UpdatePhysics() {
   }
 
   bool stepped = false;
-  platform::ForEachModelPlugin([&](platform::ModelPlugin* plugin) {
+  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
     if (plugin->do_update) {
       if (plugin->do_update(plugin, model(), data())) {
         stepped = true;
@@ -392,7 +392,7 @@ void App::ProcessPendingLoads() {
   }
 
   // Check plugins to see if we need to load a new model.
-  platform::ForEachModelPlugin([&](platform::ModelPlugin* plugin) {
+  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
     if (plugin->get_model_to_load) {
       char model_name[1000] = "";
       char content_type[1000] = "";
@@ -781,7 +781,7 @@ void App::LoadSettings() {
 
       platform::KeyValues plugin_names =
           platform::ReadIniSection(settings, "[Studio][Plugins]");
-      platform::ForEachGuiPlugin([&](platform::GuiPlugin* plugin) {
+      platform::ForEachPlugin<platform::GuiPlugin>([&](auto* plugin) {
         auto it = plugin_names.find(plugin->name);
         if (it != plugin_names.end()) {
           plugin->active = std::stoi(it->second) != 0;
@@ -797,7 +797,7 @@ void App::SaveSettings() {
     platform::AppendIniSection(settings, "[Studio][UX]", ui_.ToDict());
 
     platform::KeyValues plugin_names;
-    platform::ForEachGuiPlugin([&](platform::GuiPlugin* plugin) {
+    platform::ForEachPlugin<platform::GuiPlugin>([&](auto* plugin) {
       plugin_names[plugin->name] = std::to_string((int)plugin->active);
     });
     platform::AppendIniSection(settings, "[Studio][Plugins]", plugin_names);
@@ -977,7 +977,7 @@ void App::BuildGui() {
     ImGui::End();
   }
 
-  platform::ForEachGuiPlugin([](platform::GuiPlugin* plugin) {
+  platform::ForEachPlugin<platform::GuiPlugin>([](auto* plugin) {
     if (!plugin->update) {
       return;
     }