diff --git a/doc/changelog.rst b/doc/changelog.rst
index 6981d1fc..be3b7b26 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -119,7 +119,7 @@ Plugins
 ^^^^^^^
 
 5. Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
-   for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
+   for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`_
    example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
 
 Simulate
diff --git a/model/plugin/belt.xml b/model/plugin/elasticity/belt.xml
similarity index 100%
rename from model/plugin/belt.xml
rename to model/plugin/elasticity/belt.xml
diff --git a/model/plugin/cable.xml b/model/plugin/elasticity/cable.xml
similarity index 100%
rename from model/plugin/cable.xml
rename to model/plugin/elasticity/cable.xml
diff --git a/model/plugin/coil.xml b/model/plugin/elasticity/coil.xml
similarity index 100%
rename from model/plugin/coil.xml
rename to model/plugin/elasticity/coil.xml
diff --git a/model/plugin/floppy.xml b/model/plugin/elasticity/floppy.xml
similarity index 100%
rename from model/plugin/floppy.xml
rename to model/plugin/elasticity/floppy.xml
diff --git a/model/plugin/jelly.xml b/model/plugin/elasticity/jelly.xml
similarity index 100%
rename from model/plugin/jelly.xml
rename to model/plugin/elasticity/jelly.xml
diff --git a/model/plugin/press.xml b/model/plugin/elasticity/press.xml
similarity index 100%
rename from model/plugin/press.xml
rename to model/plugin/elasticity/press.xml
diff --git a/model/plugin/scene.xml b/model/plugin/elasticity/scene.xml
similarity index 99%
rename from model/plugin/scene.xml
rename to model/plugin/elasticity/scene.xml
index 0e4cb347..ef314930 100644
--- a/model/plugin/scene.xml
+++ b/model/plugin/elasticity/scene.xml
@@ -38,4 +38,4 @@
 
     <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
   </worldbody>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/model/plugin/a.png b/model/plugin/sensor/a.png
similarity index 100%
rename from model/plugin/a.png
rename to model/plugin/sensor/a.png
diff --git a/model/plugin/touch_grid.xml b/model/plugin/sensor/touch_grid.xml
similarity index 100%
rename from model/plugin/touch_grid.xml
rename to model/plugin/sensor/touch_grid.xml
diff --git a/plugin/sensor/README.md b/plugin/sensor/README.md
index fdcf86a7..e6b4e9d3 100644
--- a/plugin/sensor/README.md
+++ b/plugin/sensor/README.md
@@ -69,7 +69,7 @@ Note the following:
  <img src="http://img.youtube.com/vi/0LOJ3WMnqeA/hqdefault.jpg" alt="Watch the video" width="560" height="315"/>
 </a>
 
-See [touch_grid.xml](../../model/plugin/touch_grid.xml) to play with the model above.
+See [touch_grid.xml](../../model/plugin/sensor/touch_grid.xml) to play with the model above.
 
 ### Illustration of fields-of-view in spherical coordinates