diff --git a/src/experimental/platform/CMakeLists.txt b/src/experimental/platform/CMakeLists.txt
index 733b9ad4..4bf46f26 100644
--- a/src/experimental/platform/CMakeLists.txt
+++ b/src/experimental/platform/CMakeLists.txt
@@ -20,67 +20,67 @@ add_library(${MUJOCO_PLATFORM_TARGET_NAME} STATIC)
 
 target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
     PUBLIC
-        egl_utils.cc
-        egl_utils.h
-        enum_utils.h
-        file_dialog.h
-        graphics_mode.cc
-        graphics_mode.h
-        gui.cc
-        gui.h
-        gui_spec.cc
-        gui_spec.h
         helpers.cc
         helpers.h
-        imgui_widgets.cc
-        imgui_widgets.h
-        interaction.cc
-        interaction.h
-        model_holder.cc
-        model_holder.h
-        picture_gui.h
-        picture_gui.cc
-        plugin.cc
-        plugin.h
-        renderer.cc
-        renderer.h
-        sim_history.cc
-        sim_history.h
-        sim_profiler.cc
-        sim_profiler.h
-        spec_editor.cc
-        spec_editor.h
-        step_control.cc
-        step_control.h
-        window.cc
-        window.h
+        hal/egl_utils.cc
+        hal/egl_utils.h
+        hal/graphics_mode.cc
+        hal/graphics_mode.h
+        hal/renderer.cc
+        hal/renderer.h
+        hal/window.cc
+        hal/window.h
+        sim/model_holder.cc
+        sim/model_holder.h
+        sim/sim_history.cc
+        sim/sim_history.h
+        sim/sim_profiler.cc
+        sim/sim_profiler.h
+        sim/step_control.cc
+        sim/step_control.h
+        ux/enum_utils.h
+        ux/file_dialog.h
+        ux/gui.cc
+        ux/gui.h
+        ux/gui_spec.cc
+        ux/gui_spec.h
+        ux/imgui_widgets.cc
+        ux/imgui_widgets.h
+        ux/interaction.cc
+        ux/interaction.h
+        ux/picture_gui.h
+        ux/picture_gui.cc
+        ux/plugin.cc
+        ux/plugin.h
+        ux/spec_editor.cc
+        ux/spec_editor.h
 )
 
 if(NOT WIN32)
   target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
       PUBLIC
-          object_launcher_plugin.cc
+          ux/object_launcher_plugin.cc
   )
 endif()
 
 if(APPLE)
-    set_source_files_properties(window_osx.mm PROPERTIES
+    set_source_files_properties(hal/window_osx.mm PROPERTIES
         COMPILE_FLAGS "-x objective-c++")
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        window_osx.mm
-        file_dialog_cocoa.mm
+        hal/window_osx.mm
+        ux/file_dialog_cocoa.mm
     )
 elseif(UNIX AND NOT APPLE)
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog_zenity.cc
+        ux/file_dialog_zenity.cc
     )
 elseif(WIN32)
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog_win.cc
+        ux/file_dialog_win.cc
     )
 else()
     target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        file_dialog.cc
+        ux/file_dialog.cc
     )
 endif()
 
diff --git a/src/experimental/platform/egl_utils.cc b/src/experimental/platform/hal/egl_utils.cc
similarity index 99%
rename from src/experimental/platform/egl_utils.cc
rename to src/experimental/platform/hal/egl_utils.cc
index a91109ad..7ec0fc48 100644
--- a/src/experimental/platform/egl_utils.cc
+++ b/src/experimental/platform/hal/egl_utils.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/egl_utils.h"
+#include "experimental/platform/hal/egl_utils.h"
 
 #include <memory>
 
diff --git a/src/experimental/platform/egl_utils.h b/src/experimental/platform/hal/egl_utils.h
similarity index 83%
rename from src/experimental/platform/egl_utils.h
rename to src/experimental/platform/hal/egl_utils.h
index dc01dfda..342b15b9 100644
--- a/src/experimental/platform/egl_utils.h
+++ b/src/experimental/platform/hal/egl_utils.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
 
 #include <memory>
 
@@ -25,4 +25,4 @@ std::shared_ptr<void> CreateEglContext();
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_EGL_UTILS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
diff --git a/src/experimental/platform/graphics_mode.cc b/src/experimental/platform/hal/graphics_mode.cc
similarity index 98%
rename from src/experimental/platform/graphics_mode.cc
rename to src/experimental/platform/hal/graphics_mode.cc
index e291ed78..d992f1f4 100644
--- a/src/experimental/platform/graphics_mode.cc
+++ b/src/experimental/platform/hal/graphics_mode.cc
@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 
 #include <string_view>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
diff --git a/src/experimental/platform/graphics_mode.h b/src/experimental/platform/hal/graphics_mode.h
similarity index 90%
rename from src/experimental/platform/graphics_mode.h
rename to src/experimental/platform/hal/graphics_mode.h
index e5e79764..d81dfa96 100644
--- a/src/experimental/platform/graphics_mode.h
+++ b/src/experimental/platform/hal/graphics_mode.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
 
 #include <string_view>
 
@@ -56,4 +56,4 @@ GraphicsMode GraphicsModeFromString(std::string_view str,
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GRAPHICS_MODE_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
diff --git a/src/experimental/platform/renderer.cc b/src/experimental/platform/hal/renderer.cc
similarity index 93%
rename from src/experimental/platform/renderer.cc
rename to src/experimental/platform/hal/renderer.cc
index 42c77d5f..4a9be6c1 100644
--- a/src/experimental/platform/renderer.cc
+++ b/src/experimental/platform/hal/renderer.cc
@@ -12,23 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/renderer.h"
+#include "experimental/platform/hal/renderer.h"
 
 #include <chrono>
 #include <cstddef>
 #include <span>
 #include <utility>
 
-#include <mujoco/mujoco.h>
-
-#include <imgui.h>
 #include <backends/imgui_impl_opengl3.h>
+#include <imgui.h>
+#include <mujoco/mujoco.h>
 #if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
-#include "experimental/platform/egl_utils.h"
+#include "experimental/platform/hal/egl_utils.h"
 #endif
 #include "experimental/filament/render_context_filament.h"
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::platform {
 
@@ -47,9 +46,9 @@ Renderer::Renderer(void* native_window, GraphicsMode gfx)
     : native_window_(native_window), gfx_(gfx) {
   if (IsClassic(gfx_)) {
     if (native_window == nullptr) {
-      #if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
-        graphics_api_context_ = CreateEglContext();
-      #endif
+#if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
+      graphics_api_context_ = CreateEglContext();
+#endif
     }
     if (ImGui::GetCurrentContext()) {
       ImGui_ImplOpenGL3_Init();
@@ -147,8 +146,7 @@ void Renderer::Render(const mjModel* model, mjData* data,
     vis_option = &default_opt;
   }
 
-  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
-                  &scene_);
+  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL, &scene_);
 
   const bool render_to_texture = !pixels.empty();
   if (render_to_texture) {
@@ -215,8 +213,8 @@ int Renderer::UploadImage(int texture_id, const std::byte* pixels, int width,
     return 0;
   } else {
     return mjrf_uploadGuiImage(texture_id,
-                              reinterpret_cast<const unsigned char*>(pixels),
-                              width, height, bpp, &render_context_);
+                               reinterpret_cast<const unsigned char*>(pixels),
+                               width, height, bpp, &render_context_);
   }
 }
 
diff --git a/src/experimental/platform/renderer.h b/src/experimental/platform/hal/renderer.h
similarity index 94%
rename from src/experimental/platform/renderer.h
rename to src/experimental/platform/hal/renderer.h
index 2ac900b5..5efee347 100644
--- a/src/experimental/platform/renderer.h
+++ b/src/experimental/platform/hal/renderer.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
 
 #include <chrono>
 #include <cstddef>
@@ -23,7 +23,7 @@
 #include <span>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 
 namespace mujoco::platform {
 
@@ -113,4 +113,4 @@ class Renderer {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RENDERER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
diff --git a/src/experimental/platform/window.cc b/src/experimental/platform/hal/window.cc
similarity index 90%
rename from src/experimental/platform/window.cc
rename to src/experimental/platform/hal/window.cc
index 466db1a9..faf9a6d1 100644
--- a/src/experimental/platform/window.cc
+++ b/src/experimental/platform/hal/window.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/window.h"
 
 #include <algorithm>
 #include <cstddef>
@@ -32,10 +32,9 @@
 #include <backends/imgui_impl_sdl2.h>
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "user/user_resource.h"
 
-
 // Because X11/Xlib.h defines Status.
 #ifdef Status
 #undef Status
@@ -126,9 +125,9 @@ Window::Window(std::string_view title, int width, int height, Config config)
   }
 
   const float content_scale = ImGui_ImplSDL2_GetContentScaleForDisplay(0);
-  sdl_window_ = SDL_CreateWindow(title.data(), SDL_WINDOWPOS_UNDEFINED,
-                                 SDL_WINDOWPOS_UNDEFINED, width,
-                                 height, window_flags);
+  sdl_window_ =
+      SDL_CreateWindow(title.data(), SDL_WINDOWPOS_UNDEFINED,
+                       SDL_WINDOWPOS_UNDEFINED, width, height, window_flags);
   if (!sdl_window_) {
     mju_error("Error creating window: %s", SDL_GetError());
   }
@@ -156,14 +155,14 @@ Window::Window(std::string_view title, int width, int height, Config config)
     SDL_VERSION(&wmi.version);
     SDL_GetWindowWMInfo(sdl_window_, &wmi);
 
-    #if defined(__linux__)
-      native_window_ = reinterpret_cast<void*>(wmi.info.x11.window);
-    #elif defined(__WIN32__)
-      native_window_ = reinterpret_cast<void*>(wmi.info.win.window);
-    #elif defined(__APPLE__)
-      native_window_ =
-          GetNativeWindowOsx(reinterpret_cast<void*>(wmi.info.cocoa.window));
-    #endif
+#if defined(__linux__)
+    native_window_ = reinterpret_cast<void*>(wmi.info.x11.window);
+#elif defined(__WIN32__)
+    native_window_ = reinterpret_cast<void*>(wmi.info.win.window);
+#elif defined(__APPLE__)
+    native_window_ =
+        GetNativeWindowOsx(reinterpret_cast<void*>(wmi.info.cocoa.window));
+#endif
   }
 
   int drawable_width = width;
@@ -244,8 +243,7 @@ void Window::Present(std::span<const std::byte> pixels) {
     SDL_Surface* surface = SDL_GetWindowSurface(sdl_window_);
     const unsigned char* src =
         reinterpret_cast<const unsigned char*>(pixels.data());
-    unsigned char* dst =
-        static_cast<unsigned char*>(surface->pixels);
+    unsigned char* dst = static_cast<unsigned char*>(surface->pixels);
 
     for (int i = 0; i < height_; ++i) {
       for (int j = 0; j < width_; ++j) {
@@ -260,14 +258,12 @@ void Window::Present(std::span<const std::byte> pixels) {
     }
 
     SDL_RenderPresent(sdl_renderer_);
-  } else if (config_.gfx_mode != GraphicsMode::FilamentVulkan
-     && config_.gfx_mode != GraphicsMode::FilamentOpenGl) {
+  } else if (config_.gfx_mode != GraphicsMode::FilamentVulkan &&
+             config_.gfx_mode != GraphicsMode::FilamentOpenGl) {
     SDL_GL_SwapWindow(sdl_window_);
   }
 }
 
-GraphicsMode Window::GetGraphicsMode() const {
-  return config_.gfx_mode;
-}
+GraphicsMode Window::GetGraphicsMode() const { return config_.gfx_mode; }
 
 }  // namespace mujoco::platform
diff --git a/src/experimental/platform/window.h b/src/experimental/platform/hal/window.h
similarity index 93%
rename from src/experimental/platform/window.h
rename to src/experimental/platform/hal/window.h
index 63927ccb..4e9f504a 100644
--- a/src/experimental/platform/window.h
+++ b/src/experimental/platform/hal/window.h
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
 
 #include <cstddef>
 #include <span>
 #include <string>
 #include <string_view>
 
-#include <SDL_video.h>
 #include <SDL_render.h>
-#include "experimental/platform/graphics_mode.h"
+#include <SDL_video.h>
+#include "experimental/platform/hal/graphics_mode.h"
 
 namespace mujoco::platform {
 
@@ -104,4 +104,4 @@ class Window {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
diff --git a/src/experimental/platform/window_osx.mm b/src/experimental/platform/hal/window_osx.mm
similarity index 100%
rename from src/experimental/platform/window_osx.mm
rename to src/experimental/platform/hal/window_osx.mm
diff --git a/src/experimental/platform/model_holder.cc b/src/experimental/platform/sim/model_holder.cc
similarity index 98%
rename from src/experimental/platform/model_holder.cc
rename to src/experimental/platform/sim/model_holder.cc
index 52652eaa..402dde8e 100644
--- a/src/experimental/platform/model_holder.cc
+++ b/src/experimental/platform/sim/model_holder.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 #include <cstddef>
 #include <cstring>
diff --git a/src/experimental/platform/model_holder.h b/src/experimental/platform/sim/model_holder.h
similarity index 93%
rename from src/experimental/platform/model_holder.h
rename to src/experimental/platform/sim/model_holder.h
index e14d2c6a..abb13b90 100644
--- a/src/experimental/platform/model_holder.h
+++ b/src/experimental/platform/sim/model_holder.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
 
 #include <memory>
 #include <cstddef>
@@ -81,4 +81,4 @@ class ModelHolder {
 };
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
diff --git a/src/experimental/platform/sim_history.cc b/src/experimental/platform/sim/sim_history.cc
similarity index 97%
rename from src/experimental/platform/sim_history.cc
rename to src/experimental/platform/sim/sim_history.cc
index db22c6ca..b32d7232 100644
--- a/src/experimental/platform/sim_history.cc
+++ b/src/experimental/platform/sim/sim_history.cc
@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/sim_history.h"
+#include "experimental/platform/sim/sim_history.h"
 
 #include <algorithm>
 #include <climits>
 #include <span>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
diff --git a/src/experimental/platform/sim_history.h b/src/experimental/platform/sim/sim_history.h
similarity index 94%
rename from src/experimental/platform/sim_history.h
rename to src/experimental/platform/sim/sim_history.h
index 46601f58..cb1bf065 100644
--- a/src/experimental/platform/sim_history.h
+++ b/src/experimental/platform/sim/sim_history.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
 
 #include <span>
 #include <vector>
@@ -91,4 +91,4 @@ class SimHistory {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_HISTORY_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
diff --git a/src/experimental/platform/sim_profiler.cc b/src/experimental/platform/sim/sim_profiler.cc
similarity index 99%
rename from src/experimental/platform/sim_profiler.cc
rename to src/experimental/platform/sim/sim_profiler.cc
index a2032db9..7aca0c4c 100644
--- a/src/experimental/platform/sim_profiler.cc
+++ b/src/experimental/platform/sim/sim_profiler.cc
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/sim_profiler.h"
+#include "experimental/platform/sim/sim_profiler.h"
 
-#include <mujoco/mujoco.h>
 #include <imgui.h>
 #include <implot.h>
+#include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
 
diff --git a/src/experimental/platform/sim_profiler.h b/src/experimental/platform/sim/sim_profiler.h
similarity index 88%
rename from src/experimental/platform/sim_profiler.h
rename to src/experimental/platform/sim/sim_profiler.h
index 11887563..4e9cce46 100644
--- a/src/experimental/platform/sim_profiler.h
+++ b/src/experimental/platform/sim/sim_profiler.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
 
 #include <vector>
 
@@ -52,4 +52,4 @@ class SimProfiler {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_PROFILER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
diff --git a/src/experimental/platform/step_control.cc b/src/experimental/platform/sim/step_control.cc
similarity index 99%
rename from src/experimental/platform/step_control.cc
rename to src/experimental/platform/sim/step_control.cc
index 38c97fe2..7dbb9340 100644
--- a/src/experimental/platform/step_control.cc
+++ b/src/experimental/platform/sim/step_control.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/step_control.h"
+#include "experimental/platform/sim/step_control.h"
 
 #include <algorithm>
 #include <chrono>
diff --git a/src/experimental/platform/step_control.h b/src/experimental/platform/sim/step_control.h
similarity index 95%
rename from src/experimental/platform/step_control.h
rename to src/experimental/platform/sim/step_control.h
index 7cebbd1b..0fec3025 100644
--- a/src/experimental/platform/step_control.h
+++ b/src/experimental/platform/sim/step_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
 
 #include <chrono>
 #include <string>
@@ -123,4 +123,4 @@ class StepControl {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_STEP_CONTROL_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
diff --git a/src/experimental/platform/enum_utils.h b/src/experimental/platform/ux/enum_utils.h
similarity index 96%
rename from src/experimental/platform/enum_utils.h
rename to src/experimental/platform/ux/enum_utils.h
index a6e8ec0b..16ca6607 100644
--- a/src/experimental/platform/enum_utils.h
+++ b/src/experimental/platform/ux/enum_utils.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
 
 #include <array>
 #include <bit>
@@ -167,4 +167,4 @@ constexpr std::string_view enum_to_string(E value) {
 
 }  // namespace mujoco::platform::enum_utils
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_ENUM_UTILS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
diff --git a/src/experimental/platform/file_dialog.cc b/src/experimental/platform/ux/file_dialog.cc
similarity index 97%
rename from src/experimental/platform/file_dialog.cc
rename to src/experimental/platform/ux/file_dialog.cc
index 661b86dd..df1e0675 100644
--- a/src/experimental/platform/file_dialog.cc
+++ b/src/experimental/platform/ux/file_dialog.cc
@@ -12,10 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 #include <cstring>
-
 #include <span>
 #include <string>
 #include <string_view>
diff --git a/src/experimental/platform/file_dialog.h b/src/experimental/platform/ux/file_dialog.h
similarity index 90%
rename from src/experimental/platform/file_dialog.h
rename to src/experimental/platform/ux/file_dialog.h
index 303cf850..2ae80b09 100644
--- a/src/experimental/platform/file_dialog.h
+++ b/src/experimental/platform/ux/file_dialog.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
 
 #include <span>
 #include <string>
@@ -56,4 +56,4 @@ DialogResult SelectPathDialog(std::string_view path);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_FILE_DIALOG_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
diff --git a/src/experimental/platform/file_dialog_cocoa.mm b/src/experimental/platform/ux/file_dialog_cocoa.mm
similarity index 97%
rename from src/experimental/platform/file_dialog_cocoa.mm
rename to src/experimental/platform/ux/file_dialog_cocoa.mm
index b9caa2bd..a17e20ce 100644
--- a/src/experimental/platform/file_dialog_cocoa.mm
+++ b/src/experimental/platform/ux/file_dialog_cocoa.mm
@@ -16,7 +16,7 @@
 #include <string>
 
 #include <Cocoa/Cocoa.h>
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 namespace mujoco::platform {
 
diff --git a/src/experimental/platform/file_dialog_win.cc b/src/experimental/platform/ux/file_dialog_win.cc
similarity index 99%
rename from src/experimental/platform/file_dialog_win.cc
rename to src/experimental/platform/ux/file_dialog_win.cc
index 8b970bff..37a774df 100644
--- a/src/experimental/platform/file_dialog_win.cc
+++ b/src/experimental/platform/ux/file_dialog_win.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
+#include "experimental/platform/ux/file_dialog.h"
 
 #ifndef UNICODE
 #define UNICODE
diff --git a/src/experimental/platform/file_dialog_zenity.cc b/src/experimental/platform/ux/file_dialog_zenity.cc
similarity index 98%
rename from src/experimental/platform/file_dialog_zenity.cc
rename to src/experimental/platform/ux/file_dialog_zenity.cc
index 21d51dc1..20d7a421 100644
--- a/src/experimental/platform/file_dialog_zenity.cc
+++ b/src/experimental/platform/ux/file_dialog_zenity.cc
@@ -12,10 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/file_dialog.h"
-
 #include <assert.h>
-#include <cstring>
 #include <fcntl.h>
 #include <stdarg.h>
 #include <stdio.h>
@@ -23,11 +20,14 @@
 #include <sys/wait.h>
 #include <unistd.h>
 
+#include <cstring>
 #include <span>
-#include <string_view>
 #include <string>
+#include <string_view>
 #include <vector>
 
+#include "experimental/platform/ux/file_dialog.h"
+
 namespace mujoco::platform {
 
 static DialogResult RunZenity(std::vector<std::string>& args) {
diff --git a/src/experimental/platform/gui.cc b/src/experimental/platform/ux/gui.cc
similarity index 99%
rename from src/experimental/platform/gui.cc
rename to src/experimental/platform/ux/gui.cc
index f9a4c5b8..a5405cb1 100644
--- a/src/experimental/platform/gui.cc
+++ b/src/experimental/platform/ux/gui.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/gui.h"
+#include "experimental/platform/ux/gui.h"
 
 #include <algorithm>
 #include <cmath>
@@ -26,8 +26,8 @@
 #include <implot.h>
 #include <mujoco/mujoco.h>
 #include "experimental/platform/helpers.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/imgui_widgets.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/interaction.h"
 
 namespace mujoco::platform {
 
diff --git a/src/experimental/platform/gui.h b/src/experimental/platform/ux/gui.h
similarity index 97%
rename from src/experimental/platform/gui.h
rename to src/experimental/platform/ux/gui.h
index d0b1ff79..cfa8fd80 100644
--- a/src/experimental/platform/gui.h
+++ b/src/experimental/platform/ux/gui.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
 
 // A collection of functions for building ImGui panels for common MuJoCo
 // visualization and manipulation UX. These functions are primarily used by
@@ -131,4 +131,4 @@ void StatsGui(const mjModel* model, const mjData* data, bool paused, float fps);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
diff --git a/src/experimental/platform/gui_spec.cc b/src/experimental/platform/ux/gui_spec.cc
similarity index 99%
rename from src/experimental/platform/gui_spec.cc
rename to src/experimental/platform/ux/gui_spec.cc
index 7991fc03..d845ab09 100644
--- a/src/experimental/platform/gui_spec.cc
+++ b/src/experimental/platform/ux/gui_spec.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/gui_spec.h"
+#include "experimental/platform/ux/gui_spec.h"
 
 #include <string>
 #include <string_view>
@@ -20,8 +20,8 @@
 #include <imgui.h>
 #include <mujoco/mjxmacro.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 // Define the mujoco X macros to add fields to the ImGui_DataTable.
 // We limit the fields to the ones with a matching element by comparing the
diff --git a/src/experimental/platform/gui_spec.h b/src/experimental/platform/ux/gui_spec.h
similarity index 88%
rename from src/experimental/platform/gui_spec.h
rename to src/experimental/platform/ux/gui_spec.h
index 6ff5b0cc..21b437ab 100644
--- a/src/experimental/platform/gui_spec.h
+++ b/src/experimental/platform/ux/gui_spec.h
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 namespace mujoco::platform {
 
@@ -44,4 +44,4 @@ void ElementModelGui(const mjModel* model, mjsElement* element);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_GUI_SPEC_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
diff --git a/src/experimental/platform/imgui_widgets.cc b/src/experimental/platform/ux/imgui_widgets.cc
similarity index 94%
rename from src/experimental/platform/imgui_widgets.cc
rename to src/experimental/platform/ux/imgui_widgets.cc
index 5e828dae..9ffbbe3e 100644
--- a/src/experimental/platform/imgui_widgets.cc
+++ b/src/experimental/platform/ux/imgui_widgets.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/imgui_widgets.h"
+#include "experimental/platform/ux/imgui_widgets.h"
 
 #include <cstdint>
 #include <cstring>
@@ -62,8 +62,7 @@ KeyValues ReadIniSection(const std::string& contents,
 }
 
 ImGui_DataPtrTable::ImGui_DataPtrTable(float w1, float w2) {
-  ImGui::BeginTable("##PropertiesTable", 2,
-                    ImGuiTableFlags_RowBg);
+  ImGui::BeginTable("##PropertiesTable", 2, ImGuiTableFlags_RowBg);
   const float width = ImGui::GetContentRegionAvail().x;
   ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w1);
   ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w2);
@@ -87,43 +86,44 @@ void ImGui_DataPtrTable::DataPtr(const char* label, const uintptr_t* ptr,
 }
 
 void ImGui_DataPtrTable::DataPtr(const char* label, const char* ptr, int index,
-                              int n) {
+                                 int n) {
   MakeLabel(label);
   ScopedStyle style;
   style.Color(ImGuiCol_Text, ImColor(255, 0, 0, 255));
   ImGui::Text("%s", "(char not implemented, please report bug)");
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr,
+                                 int index, int n) {
   for (int i = 0; i < n; ++i) {
     MakeLabel(label, i, n);
     ImGui::Text("%s", ptr[index + i] ? "true" : "false");
   }
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr,
+                                 int index, int n) {
   Numeric(label, ptr, index, n);
 }
 
 void ImGui_DataPtrTable::DataPtr(const char* label, const int* ptr, int index,
-                              int n) {
+                                 int n) {
   Numeric(label, ptr, index, n);
 }
 
 void ImGui_DataPtrTable::DataPtr(const char* label, const float* ptr, int index,
-                              int n) {
+                                 int n) {
   Numeric(label, ptr, index, n);
 }
 
-void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr, int index,
-                              int n) {
+void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr,
+                                 int index, int n) {
   Numeric(label, ptr, index, n);
 }
 
 template <typename T>
-void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int n) {
+void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index,
+                                 int n) {
   const T* addr = ptr + index * n;
 
   using U = std::conditional_t<std::is_floating_point_v<T>, float, int>;
@@ -137,8 +137,7 @@ void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int
     }
   }
 
-  constexpr const char* fmt1 =
-      std::is_floating_point_v<U> ? "%f" : "%d";
+  constexpr const char* fmt1 = std::is_floating_point_v<U> ? "%f" : "%d";
   constexpr const char* fmt2 =
       std::is_floating_point_v<U> ? "%f  %f" : "%d  %d";
   constexpr const char* fmt3 =
@@ -146,9 +145,7 @@ void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index, int
   constexpr const char* fmt4 =
       std::is_floating_point_v<U> ? "%f  %f  %f  %f" : "%d  %d  %d  %d";
 
-  auto text1 = [&](int offset) {
-    ImGui::Text(fmt1, (U)(addr[offset]));
-  };
+  auto text1 = [&](int offset) { ImGui::Text(fmt1, (U)(addr[offset])); };
   auto text2 = [&](int offset) {
     ImGui::Text(fmt2, (U)(addr[offset + 0]), (U)(addr[offset + 1]));
   };
@@ -299,7 +296,8 @@ void ImGui_SpecElementTable::operator()(const char* name, const char* alt_name,
       (*this)(name, quat, ref_quat, tooltip);
       break;
     case mjORIENTATION_AXISANGLE:
-      (*this)(aname("axisangle").c_str(), alt.axisangle, ref_alt.axisangle, tooltip);
+      (*this)(aname("axisangle").c_str(), alt.axisangle, ref_alt.axisangle,
+              tooltip);
       break;
     case mjORIENTATION_XYAXES:
       (*this)(aname("xyaxes").c_str(), alt.xyaxes, ref_alt.xyaxes, tooltip);
@@ -328,7 +326,6 @@ bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
   return res;
 }
 
-
 bool ImGui_BeginHSplit(const char* id, float* height, bool* open) {
   const ImVec2 region = ImGui::GetContentRegionAvail();
   if (*height < 0) {
diff --git a/src/experimental/platform/imgui_widgets.h b/src/experimental/platform/ux/imgui_widgets.h
similarity index 97%
rename from src/experimental/platform/imgui_widgets.h
rename to src/experimental/platform/ux/imgui_widgets.h
index 9bf2a4f3..619e1055 100644
--- a/src/experimental/platform/imgui_widgets.h
+++ b/src/experimental/platform/ux/imgui_widgets.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
 
 #include <cstddef>
 #include <cstdint>
@@ -28,7 +28,7 @@
 #include <imgui_internal.h>
 #include <misc/cpp/imgui_stdlib.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/enum_utils.h"
+#include "experimental/platform/ux/enum_utils.h"
 
 namespace mujoco::platform {
 
@@ -140,9 +140,7 @@ struct ScopedStyle {
     return *this;
   }
 
-  ImVec4 CurrentColor(ImGuiCol col) {
-    return ImGui::GetStyle().Colors[col];
-  }
+  ImVec4 CurrentColor(ImGuiCol col) { return ImGui::GetStyle().Colors[col]; }
 
   void Reset() {
     ImGui::PopStyleVar(num_vars);
@@ -200,8 +198,7 @@ class ImGui_DataPtrTable {
 class ImGui_SpecElementTable : public ImGui_DataPtrTable {
  public:
   explicit ImGui_SpecElementTable(bool read_only = true)
-      : read_only_(read_only) {
-  }
+      : read_only_(read_only) {}
 
   // Scalar values used by mjSpec elements.
   void operator()(const char* label, mjtByte& val, const mjtByte& ref,
@@ -273,8 +270,9 @@ class ImGui_SpecElementTable : public ImGui_DataPtrTable {
   }
 
   // Special handling for treating enum values as integers.
-  template <typename T, typename U=std::enable_if_t<std::is_enum_v<T>, T>>
-  void operator()(const char* label, T& val, const T& ref, const char* tooltip) {
+  template <typename T, typename U = std::enable_if_t<std::is_enum_v<T>, T>>
+  void operator()(const char* label, T& val, const T& ref,
+                  const char* tooltip) {
     Label(label, tooltip);
     Input(val, ref);
   }
@@ -570,4 +568,4 @@ void MaybeSaveToClipboard(const std::string& contents);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_IMGUI_WIDGETS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
diff --git a/src/experimental/platform/interaction.cc b/src/experimental/platform/ux/interaction.cc
similarity index 97%
rename from src/experimental/platform/interaction.cc
rename to src/experimental/platform/ux/interaction.cc
index 149e0c1a..646684b2 100644
--- a/src/experimental/platform/interaction.cc
+++ b/src/experimental/platform/ux/interaction.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/interaction.h"
+#include "experimental/platform/ux/interaction.h"
 
 #include <algorithm>
 #include <cmath>
@@ -245,7 +245,8 @@ void MoveCamera(const mjModel* m, const mjData* d, mjvCamera* cam,
 
       // y movement: either dolly (forward/back) or pedestal (up/down)
       mju_addToScl3(cam->lookat,
-                    (motion == CameraMotion::TRUCK_PEDESTAL) ? up : forward, dy);
+                    (motion == CameraMotion::TRUCK_PEDESTAL) ? up : forward,
+                    dy);
 
       // x movement: camera truck (left/right)
       mju_addToScl3(cam->lookat, right, dx);
@@ -341,8 +342,9 @@ static PickResult PickGeom(const mjModel* m, const mjData* d,
                            const mjtNum ray_pos[3], const mjtNum ray_dir[3],
                            const mjvOption* vis_options) {
   PickResult result;
-  result.dist = mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
-                       vis_options->flags[mjVIS_STATIC], -1, &result.geom, nullptr);
+  result.dist =
+      mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
+             vis_options->flags[mjVIS_STATIC], -1, &result.geom, nullptr);
   mju_addScl3(result.point, ray_pos, ray_dir, result.dist);
   result.body = m->geom_bodyid[result.geom];
   return result;
@@ -541,8 +543,8 @@ static PickResult PickSkin(const mjModel* m, const mjData* d,
 
     int vertid;
     mjtNum test_dist = mju_raySkin(m->skin_facenum[i], m->skin_vertnum[i],
-                                 m->skin_face + 3 * m->skin_faceadr[i],
-                                 skinvert, ray_pos, ray_dir, &vertid);
+                                   m->skin_face + 3 * m->skin_faceadr[i],
+                                   skinvert, ray_pos, ray_dir, &vertid);
     if (test_dist < 0) {
       continue;
     } else if (result.dist >= 0 && test_dist >= result.dist) {
@@ -554,9 +556,9 @@ static PickResult PickSkin(const mjModel* m, const mjData* d,
     // find body with largest weight for this vertex
     float best_weight = -1;
     for (int j = m->skin_boneadr[i];
-          j < m->skin_boneadr[i] + m->skin_bonenum[i]; j++) {
+         j < m->skin_boneadr[i] + m->skin_bonenum[i]; j++) {
       for (int k = m->skin_bonevertadr[j];
-            k < m->skin_bonevertadr[j] + m->skin_bonevertnum[j]; k++) {
+           k < m->skin_bonevertadr[j] + m->skin_bonevertnum[j]; k++) {
         // get vertex id and weight
         const int vertex_id = m->skin_bonevertid[k];
         const float vertex_weight = m->skin_bonevertweight[k];
diff --git a/src/experimental/platform/interaction.h b/src/experimental/platform/ux/interaction.h
similarity index 92%
rename from src/experimental/platform/interaction.h
rename to src/experimental/platform/ux/interaction.h
index ef9e8c2c..9e6e9972 100644
--- a/src/experimental/platform/interaction.h
+++ b/src/experimental/platform/ux/interaction.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
 
 #include <mujoco/mujoco.h>
 
@@ -22,7 +22,7 @@ namespace mujoco::platform {
 // The result of a pick operation.
 struct PickResult {
   mjtNum point[3] = {0, 0, 0};  // World coordinates
-  mjtNum dist = -1;  // Distance from the camera.
+  mjtNum dist = -1;             // Distance from the camera.
   int body = -1;
   int geom = -1;
   int flex = -1;
@@ -77,9 +77,8 @@ void InitPerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
                  mjvPerturb* pert, mjtPertBit active);
 
 void MovePerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtMouse action, mjtNum reldx,
-                 mjtNum reldy);
+                 mjvPerturb* pert, mjtMouse action, mjtNum reldx, mjtNum reldy);
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_INTERACTION_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
diff --git a/src/experimental/platform/object_launcher_plugin.cc b/src/experimental/platform/ux/object_launcher_plugin.cc
similarity index 96%
rename from src/experimental/platform/object_launcher_plugin.cc
rename to src/experimental/platform/ux/object_launcher_plugin.cc
index ad065bae..d4de9414 100644
--- a/src/experimental/platform/object_launcher_plugin.cc
+++ b/src/experimental/platform/ux/object_launcher_plugin.cc
@@ -19,8 +19,8 @@
 
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::studio {
 
@@ -53,7 +53,9 @@ class ObjectLauncher {
     }
   }
 
-  void HandleKeyboardEvent() { if (enabled_) active_ = true; }
+  void HandleKeyboardEvent() {
+    if (enabled_) active_ = true;
+  }
 
   bool UpdateSpecPreCompile(mjSpec* spec, const mjModel* model,
                             const mjData* data, const mjvCamera* camera) {
@@ -88,7 +90,8 @@ class ObjectLauncher {
     if (!geom) return false;
 
     ObjectInfo& object = objects_.emplace_back();
-    object.name = "projectile" + std::to_string(counter_++);;
+    object.name = "projectile" + std::to_string(counter_++);
+    ;
     object.expiration = data->time + lifetime_;
 
     mjtNum pos[3];
diff --git a/src/experimental/platform/picture_gui.cc b/src/experimental/platform/ux/picture_gui.cc
similarity index 93%
rename from src/experimental/platform/picture_gui.cc
rename to src/experimental/platform/ux/picture_gui.cc
index 33f169af..7281c3d7 100644
--- a/src/experimental/platform/picture_gui.cc
+++ b/src/experimental/platform/ux/picture_gui.cc
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/picture_gui.h"
+#include "experimental/platform/ux/picture_gui.h"
 
 #include <cstddef>
 #include <vector>
 
 #include <imgui.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
+#include "experimental/platform/ux/imgui_widgets.h"
 
 namespace mujoco::platform {
 
@@ -44,7 +44,7 @@ static bool PipGuiImpl(const mjModel* model, mjData* data,
   const int height = width / window->GetAspectRatio();
   std::vector<std::byte> output(width * height * 3);
 
-  const int combo_width = (width-30) / 2;
+  const int combo_width = (width - 30) / 2;
 
   ImGui::PushID(pip);
   ImGui::SetNextItemWidth(combo_width);
diff --git a/src/experimental/platform/picture_gui.h b/src/experimental/platform/ux/picture_gui.h
similarity index 80%
rename from src/experimental/platform/picture_gui.h
rename to src/experimental/platform/ux/picture_gui.h
index 73abdb2b..ef80d1f4 100644
--- a/src/experimental/platform/picture_gui.h
+++ b/src/experimental/platform/ux/picture_gui.h
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
 
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
 
 namespace mujoco::platform {
 
@@ -37,4 +37,4 @@ void PipGui(const mjModel* model, mjData* data, platform::Window* window,
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PICTURE_GUI_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
diff --git a/src/experimental/platform/plugin.cc b/src/experimental/platform/ux/plugin.cc
similarity index 98%
rename from src/experimental/platform/plugin.cc
rename to src/experimental/platform/ux/plugin.cc
index 3ddb6e1b..058e9bd5 100644
--- a/src/experimental/platform/plugin.cc
+++ b/src/experimental/platform/ux/plugin.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/plugin.h"
+#include "experimental/platform/ux/plugin.h"
 
 #include <functional>
 #include <string_view>
diff --git a/src/experimental/platform/plugin.h b/src/experimental/platform/ux/plugin.h
similarity index 96%
rename from src/experimental/platform/plugin.h
rename to src/experimental/platform/ux/plugin.h
index 5e47fae9..a8eaf23e 100644
--- a/src/experimental/platform/plugin.h
+++ b/src/experimental/platform/ux/plugin.h
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
 
 #include <functional>
+
 #include <mujoco/mujoco.h>
 
 namespace mujoco::platform {
@@ -30,7 +31,6 @@ void RegisterPlugin(T plugin);
 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
 // the name of the plugin as the title. The `update` function can then be used
@@ -123,4 +123,4 @@ struct SpecEditorPlugin final {
 
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_PLUGIN_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
diff --git a/src/experimental/platform/spec_editor.cc b/src/experimental/platform/ux/spec_editor.cc
similarity index 93%
rename from src/experimental/platform/spec_editor.cc
rename to src/experimental/platform/ux/spec_editor.cc
index dab71b49..38eab60d 100644
--- a/src/experimental/platform/spec_editor.cc
+++ b/src/experimental/platform/ux/spec_editor.cc
@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/platform/spec_editor.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 #include <memory>
 #include <utility>
+
 #include <mujoco/mujoco.h>
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 namespace mujoco::platform {
 
@@ -62,9 +63,7 @@ std::unique_ptr<ModelHolder> SpecEditor::Compile() {
   return holder;
 }
 
-mjSpec* SpecEditor::GetActiveSpec() const {
-  return active_spec_.get();
-}
+mjSpec* SpecEditor::GetActiveSpec() const { return active_spec_.get(); }
 
 mjsElement* SpecEditor::AddElement(mjtObj type) {
   // TODO: check that type is only for spec elements.
@@ -135,7 +134,7 @@ void SpecEditor::SetActiveElement(mjsElement* element) {
 
   int index = 0;
   for (mjsElement* iter = mjs_firstElement(spec, type); iter != nullptr;
-        iter = mjs_nextElement(spec, iter), ++index) {
+       iter = mjs_nextElement(spec, iter), ++index) {
     if (iter == element) {
       active_element_key_ = active_map_.LookupElementKey({type, index});
       if (active_element_key_ == kInvalidElementKey) {
@@ -171,13 +170,9 @@ void SpecEditor::UpdateReferenceElement() {
   }
 }
 
-mjsElement* SpecEditor::GetActiveElement() const {
-  return active_element_;
-}
+mjsElement* SpecEditor::GetActiveElement() const { return active_element_; }
 
-mjsElement* SpecEditor::GetRefElement() const {
-  return ref_element_;
-}
+mjsElement* SpecEditor::GetRefElement() const { return ref_element_; }
 
 void SpecEditor::CommitChanges(mjsElement* element) {
   if (element == nullptr) {
@@ -209,14 +204,13 @@ void SpecEditor::Undo() {
       active_map_.Insert(entry.key, entry.type_index);
     }
 
-    active_element_ = active_map_.Resolve(active_spec_.get(), active_element_key_);
+    active_element_ =
+        active_map_.Resolve(active_spec_.get(), active_element_key_);
     UpdateReferenceElement();
   }
 }
 
-bool SpecEditor::CanUndo() const {
-  return cursor_ > 0;
-}
+bool SpecEditor::CanUndo() const { return cursor_ > 0; }
 
 void SpecEditor::Redo() {
   if (CanRedo()) {
@@ -230,14 +224,13 @@ void SpecEditor::Redo() {
       active_map_.Remove(entry.key);
     }
 
-    active_element_ = active_map_.Resolve(active_spec_.get(), active_element_key_);
+    active_element_ =
+        active_map_.Resolve(active_spec_.get(), active_element_key_);
     UpdateReferenceElement();
   }
 }
 
-bool SpecEditor::CanRedo() const {
-  return cursor_ < history_.size() - 1;
-}
+bool SpecEditor::CanRedo() const { return cursor_ < history_.size() - 1; }
 
 void SpecEditor::AppendHistory(HistoryEntry entry) {
   ++cursor_;
@@ -312,7 +305,8 @@ SpecEditor::SpecPtr SpecEditor::Copy(const mjSpec* spec) {
   return SpecPtr(mj_copySpec(spec), mj_deleteSpec);
 }
 
-mjsElement* SpecEditor::AddElementToSpec(mjSpec* spec, mjtObj type, mjsBody* body) {
+mjsElement* SpecEditor::AddElementToSpec(mjSpec* spec, mjtObj type,
+                                         mjsBody* body) {
   if (spec == nullptr || type == mjOBJ_UNKNOWN) {
     return nullptr;
   }
diff --git a/src/experimental/platform/spec_editor.h b/src/experimental/platform/ux/spec_editor.h
similarity index 92%
rename from src/experimental/platform/spec_editor.h
rename to src/experimental/platform/ux/spec_editor.h
index b9338c94..1576396d 100644
--- a/src/experimental/platform/spec_editor.h
+++ b/src/experimental/platform/ux/spec_editor.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
+#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
 
 #include <array>
 #include <cstddef>
@@ -22,7 +22,7 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/model_holder.h"
+#include "experimental/platform/sim/model_holder.h"
 
 namespace mujoco::platform {
 
@@ -139,10 +139,10 @@ class SpecEditor {
 
   // A single entry in the history buffer.
   struct HistoryEntry {
-    SpecPtr spec;            // A full copy of a spec.
-    Operation op;            // The operation performed on the spec.
-    ElementKey key;          // The key of the element being modified.
-    TypeIndex type_index;    // The type/index of the element after the change.
+    SpecPtr spec;          // A full copy of a spec.
+    Operation op;          // The operation performed on the spec.
+    ElementKey key;        // The key of the element being modified.
+    TypeIndex type_index;  // The type/index of the element after the change.
   };
 
   // Appends a new HistoryEntry to the history buffer.
@@ -174,4 +174,4 @@ class SpecEditor {
 };
 }  // namespace mujoco::platform
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SPEC_EDITOR_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
index 7dadad45..b9cf91fb 100644
--- a/src/experimental/studio/app.cc
+++ b/src/experimental/studio/app.cc
@@ -35,19 +35,19 @@
 #include <imgui.h>
 #include <implot.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/file_dialog.h"
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/gui.h"
-#include "experimental/platform/gui_spec.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
 #include "experimental/platform/helpers.h"
-#include "experimental/platform/imgui_widgets.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/model_holder.h"
-#include "experimental/platform/picture_gui.h"
-#include "experimental/platform/plugin.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/step_control.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/sim/model_holder.h"
+#include "experimental/platform/sim/step_control.h"
+#include "experimental/platform/ux/file_dialog.h"
+#include "experimental/platform/ux/gui.h"
+#include "experimental/platform/ux/gui_spec.h"
+#include "experimental/platform/ux/imgui_widgets.h"
+#include "experimental/platform/ux/interaction.h"
+#include "experimental/platform/ux/picture_gui.h"
+#include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::studio {
 
@@ -727,7 +727,7 @@ void App::HandleKeyboardEvents() {
     ui_.camera_idx = platform::SetCamera(model(), &camera_, ui_.camera_idx - 1);
   } else if (has_model() && ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
     ui_.camera_idx = platform::SetCamera(model(), &camera_, ui_.camera_idx + 1);
-  // WASD camera controls for free camera.
+    // WASD camera controls for free camera.
   } else if (is_freecam_wasd &&
              (ImGui::IsKeyDown(ImGuiKey_W) || ImGui::IsKeyDown(ImGuiKey_S) ||
               ImGui::IsKeyDown(ImGuiKey_A) || ImGui::IsKeyDown(ImGuiKey_D) ||
@@ -1129,8 +1129,8 @@ void App::SpecExplorerGui() {
 
   mjsElement* element = tmp_.curr_element;
   bool open = element != nullptr;
-  if (platform::ImGui_BeginHSplit("SpecExplorerTree",
-                                  &tmp_.explorer_split, &open)) {
+  if (platform::ImGui_BeginHSplit("SpecExplorerTree", &tmp_.explorer_split,
+                                  &open)) {
     platform::SpecTreeGui(&element, spec());
 
     if (element != tmp_.curr_element) {
@@ -1147,8 +1147,8 @@ void App::SpecExplorerGui() {
       }
     }
 
-    if (platform::ImGui_HSplit("SpecExplorerProperties",
-                               &tmp_.explorer_split, &open)) {
+    if (platform::ImGui_HSplit("SpecExplorerProperties", &tmp_.explorer_split,
+                               &open)) {
       ImGui::Text("%s", mju_type2Str(tmp_.curr_element->elemtype));
       ImGui::SameLine();
       ImGui::Text("(%d)", mjs_getId(tmp_.curr_element));
@@ -1434,8 +1434,9 @@ void App::ToolBarGui() {
     const float label_width = GetExpectedLabelWidth();
     const float copy_btn_width = ImGui::CalcTextSize(ICON_COPY_CAMERA).x +
                                  ImGui::GetStyle().FramePadding.x * 2;
-    const float theme_width = ImGui::CalcTextSize(platform::ICON_FA_CIRCLE_O).x +
-                              ImGui::GetStyle().FramePadding.x * 2;
+    const float theme_width =
+        ImGui::CalcTextSize(platform::ICON_FA_CIRCLE_O).x +
+        ImGui::GetStyle().FramePadding.x * 2;
     const float sp = ImGui::GetStyle().ItemSpacing.x;
     const float right_width = label_width + sp + label_width + sp +
                               label_width + sp + copy_btn_width + sp +
@@ -1766,8 +1767,7 @@ void App::MainMenuGui() {
       }
       ImGui::Separator();
 
-
-      #ifdef __linux__
+#ifdef __linux__
       if (ImGui::BeginMenu("Graphics Mode (Experimental)")) {
         std::optional<platform::GraphicsMode> mode;
         if (ImGui::MenuItem(
@@ -1814,7 +1814,7 @@ void App::MainMenuGui() {
         }
         ImGui::EndMenu();
       }
-      #endif  // __linux__
+#endif  // __linux__
 
       ImGui::EndMenu();
     }
diff --git a/src/experimental/studio/app.h b/src/experimental/studio/app.h
index 7b438d68..222cdf73 100644
--- a/src/experimental/studio/app.h
+++ b/src/experimental/studio/app.h
@@ -26,18 +26,18 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
-#include "experimental/platform/gui.h"
-#include "experimental/platform/gui_spec.h"
-#include "experimental/platform/interaction.h"
-#include "experimental/platform/model_holder.h"
-#include "experimental/platform/picture_gui.h"
-#include "experimental/platform/renderer.h"
-#include "experimental/platform/sim_history.h"
-#include "experimental/platform/sim_profiler.h"
-#include "experimental/platform/spec_editor.h"
-#include "experimental/platform/step_control.h"
-#include "experimental/platform/window.h"
+#include "experimental/platform/hal/graphics_mode.h"
+#include "experimental/platform/hal/renderer.h"
+#include "experimental/platform/hal/window.h"
+#include "experimental/platform/sim/model_holder.h"
+#include "experimental/platform/sim/sim_history.h"
+#include "experimental/platform/sim/sim_profiler.h"
+#include "experimental/platform/sim/step_control.h"
+#include "experimental/platform/ux/gui.h"
+#include "experimental/platform/ux/gui_spec.h"
+#include "experimental/platform/ux/interaction.h"
+#include "experimental/platform/ux/picture_gui.h"
+#include "experimental/platform/ux/spec_editor.h"
 
 namespace mujoco::studio {
 
diff --git a/src/experimental/studio/main.cc b/src/experimental/studio/main.cc
index 87f67351..9d48834f 100644
--- a/src/experimental/studio/main.cc
+++ b/src/experimental/studio/main.cc
@@ -26,7 +26,7 @@
 #include <absl/flags/flag.h>
 #include <absl/flags/parse.h>
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/studio/app.h"
 
 ABSL_FLAG(int, window_width, 1400, "Window width");
diff --git a/src/experimental/studio/wasm.cc b/src/experimental/studio/wasm.cc
index 1a4738a7..8e5e8768 100644
--- a/src/experimental/studio/wasm.cc
+++ b/src/experimental/studio/wasm.cc
@@ -25,7 +25,7 @@
 #include <utility>
 
 #include <mujoco/mujoco.h>
-#include "experimental/platform/graphics_mode.h"
+#include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/studio/app.h"
 
 // Global app instance. Lifetime is controlled by Init/Deinit calls which are