diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
index 59b7f1f6..ff7e3021 100644
--- a/plugin/usd_decoder/usd_decoder.cc
+++ b/plugin/usd_decoder/usd_decoder.cc
@@ -1829,6 +1829,12 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
   }
 }
 
+void ParseJointEnabled(mjsEquality* eq, const pxr::UsdPhysicsJoint& joint) {
+  bool jointEnabled = true;
+  joint.GetJointEnabledAttr().Get(&jointEnabled);
+  eq->active = jointEnabled ? 1 : 0;
+}
+
 void ParseMjcEqualityAPISolverParams(
     mjsEquality* eq, const pxr::MjcPhysicsEqualityAPI& equality_api,
     const pxr::UsdPrim& prim) {
@@ -1897,6 +1903,9 @@ void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
     eq_joint_api.GetCoef3Attr().Get(&eq->data[3]);
     eq_joint_api.GetCoef4Attr().Get(&eq->data[4]);
 
+    pxr::UsdPhysicsJoint joint(prim);
+    ParseJointEnabled(eq, joint);
+
     ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
   } else if (prim.IsA<pxr::UsdPhysicsFixedJoint>() ||
              prim.IsA<pxr::UsdPhysicsSphericalJoint>()) {
@@ -2060,6 +2069,8 @@ void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
         }
       }
     }
+
+    ParseJointEnabled(eq, joint);
   }
 }