diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 1a3288b9..4762eb73 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -179,7 +179,7 @@ jobs:
            cp lib/libactuator.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp lib/libsensor.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
-           cp lib/libsdf.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
+           cp lib/libsdf_plugin.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
     - name: Copy plugins (Windows)
       if: ${{ runner.os == 'Windows' }}
       working-directory: build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 087a81e7..3cab120d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,14 @@ option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
 option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
+option(MUJOCO_BUILD_USD_PLUGINS "Build OpenUSD plugins" OFF)
+
+# USD libs to compile against.
+set(MUJOCO_USD_ALLOWED_TARGET_VALUES "USD" "Houdini")
+set(MUJOCO_USD_TARGET "USD" CACHE STRING "Select the USD target for the project.")
+set_property(CACHE MUJOCO_USD_TARGET
+  PROPERTY STRINGS ${MUJOCO_USD_ALLOWED_TARGET_VALUES}
+)
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
   enable_language(OBJC)
@@ -181,6 +189,10 @@ if(MUJOCO_BUILD_EXAMPLES)
   add_subdirectory(sample)
 endif()
 
+if(MUJOCO_BUILD_USD_PLUGINS)
+  add_subdirectory(src/experimental/usd/plugins)
+endif()
+
 if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
   enable_testing()
   add_subdirectory(test)
diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
index 3e216fc4..8b834971 100644
--- a/plugin/sdf/CMakeLists.txt
+++ b/plugin/sdf/CMakeLists.txt
@@ -34,19 +34,19 @@ set(MUJOCO_SDF_SRCS
     torus.h
 )
 
-add_library(sdf SHARED)
-target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
-target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
-target_link_libraries(sdf PRIVATE mujoco SdfLib)
+add_library(sdf_plugin SHARED)
+target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
+target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
+target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)
 target_compile_options(
-  sdf
+  sdf_plugin
   PRIVATE ${AVX_COMPILE_OPTIONS}
           ${MUJOCO_MACOS_COMPILE_OPTIONS}
           ${EXTRA_COMPILE_OPTIONS}
           ${MUJOCO_CXX_FLAGS}
 )
 target_link_options(
-  sdf
+  sdf_plugin
   PRIVATE
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
diff --git a/src/experimental/usd/plugins/CMakeLists.txt b/src/experimental/usd/plugins/CMakeLists.txt
new file mode 100644
index 00000000..6e506493
--- /dev/null
+++ b/src/experimental/usd/plugins/CMakeLists.txt
@@ -0,0 +1,137 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+# Plugin target name (used for library and plugInfo.json)
+set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
+
+add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED
+  mjcf/mjcf_file_format.cc
+  mjcf/mjcf_file_format.h
+  mjcf/mujoco_to_usd.cc
+  mjcf/mujoco_to_usd.h
+  mjcf/utils.cc
+  mjcf/utils.h
+)
+
+# We need to set the visibility to default until core type symbol visibility
+# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
+# Otherwise we will run into issues during composition on MacOS due to std::type_info
+# comparisons failing for pxr::TfTokenVector and the like that we place in SdfAbstractData.
+set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
+    OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
+    CXX_VISIBILITY_PRESET default
+)
+
+target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+  "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+if (MUJOCO_USD_TARGET STREQUAL "USD")
+  find_package(pxr REQUIRED)
+
+  # --- Link Dependencies ---
+  # Link against the necessary OpenUSD components
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    usd
+    ar
+    kind
+    tf
+    gf
+    vt
+    usdShade
+    usdLux
+    usdGeom
+    usdImaging
+    usdPhysics
+    mujoco
+    tinyxml2
+  )
+elseif (MUJOCO_USD_TARGET STREQUAL "Houdini")
+
+  if (NOT DEFINED ENV{HFS})
+    message(FATAL_ERROR "Environment variable 'HFS' is not defined: $ENV{HFS}. Please run houdini_setup.")
+  endif()
+
+  # In Houdini, the Houdini package we would typically use via find_package
+  # does not have all the USD dependencies that we need (namely UsdPhysics)
+  # so we need to manually link all the required libraries.
+
+  set(HFS_ENV "$ENV{HFS}")
+  set(HOUDINI_LIBS "${HFS_ENV}/../Libraries")
+  get_filename_component(HOUDINI_LIBS "${HOUDINI_LIBS}" ABSOLUTE) # Normalize the path
+  target_link_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${HOUDINI_LIBS})
+
+  target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    "${HFS_ENV}/toolkit/include"
+    "${HFS_ENV}/toolkit/include/python3.11"
+  )
+
+  # Assume everyone using Houdini on 3.11 for now.
+  set(USD_MJCF_PYTHON_LIB python3.11)
+  set(USD_MJCF_PYTHON_LIB_NUMBER python311)
+  set(PYTHON_LIB "${HFS_ENV}/Frameworks/Python.framework/Versions/3.11/Python")
+  set(PXR_LIB_PREFIX "pxr_")
+
+  # --- Link Dependencies ---
+  # Link against the necessary OpenUSD components
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    ${PXR_LIB_PREFIX}usd
+    ${PXR_LIB_PREFIX}ar
+    ${PXR_LIB_PREFIX}kind
+    ${PXR_LIB_PREFIX}tf
+    ${PXR_LIB_PREFIX}gf
+    ${PXR_LIB_PREFIX}vt
+    ${PXR_LIB_PREFIX}sdf
+    ${PXR_LIB_PREFIX}usdShade
+    ${PXR_LIB_PREFIX}usdLux
+    ${PXR_LIB_PREFIX}usdGeom
+    ${PXR_LIB_PREFIX}usdImaging
+    ${PXR_LIB_PREFIX}usdPhysics
+    tbb
+    hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
+    ${PYTHON_LIB}
+    mujoco
+    tinyxml2
+  )
+endif()
+
+
+# --- Generate plugInfo.json ---
+if(CMAKE_SHARED_LIBRARY_PREFIX)
+  set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX}) # Usually "lib" on Unix
+else()
+  set(LIB_PREFIX "")
+endif()
+set(PLUG_INFO_LIBRARY_PATH "${LIB_PREFIX}${MJCF_PLUGIN_TARGET_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+
+# --- Installation ---
+
+set(USD_PLUGIN_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/usdMjcf)
+
+message(STATUS "Copying plugInfo.json to ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json")
+configure_file(
+  mjcf/plugInfo.json
+  ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json
+)
+
+install(FILES ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB})
+
+# Install shared lib and plugInfo to same location for simplicity.
+install(TARGETS ${MJCF_PLUGIN_TARGET_NAME}
+    LIBRARY DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB}
+)
+
+message(STATUS "USD MJCF Plugin will be installed to: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
+message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
diff --git a/src/experimental/usd/plugins/mjcf/plugInfo.json b/src/experimental/usd/plugins/mjcf/plugInfo.json
index 25869b76..da1f9ebd 100644
--- a/src/experimental/usd/plugins/mjcf/plugInfo.json
+++ b/src/experimental/usd/plugins/mjcf/plugInfo.json
@@ -15,7 +15,7 @@
           }
         }
       },
-      "LibraryPath": "",
+      "LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
       "Name": "usdMjcf",
       "ResourcePath": "",
       "Root": ".",
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 0f92803d..a286a1c6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -100,3 +100,4 @@ add_subdirectory(user)
 add_subdirectory(xml)
 add_subdirectory(plugin/elasticity)
 add_subdirectory(plugin/actuator)
+add_subdirectory(experimental)
diff --git a/test/experimental/CMakeLists.txt b/test/experimental/CMakeLists.txt
new file mode 100644
index 00000000..9f5100db
--- /dev/null
+++ b/test/experimental/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Copyright 2021 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if(MUJOCO_BUILD_USD_PLUGINS AND MUJOCO_USD_TARGET STREQUAL "USD")
+  add_subdirectory(usd/plugins/mjcf)
+endif()
+
+
diff --git a/test/experimental/usd/plugins/mjcf/CMakeLists.txt b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
new file mode 100644
index 00000000..1b747aee
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
@@ -0,0 +1,30 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+find_package(pxr REQUIRED)
+
+add_library(usd_fixture STATIC fixture.h fixture.cc)
+target_include_directories(usd_fixture PUBLIC ${MUJOCO_TEST_INCLUDE})
+target_compile_definitions(usd_fixture PUBLIC MJSTATIC)
+
+target_link_libraries(
+  usd_fixture
+  PUBLIC usd
+         tf
+         gtest
+         gmock
+         mujoco
+)
+
+mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES usd tf usdGeom usdImaging usdPhysics usdShade usd_fixture)