diff --git a/doc/changelog.rst b/doc/changelog.rst
index 8ec65806..404f5865 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -35,6 +35,7 @@ General
   attaching can be restored by setting the deep copy flag to 1.
 - Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
 - Improved shadow rendering in the native renderer.
+- Moved ``introspect`` to ``python/introspect``.
 
 .. admonition:: Breaking API changes
    :class: attention
diff --git a/python/make_sdist.sh b/python/make_sdist.sh
index 7abe811d..da4c3260 100755
--- a/python/make_sdist.sh
+++ b/python/make_sdist.sh
@@ -36,9 +36,9 @@ cp -r "${package_dir}"/* .
 # Generate header files.
 old_pythonpath="${PYTHONPATH}"
 if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
-  export PYTHONPATH="${old_pythonpath};${package_dir}/.."
+  export PYTHONPATH="${old_pythonpath};${package_dir}/mujoco/python/.."
 else
-  export PYTHONPATH="${old_pythonpath}:${package_dir}/.."
+  export PYTHONPATH="${old_pythonpath}:${package_dir}/mujoco/python/.."
 fi
 python "${package_dir}"/mujoco/codegen/generate_enum_traits.py > \
     mujoco/enum_traits.h
diff --git a/python/make_sdist_requirements.txt b/python/make_sdist_requirements.txt
index 21c39fdf..10f531c1 100644
--- a/python/make_sdist_requirements.txt
+++ b/python/make_sdist_requirements.txt
@@ -18,5 +18,7 @@ pyproject_hooks==1.2.0 \
     --hash=sha256:9e5c6bfa8dcc30091c74b0cf803c81fdd29d94f01992a7707bc97babb1141913
 tomli==2.1.0; python_version < '3.11' \
     --hash=sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391
+typing-extensions==4.12.2 \
+    --hash=sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d
 zipp==3.21.0 \
     --hash=sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index f4e28502..e941eb99 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -215,7 +215,7 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/enum_traits.h)
 else()
   add_custom_command(
     OUTPUT enum_traits.h
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco ${Python3_EXECUTABLE}
+    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
             ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py > enum_traits.h
     DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py
   )
@@ -233,7 +233,7 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/function_traits.h)
 else()
   add_custom_command(
     OUTPUT function_traits.h
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco ${Python3_EXECUTABLE}
+    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
             ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py > function_traits.h
     DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py
   )
@@ -408,7 +408,7 @@ target_link_libraries(
 if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
   add_custom_command(
     OUTPUT specs.cc.inc
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco ${Python3_EXECUTABLE}
+    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python ${Python3_EXECUTABLE}
             ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py > specs.cc.inc
     DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py
   )
diff --git a/python/mujoco/introspect/__init__.py b/python/mujoco/introspect/__init__.py
new file mode 100644
index 00000000..8d9506aa
--- /dev/null
+++ b/python/mujoco/introspect/__init__.py
@@ -0,0 +1,14 @@
+# 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
+#
+#     http://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.
+# ==============================================================================
diff --git a/introspect/ast_nodes.py b/python/mujoco/introspect/ast_nodes.py
similarity index 100%
rename from introspect/ast_nodes.py
rename to python/mujoco/introspect/ast_nodes.py
diff --git a/introspect/ast_nodes_test.py b/python/mujoco/introspect/ast_nodes_test.py
similarity index 100%
rename from introspect/ast_nodes_test.py
rename to python/mujoco/introspect/ast_nodes_test.py
diff --git a/introspect/codegen/formatter.py b/python/mujoco/introspect/codegen/formatter.py
similarity index 100%
rename from introspect/codegen/formatter.py
rename to python/mujoco/introspect/codegen/formatter.py
diff --git a/introspect/codegen/generate_enums.py b/python/mujoco/introspect/codegen/generate_enums.py
similarity index 100%
rename from introspect/codegen/generate_enums.py
rename to python/mujoco/introspect/codegen/generate_enums.py
diff --git a/introspect/codegen/generate_functions.py b/python/mujoco/introspect/codegen/generate_functions.py
similarity index 100%
rename from introspect/codegen/generate_functions.py
rename to python/mujoco/introspect/codegen/generate_functions.py
diff --git a/introspect/codegen/generate_structs.py b/python/mujoco/introspect/codegen/generate_structs.py
similarity index 100%
rename from introspect/codegen/generate_structs.py
rename to python/mujoco/introspect/codegen/generate_structs.py
diff --git a/introspect/enums.py b/python/mujoco/introspect/enums.py
similarity index 100%
rename from introspect/enums.py
rename to python/mujoco/introspect/enums.py
diff --git a/introspect/enums_test.py b/python/mujoco/introspect/enums_test.py
similarity index 100%
rename from introspect/enums_test.py
rename to python/mujoco/introspect/enums_test.py
diff --git a/introspect/functions.py b/python/mujoco/introspect/functions.py
similarity index 100%
rename from introspect/functions.py
rename to python/mujoco/introspect/functions.py
diff --git a/introspect/functions_test.py b/python/mujoco/introspect/functions_test.py
similarity index 100%
rename from introspect/functions_test.py
rename to python/mujoco/introspect/functions_test.py
diff --git a/introspect/structs.py b/python/mujoco/introspect/structs.py
similarity index 100%
rename from introspect/structs.py
rename to python/mujoco/introspect/structs.py
diff --git a/introspect/structs_test.py b/python/mujoco/introspect/structs_test.py
similarity index 100%
rename from introspect/structs_test.py
rename to python/mujoco/introspect/structs_test.py
diff --git a/introspect/type_parsing.py b/python/mujoco/introspect/type_parsing.py
similarity index 100%
rename from introspect/type_parsing.py
rename to python/mujoco/introspect/type_parsing.py
diff --git a/introspect/type_parsing_test.py b/python/mujoco/introspect/type_parsing_test.py
similarity index 100%
rename from introspect/type_parsing_test.py
rename to python/mujoco/introspect/type_parsing_test.py