diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
index 8d45bd5d..1392a1ca 100644
--- a/plugin/usd_decoder/usd_decoder.cc
+++ b/plugin/usd_decoder/usd_decoder.cc
@@ -1720,7 +1720,11 @@ void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
   ParseDisplayColorAndOpacity(gprim, geom);
   SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
   if (!MaybeParseGeomPrimitive(gprim, geom, caches.xform_cache)) {
-    ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    mjsMesh* mesh = ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    if (mesh != nullptr && gprim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
+      ParseMjcPhysicsMeshCollisionAPI(mesh,
+                                      pxr::MjcPhysicsMeshCollisionAPI(gprim));
+    }
   }
 
   pxr::UsdShadeMaterial bound_material =