diff --git a/CMakeLists.txt b/CMakeLists.txt
index 14fb6eec..08e0bd0b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -256,7 +256,7 @@ if(MUJOCO_BUILD_SIMULATE)
 endif()
 
 if(MUJOCO_BUILD_STUDIO)
-  add_subdirectory(src/experimental/mjz)
+  add_subdirectory(src/xml/mjz)
   add_subdirectory(src/experimental/platform)
   add_subdirectory(src/experimental/studio)
 endif()
diff --git a/src/experimental/mjz/CMakeLists.txt b/src/xml/mjz/CMakeLists.txt
similarity index 60%
rename from src/experimental/mjz/CMakeLists.txt
rename to src/xml/mjz/CMakeLists.txt
index c1dcc4f7..198b4281 100644
--- a/src/experimental/mjz/CMakeLists.txt
+++ b/src/xml/mjz/CMakeLists.txt
@@ -11,27 +11,11 @@
 # 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.
-
-cmake_minimum_required(VERSION 3.16)
-
-set(MUJOCO_MJZ_TARGET_NAME mujoco_mjz)
-
-add_library(${MUJOCO_MJZ_TARGET_NAME} STATIC)
-
-target_include_directories(${MUJOCO_MJZ_TARGET_NAME} PRIVATE
-    ../..
-)
-
-target_sources(${MUJOCO_MJZ_TARGET_NAME}
-    PUBLIC
-        mjz_decoder.cc
-)
-
 include(third_party_deps/miniz)
 
-target_link_libraries(${MUJOCO_MJZ_TARGET_NAME}
-    miniz
-    mujoco::mujoco
+set(MUJOCO_MJZ_SRCS
+    mjz_decoder.cc
 )
 
-add_library(mujoco::mjz ALIAS ${MUJOCO_MJZ_TARGET_NAME})
+target_sources(mujoco PRIVATE ${MUJOCO_MJZ_SRCS})
+target_link_libraries(mujoco miniz)
diff --git a/src/experimental/mjz/mjz_decoder.cc b/src/xml/mjz/mjz_decoder.cc
similarity index 100%
rename from src/experimental/mjz/mjz_decoder.cc
rename to src/xml/mjz/mjz_decoder.cc
diff --git a/test/xml/mjz/CMakeLists.txt b/test/xml/mjz/CMakeLists.txt
new file mode 100644
index 00000000..721be4fc
--- /dev/null
+++ b/test/xml/mjz/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.
+
+mujoco_test(mjz_api_test)
+
+mujoco_test(
+  mjz_decoder_test
+)
diff --git a/test/experimental/mjz/mjz_decoder_test.cc b/test/xml/mjz/mjz_decoder_test.cc
similarity index 100%
rename from test/experimental/mjz/mjz_decoder_test.cc
rename to test/xml/mjz/mjz_decoder_test.cc