diff --git a/.readthedocs.yml b/.readthedocs.yml
index 00c093bb..5f9792b3 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -11,21 +11,65 @@ build:
   os: ubuntu-24.04
   tools:
     python: "3.12"
+  apt_packages:
+    - libgl-dev
   jobs:
     create_environment:
+      # install uv
       - asdf plugin add uv
       - asdf install uv latest
       - asdf global uv latest
       - uv venv $READTHEDOCS_VIRTUALENV_PATH
-      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -r doc/requirements.txt
-      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install mujoco mujoco-mjx
-      # replace mujoco.mjx.third_party.mujoco_warp import paths with mujoco_warp
+      # install doc requirements and build tools
       - |
-        find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec sed -i 's/mujoco\.mjx\.third_party\.mujoco_warp/mujoco_warp/g' {} \;
+        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
+        uv pip install \
+          -r doc/requirements.txt \
+          cmake pip build setuptools absl-py
+      # build and install MuJoCo C library
+      - |
+        VENV=$READTHEDOCS_VIRTUALENV_PATH && \
+        $VENV/bin/cmake -B build \
+          -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_INSTALL_PREFIX=$VENV \
+          -DMUJOCO_BUILD_EXAMPLES=OFF \
+          -DMUJOCO_BUILD_SIMULATE=OFF \
+          -DMUJOCO_BUILD_TESTS=OFF \
+          -DMUJOCO_TEST_PYTHON_UTIL=OFF && \
+        $VENV/bin/cmake --build build --parallel && \
+        $VENV/bin/cmake --install build
+      # copy plugins
+      - |
+        mkdir -p $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin && \
+        cp build/lib/libactuator.* \
+           build/lib/libelasticity.* \
+           build/lib/libsensor.* \
+           $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ && \
+        cp build/lib/libsdf_plugin.* \
+           $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ || true
+      # build and install Python bindings from source
+      - |
+        export VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH \
+               PATH=$READTHEDOCS_VIRTUALENV_PATH/bin:$PATH && \
+        cd python && bash make_sdist.sh && cd dist && \
+        MUJOCO_PATH=$READTHEDOCS_VIRTUALENV_PATH \
+        MUJOCO_PLUGIN_PATH=$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin \
+        MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
+          -DGLFW_BUILD_WAYLAND=OFF -DGLFW_BUILD_X11=OFF" \
+        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
+        uv pip install mujoco-*.tar.gz && \
+        cd ../..
+      # install mjx and mujoco_warp
+      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -e mjx
+      - |
+        find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec \
+          sed -i 's/mujoco\.mjx\.third_party\.mujoco_warp/mujoco_warp/g' {} \;
       - python doc/mjwarp/update_types.py mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
-      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
+      - |
+        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
+        uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
     install:
-      - "true"  # skip
+      - "true"  # skip default install
 
 sphinx:
   builder: html