diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
index 015e9bd7..8d45bd5d 100644
--- a/plugin/usd_decoder/usd_decoder.cc
+++ b/plugin/usd_decoder/usd_decoder.cc
@@ -67,6 +67,7 @@
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdGeom/xformCache.h>
 #include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/filteredPairsAPI.h>
 #include <pxr/usd/usdPhysics/fixedJoint.h>
 #include <pxr/usd/usdPhysics/joint.h>
 #include <pxr/usd/usdPhysics/massAPI.h>
@@ -2247,6 +2248,16 @@ void ParseMjcPhysicsKeyframe(mjSpec* spec,
   }
 }
 
+void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
+  pxr::SdfPathVector filtered_bodies;
+  pxr::UsdPhysicsFilteredPairsAPI(prim).GetFilteredPairsRel().GetTargets(&filtered_bodies);
+  for (const auto& filtered_body : filtered_bodies) {
+    mjsExclude* exclude = mjs_addExclude(spec);
+    mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str());
+    mjs_setString(exclude->bodyname2, filtered_body.GetAsString().c_str());
+  }
+}
+
 mjsBody* ParseUsdPhysicsRigidbody(
     mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api,
     const pxr::UsdPrim& parent_prim, mjsBody* parent,
@@ -2267,6 +2278,10 @@ mjsBody* ParseUsdPhysicsRigidbody(
       body->element, kUsdPrimPathKey, usd_primpath,
       [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
 
+  if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
+    ParseUsdFilteredPairsAPI(spec, prim);
+  }
+
   return body;
 }