diff --git a/docs/openusd/README.md b/docs/openusd/README.md
new file mode 100644
index 00000000000..2e3fe0f4c21
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+++ b/docs/openusd/README.md
@@ -0,0 +1,59 @@
+# MuJoCo + OpenUSD Setup Notes
+
+This documents the current OpenUSD-enabled MuJoCo setup used for USD asset/environment import testing.
+
+## Current Purpose
+
+This work is focused on the OpenUSD -> MuJoCo import path.
+
+It is not policy training yet. The goal is to make MuJoCo able to load and visualize USD-based assets/environments so they can later be tested with Seahorse, RoboJudo, and ProtoMotion workflows.
+
+## Build Flow
+
+1. Clone stable MuJoCo.
+2. Build OpenUSD using MuJoCo's helper:
+
+   `cmake/third_party_deps/openusd`
+
+3. Configure MuJoCo with OpenUSD enabled:
+
+   `-DMUJOCO_WITH_USD=True`
+
+4. Build MuJoCo.
+5. Verify that `build/bin/simulate` exists.
+6. Launch MuJoCo using the runtime helper script:
+
+   `scripts/openusd/run_mujoco_usd.sh`
+
+## Runtime Helper
+
+The runtime helper script sets the paths needed for MuJoCo to find the USD decoder plugin and OpenUSD libraries.
+
+It handles:
+
+- `libusd_decoder_plugin.so`
+- `LD_LIBRARY_PATH`
+- `PXR_PLUGINPATH_NAME`
+- WSL graphics settings using `llvmpipe`
+
+## XML Wrapper Testing
+
+USD assets are loaded through MJCF XML wrapper files.
+
+The important MJCF line is:
+
+    <model name="asset_name" file="/path/to/file.usd" content_type="text/usd"/>
+
+The wrapper gives MuJoCo simulation context such as:
+
+- asset path
+- worldbody
+- lighting
+- floor
+- attach point
+
+## Current Limitation
+
+This does not automatically convert a full Isaac Sim task into a MuJoCo training environment.
+
+Physics, contacts, joints, actuators, rewards, and policy training still need separate validation.
diff --git a/docs/openusd/full_wsl_build_process.md b/docs/openusd/full_wsl_build_process.md
new file mode 100644
index 00000000000..0cb67f224ed
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+++ b/docs/openusd/full_wsl_build_process.md
@@ -0,0 +1,574 @@
+# Full WSL Build Process: MuJoCo + OpenUSD
+
+This document records the full working process used to build MuJoCo with OpenUSD support inside WSL Ubuntu.
+
+The goal of this setup is to support USD asset/environment import testing in MuJoCo. This is not policy training yet. The current focus is:
+
+- Build MuJoCo with OpenUSD enabled
+- Register the USD decoder plugin at runtime
+- Load USD assets through MJCF XML wrappers
+- Prepare for Seahorse/G1 asset testing
+- Later integrate with RoboJudo and ProtoMotion workflows
+
+---
+
+## 1. Windows WSL / Ubuntu Setup
+
+This part is done from Windows PowerShell.
+
+Open PowerShell as Administrator when enabling WSL for the first time.
+
+```powershell
+wsl --install -d Ubuntu
+```
+
+After installation, restart the computer if Windows says changes will not take effect until reboot.
+
+Check installed distributions:
+
+```powershell
+wsl --list --verbose
+```
+
+Open Ubuntu:
+
+```powershell
+wsl
+```
+
+Inside Ubuntu, confirm the Linux home directory:
+
+```bash
+cd ~
+pwd
+```
+
+Expected output should look like:
+
+```text
+/home/your_linux_username
+```
+
+---
+
+## 2. Ubuntu Dependency Install
+
+Update Ubuntu packages:
+
+```bash
+sudo apt update
+```
+
+Install build tools, CMake, Python tools, and graphics/windowing dependencies:
+
+```bash
+sudo apt install -y git cmake build-essential python3 python3-pip curl \
+pkg-config libglfw3-dev libxinerama-dev libxcursor-dev libxi-dev \
+libxrandr-dev libxxf86vm-dev libgl1-mesa-dev libx11-dev \
+libwayland-dev wayland-protocols libxkbcommon-dev mesa-utils \
+libgl1-mesa-dri libegl1 libglvnd0 mesa-vulkan-drivers
+```
+
+These packages cover:
+
+- `build-essential`: GCC/G++ and Make
+- `cmake`: configures MuJoCo/OpenUSD builds
+- `python3`, `python3-pip`: build scripts/tools
+- `pkg-config`: helps CMake locate libraries
+- GLFW/X11/Wayland/Mesa packages: needed for MuJoCo `simulate` viewer in WSL/Ubuntu
+
+---
+
+## 3. Git Clone Stability Fixes
+
+These settings were used to reduce GitHub/OpenUSD clone failures such as:
+
+- `RPC failed`
+- `early EOF`
+- `invalid index-pack`
+
+Run:
+
+```bash
+git config --global http.version HTTP/1.1
+git config --global http.postBuffer 524288000
+git config --global core.compression 0
+```
+
+Meaning:
+
+- `http.version HTTP/1.1`: forces Git/libcurl to use HTTP/1.1
+- `http.postBuffer 524288000`: increases Git smart HTTP buffer size
+- `core.compression 0`: disables Git compression
+
+These are stability workarounds. They do not change MuJoCo source code.
+
+---
+
+## 4. Clone Stable MuJoCo
+
+Clone MuJoCo from the official DeepMind repository.
+
+```bash
+cd ~
+
+git clone --branch 3.8.1 https://github.com/google-deepmind/mujoco.git mujoco
+```
+
+Enter the repo:
+
+```bash
+cd ~/mujoco
+```
+
+Confirm checkout:
+
+```bash
+git log -1 --oneline
+```
+
+Expected commit/tag seen during setup:
+
+```text
+68820957 (HEAD, tag: 3.8.1) Update changelog for the 3.8.1 release.
+```
+
+---
+
+## 5. Build OpenUSD Helper
+
+MuJoCo includes an OpenUSD helper project at:
+
+```text
+cmake/third_party_deps/openusd
+```
+
+This helper is not the runtime plugin. It is a build-time CMake helper that downloads and builds OpenUSD as a dependency.
+
+Configure the OpenUSD helper:
+
+```bash
+cd ~/mujoco
+
+cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd
+```
+
+Build OpenUSD:
+
+```bash
+cmake --build cmake/third_party_deps/openusd/build -j$(nproc)
+```
+
+On lower-RAM computers, reduce parallel jobs:
+
+```bash
+cmake --build cmake/third_party_deps/openusd/build -j2
+```
+
+or:
+
+```bash
+cmake --build cmake/third_party_deps/openusd/build -j1
+```
+
+Success checkpoint:
+
+```text
+Success! USD libraries were built.
+[100%] Completed 'openusd'
+[100%] Built target openusd
+```
+
+The helper downloads OpenUSD, pulls a stable release, builds shared USD libraries, keeps optional features off, and uses TBB as a required dependency.
+
+---
+
+## 6. Configure MuJoCo with OpenUSD Enabled
+
+After OpenUSD is built, MuJoCo still needs to be configured to use it.
+
+Main flag:
+
+```text
+-DMUJOCO_WITH_USD=True
+```
+
+Configure MuJoCo:
+
+```bash
+cd ~/mujoco
+
+cmake -Bbuild -S. -DMUJOCO_WITH_USD=True \
+  -DCMAKE_C_FLAGS="-Wno-error=discarded-qualifiers -Wno-error" \
+  -DCMAKE_CXX_FLAGS="-Wno-error"
+```
+
+Why the warning flags were used:
+
+- GCC 15 warnings were stopping the build as errors
+- `-Wno-error` prevents warnings from terminating configuration/build
+- `-Wno-error=discarded-qualifiers` specifically handled a C warning seen during this setup
+
+Success checkpoint:
+
+```text
+Configuring done
+Generating done
+Build files have been written to: /home/your_user/mujoco/build
+```
+
+During this stage, CMake should find required viewer dependencies such as:
+
+- Wayland
+- X11
+- GLFW
+- `pkg-config`
+
+---
+
+## 7. Build MuJoCo
+
+Build MuJoCo:
+
+```bash
+cd ~/mujoco
+
+cmake --build build -j$(nproc)
+```
+
+On lower-RAM computers, reduce jobs:
+
+```bash
+cmake --build build -j2
+```
+
+or:
+
+```bash
+cmake --build build -j1
+```
+
+Success checkpoint examples:
+
+```text
+[100%] Built target mjcf_file_format_test
+[100%] Built target xml_native_reader_test
+[100%] Built target xml_native_writer_test
+```
+
+---
+
+## 8. Verify `simulate` and USD Artifacts
+
+Confirm the MuJoCo viewer executable exists:
+
+```bash
+cd ~/mujoco
+
+find build -type f -executable -name simulate
+```
+
+Expected:
+
+```text
+build/bin/simulate
+```
+
+Check for USD-related build artifacts:
+
+```bash
+find build -type f | grep -Ei "usd|mjcPhysics|plugInfo|decoder" | head -50
+```
+
+Useful items may include:
+
+- USD decoder build files
+- `mjcPhysics` files
+- USD/MJCF plugin build outputs
+- USD test/build artifacts
+
+This confirms the build included OpenUSD-related components rather than a normal MuJoCo-only build.
+
+---
+
+## 9. Runtime Helper Script
+
+The build creates the components, but MuJoCo still needs correct runtime paths when launching `simulate`.
+
+Create the runtime helper script:
+
+```bash
+cat > ~/run_mujoco_usd.sh <<'EOF_SCRIPT'
+#!/usr/bin/env bash
+set -e
+
+cd "$HOME/mujoco"
+
+mkdir -p build/bin/mujoco_plugin
+
+if [ -f build/lib/libusd_decoder_plugin.so ]; then
+  cp -f build/lib/libusd_decoder_plugin.so build/bin/mujoco_plugin/
+fi
+
+export LD_LIBRARY_PATH="$HOME/mujoco/build/lib:$HOME/mujoco/build/_deps/openusd-build/lib:$LD_LIBRARY_PATH"
+export PXR_PLUGINPATH_NAME="$HOME/mujoco/build/lib/mujoco-usd-resources:$PXR_PLUGINPATH_NAME"
+
+LIBGL_ALWAYS_SOFTWARE=1 MESA_LOADER_DRIVER_OVERRIDE=llvmpipe ./build/bin/simulate "$@"
+EOF_SCRIPT
+
+chmod +x ~/run_mujoco_usd.sh
+```
+
+The script does four important things:
+
+1. Copies `libusd_decoder_plugin.so` into the MuJoCo plugin folder
+2. Sets `LD_LIBRARY_PATH` so Linux can find USD shared libraries
+3. Sets `PXR_PLUGINPATH_NAME` so OpenUSD can find MuJoCo USD plugin/schema resources
+4. Forces WSL software rendering with `llvmpipe`
+
+Run MuJoCo:
+
+```bash
+~/run_mujoco_usd.sh
+```
+
+Runtime proof:
+
+```text
+MuJoCo version 3.8.1
+Plugins registered by library 'libusd_decoder_plugin.so':
+```
+
+---
+
+## 10. WSL Graphics Restart Fix
+
+If `simulate` opens but the GUI does not appear, or WSL graphics is stuck, restart WSLg from PowerShell.
+
+Exit Ubuntu first:
+
+```bash
+exit
+```
+
+Then in PowerShell:
+
+```powershell
+wsl --shutdown
+wsl --update
+wsl
+```
+
+Back inside Ubuntu, test graphics:
+
+```bash
+xeyes
+```
+
+If `xeyes` opens, try MuJoCo again:
+
+```bash
+~/run_mujoco_usd.sh
+```
+
+---
+
+## 11. XML Wrapper Testing
+
+USD assets can be tested through MJCF XML wrapper files.
+
+The wrapper gives MuJoCo simulation context:
+
+- asset path
+- worldbody
+- floor
+- lighting
+- attach point
+
+Example wrapper:
+
+```xml
+<mujoco model="load_usd_asset">
+  <asset>
+    <model name="usd_asset" file="/path/to/file.usd" content_type="text/usd"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5"/>
+    <geom name="floor" type="plane" size="5 5 0.1"/>
+    <body name="usd_holder" pos="0 0 0">
+      <attach model="usd_asset" prefix="usd_"/>
+    </body>
+  </worldbody>
+</mujoco>
+```
+
+Run a wrapper:
+
+```bash
+~/run_mujoco_usd.sh ~/mujoco/path/to/wrapper.xml
+```
+
+Important:
+
+The USD file path inside the wrapper must actually exist. If it does not, OpenUSD may fail to open the layer and `simulate` can terminate.
+
+Check a USD file path before running:
+
+```bash
+ls "/path/to/file.usd"
+```
+
+Find USD files:
+
+```bash
+find ~/usd_tests -type f \( -iname "*.usd" -o -iname "*.usda" -o -iname "*.usdc" -o -iname "*.usdz" \) | head -50
+```
+
+Example path used during testing:
+
+```text
+/mnt/c/Users/David/Hard_Documents/mujoco/usd_tests/Industrial_NVD_10012
+```
+
+---
+
+## 12. Known Issues and Fixes
+
+### Issue: PowerShell commands mixed with Ubuntu commands
+
+Problem:
+
+```text
+cat > file.xml <<EOF
+```
+
+fails in PowerShell because heredoc syntax is Linux shell syntax.
+
+Fix:
+
+Run Linux commands inside WSL/Ubuntu, not PowerShell.
+
+PowerShell:
+
+```powershell
+wsl
+```
+
+Then Ubuntu:
+
+```bash
+cd ~/mujoco
+```
+
+---
+
+### Issue: `~/run_mujoco_usd.sh` not recognized in PowerShell
+
+Problem:
+
+```powershell
+~/run_mujoco_usd.sh
+```
+
+PowerShell does not understand Linux home/script paths.
+
+Fix:
+
+Run from WSL:
+
+```bash
+~/run_mujoco_usd.sh
+```
+
+Or from PowerShell through WSL:
+
+```powershell
+wsl -- bash -lc "~/run_mujoco_usd.sh"
+```
+
+---
+
+### Issue: Missing USD file causes OpenUSD crash
+
+Problem:
+
+```text
+Failed to open layer @/path/to/file.usd@
+```
+
+Fix:
+
+Verify the file exists:
+
+```bash
+ls "/path/to/file.usd"
+```
+
+Find the asset pack:
+
+```bash
+find "/mnt/c/Users/David" -iname "*Industrial*" 2>/dev/null | head -50
+```
+
+---
+
+### Issue: OpenUSD build fails or machine runs out of RAM
+
+Problem:
+
+OpenUSD build exits or gets killed during long build.
+
+Fix:
+
+Use fewer build jobs:
+
+```bash
+cmake --build cmake/third_party_deps/openusd/build -j2
+```
+
+or:
+
+```bash
+cmake --build cmake/third_party_deps/openusd/build -j1
+```
+
+---
+
+### Issue: MuJoCo GUI does not appear in WSL
+
+Fix from PowerShell:
+
+```powershell
+wsl --shutdown
+wsl --update
+wsl
+```
+
+Then run:
+
+```bash
+~/run_mujoco_usd.sh
+```
+
+---
+
+## Current Scope
+
+This setup supports:
+
+- OpenUSD-enabled MuJoCo build
+- Runtime USD decoder plugin registration
+- USD asset import testing
+- MJCF XML wrapper testing
+- Seahorse/G1 asset visualization tests
+
+This setup does not yet provide:
+
+- ProtoMotion training
+- RoboJudo integration
+- Isaac Lab reward/task conversion
+- Real robot deployment
+- Full physics equivalence between USD and MJCF
+
+Those are future integration steps.
diff --git a/examples/openusd_wrappers/README.md b/examples/openusd_wrappers/README.md
new file mode 100644
index 00000000000..5a57511f8fe
--- /dev/null
+++ b/examples/openusd_wrappers/README.md
@@ -0,0 +1,32 @@
+# OpenUSD MJCF Wrapper Examples
+
+These XML files are examples for loading USD assets into MuJoCo using MJCF wrappers.
+
+## Purpose
+
+The wrappers provide a controlled way to test USD asset loading in MuJoCo after building MuJoCo with OpenUSD enabled.
+
+## Current Examples
+
+- `load_pallet_usd.xml`
+- `load_rack_usd.xml`
+
+## Key MJCF Concept
+
+The wrapper uses:
+
+    <model name="asset_name" file="/path/to/file.usd" content_type="text/usd"/>
+
+Then the asset is attached into the MuJoCo world using:
+
+    <attach model="asset_name" prefix="asset_"/>
+
+## Notes
+
+These files may contain local asset paths from the development machine. During Seahorse integration, update the USD file paths to point to the Seahorse/G1 assets.
+
+## Current Scope
+
+These wrappers are for asset/environment import testing.
+
+They are not full training environments yet.
diff --git a/examples/openusd_wrappers/load_pallet_usd.xml b/examples/openusd_wrappers/load_pallet_usd.xml
new file mode 100644
index 00000000000..269697cb482
--- /dev/null
+++ b/examples/openusd_wrappers/load_pallet_usd.xml
@@ -0,0 +1,13 @@
+<mujoco model="load_pallet_usd">
+  <asset>
+    <model name="pallet_asset" file="/mnt/c/Users/David/Hard_Documents/mujoco/usd_tests/Industrial_NVD_10012/Assets/ArchVis/Industrial/Pallets/Pallet_A1.usd" content_type="text/usd"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 5"/>
+    <geom name="floor" type="plane" size="5 5 0.1"/>
+    <body name="pallet_holder" pos="0 0 0">
+      <attach model="pallet_asset" prefix="pallet_"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/examples/openusd_wrappers/load_rack_usd.xml b/examples/openusd_wrappers/load_rack_usd.xml
new file mode 100644
index 00000000000..0e14a9d9931
--- /dev/null
+++ b/examples/openusd_wrappers/load_rack_usd.xml
@@ -0,0 +1,13 @@
+<mujoco model="load_rack_usd">
+  <asset>
+    <model name="rack_asset" file="/home/david/usd_tests/Industrial_NVD@10012_extracted/Assets/ArchVis/Industrial/Shelves/RackSmallEmpty_A1.usd" content_type="text/usd"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 6"/>
+    <geom name="floor" type="plane" size="8 8 0.1"/>
+    <body name="rack_holder" pos="0 0 0">
+      <attach model="rack_asset" prefix="rack_"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/scripts/openusd/run_mujoco_usd.sh b/scripts/openusd/run_mujoco_usd.sh
new file mode 100755
index 00000000000..69d8fb121d6
--- /dev/null
+++ b/scripts/openusd/run_mujoco_usd.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+cd "$HOME/mujoco"
+
+mkdir -p build/bin/mujoco_plugin
+
+if [ -f build/lib/libusd_decoder_plugin.so ]; then
+  cp -f build/lib/libusd_decoder_plugin.so build/bin/mujoco_plugin/
+fi
+
+export LD_LIBRARY_PATH="$HOME/mujoco/build/lib:$HOME/mujoco/build/_deps/openusd-build/lib:$LD_LIBRARY_PATH"
+export PXR_PLUGINPATH_NAME="$HOME/mujoco/build/lib/mujoco-usd-resources:$PXR_PLUGINPATH_NAME"
+
+LIBGL_ALWAYS_SOFTWARE=1 MESA_LOADER_DRIVER_OVERRIDE=llvmpipe ./build/bin/simulate "$@"