diff --git a/dm_control/mjcf/physics_test.py b/dm_control/mjcf/physics_test.py
index aa9d4d0b..d9fae265 100644
--- a/dm_control/mjcf/physics_test.py
+++ b/dm_control/mjcf/physics_test.py
@@ -579,5 +579,31 @@ def test_error_when_pickling_synchronizing_array_wrapper(self):
         mjcf_physics._PICKLING_NOT_SUPPORTED.format(type=type(xpos_view))):
       pickle.dumps(xpos_view)
 
+  def test_plugins(self):
+    root = mjcf.RootElement()
+    root.extension.add('plugin', plugin='mujoco.elasticity.cable')
+
+    # Replicate example in mujoco/model/plugin/elasticity/cable.xml
+    composite = root.worldbody.add(
+        'composite',
+        type='cable',
+        curve='s',
+        count=[41, 1, 1],
+        size=[1, 0, 0],
+        offset=[-0.3, 0, 0.6],
+        initial='none',
+    )
+    plugin = composite.add('plugin', plugin='mujoco.elasticity.cable')
+    plugin.add('config', key='twist', value='1e7')
+    plugin.add('config', key='bend', value='4e6')
+    plugin.add('config', key='vmax', value='0.05')
+    composite.add('joint', kind='main', damping=0.015)
+    composite.geom.type = 'capsule'
+    composite.geom.size = [0.005, 0, 0]
+    composite.geom.rgba = [0.8, 0.2, 0.1, 1]
+    composite.geom.condim = 1
+
+    mjcf.Physics.from_mjcf_model(root)
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 1f9184b8..24e71540 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -268,7 +268,7 @@
         </element>
         <element name="geom">
           <attributes>
-            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
             <attribute name="contype" type="int"/>
             <attribute name="conaffinity" type="int"/>
             <attribute name="condim" type="int"/>
@@ -577,7 +577,7 @@
             </element>
             <element name="geom">
               <attributes>
-                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
                 <attribute name="contype" type="int"/>
                 <attribute name="conaffinity" type="int"/>
                 <attribute name="condim" type="int"/>
@@ -811,7 +811,7 @@
     </element>
     <element name="extension">
       <children>
-        <element name="plugin" repeated="true" namespace="plugin">
+        <element name="plugin" repeated="true">
           <attributes>
             <attribute name="plugin" type="string" required="true"/>
           </attributes>
@@ -914,6 +914,23 @@
             <attribute name="refpos" type="array" array_type="float" array_size="3"/>
             <attribute name="refquat" type="array" array_type="float" array_size="4"/>
           </attributes>
+          <children>
+            <element name="plugin" repeated="true" namespace="mesh">
+              <attributes>
+                <attribute name="name" type="identifier"/>
+                <attribute name="plugin" type="string"/>
+                <attribute name="instance" type="reference" reference_namespace="plugin"/>
+              </attributes>
+              <children>
+                <element name="config" repeated="true">
+                  <attributes>
+                    <attribute name="key" type="string"/>
+                    <attribute name="value" type="string"/>
+                  </attributes>
+                </element>
+              </children>
+            </element>
+          </children>
         </element>
         <element name="skin" repeated="true">
           <attributes>
@@ -961,7 +978,7 @@
           <attributes>
             <attribute name="name" type="identifier"/>
             <attribute name="class" type="reference" reference_namespace="default"/>
-            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+            <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
             <attribute name="contype" type="int"/>
             <attribute name="conaffinity" type="int"/>
             <attribute name="condim" type="int"/>
@@ -1058,19 +1075,24 @@
         <element name="composite" repeated="true">
           <attributes>
             <attribute name="prefix" type="identifier"/>
-            <attribute name="type" type="keyword" valid_values="particle grid rope loop cloth box cylinder ellipsoid" required="true"/>
+            <attribute name="type" type="keyword" valid_values="particle grid cable rope loop cloth box cylinder ellipsoid" required="true"/>
             <attribute name="count" type="array" array_type="int" array_size="3" required="true"/>
-            <attribute name="spacing" type="float" required="true"/>
+            <attribute name="spacing" type="float" required="false"/>
             <attribute name="offset" type="array" array_type="float" array_size="3"/>
             <attribute name="flatinertia" type="float"/>
             <attribute name="solrefsmooth" type="array" array_type="float" array_size="2"/>
             <attribute name="solimpsmooth" type="array" array_type="float" array_size="5"/>
+            <attribute name="vertex" type="string"/>
+            <attribute name="face" type="string"/>
+            <attribute name="initial" type="string"/>
+            <attribute name="curve" type="string"/>
+            <attribute name="size" type="array" array_type="float" array_size="3"/>
           </attributes>
           <children>
             <element name="plugin" repeated="true" namespace="composite">
               <attributes>
-                <attribute name="name" type="identifier"/>
-                <attribute name="plugin" type="string" reference_namespace="plugin"/>
+                <attribute name="name" type="string"/>
+                <attribute name="plugin" type="string"/>
                 <attribute name="instance" type="reference" reference_namespace="plugin"/>
               </attributes>
               <children>
@@ -1124,7 +1146,7 @@
             </element>
             <element name="geom">
               <attributes>
-                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
                 <attribute name="contype" type="int"/>
                 <attribute name="conaffinity" type="int"/>
                 <attribute name="condim" type="int"/>
@@ -1187,7 +1209,7 @@
             <element name="plugin" repeated="true" namespace="body">
               <attributes>
                 <attribute name="name" type="identifier"/>
-                <attribute name="plugin" type="string" reference_namespace="plugin"/>
+                <attribute name="plugin" type="string"/>
                 <attribute name="instance" type="reference" reference_namespace="plugin"/>
               </attributes>
               <children>
@@ -1247,7 +1269,7 @@
               <attributes>
                 <attribute name="name" type="identifier"/>
                 <attribute name="class" type="reference" reference_namespace="default"/>
-                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+                <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
                 <attribute name="contype" type="int"/>
                 <attribute name="conaffinity" type="int"/>
                 <attribute name="condim" type="int"/>
@@ -1279,6 +1301,23 @@
                 <attribute name="fluidcoef" type="array" array_type="float" array_size="5"/>
                 <attribute name="user" type="array" array_type="float"/>
               </attributes>
+              <children>
+                <element name="plugin" repeated="true" namespace="geom">
+                  <attributes>
+                    <attribute name="name" type="identifier"/>
+                    <attribute name="plugin" type="string"/>
+                    <attribute name="instance" type="reference" reference_namespace="plugin"/>
+                  </attributes>
+                  <children>
+                    <element name="config" repeated="true">
+                      <attributes>
+                        <attribute name="key" type="string"/>
+                        <attribute name="value" type="string"/>
+                      </attributes>
+                    </element>
+                  </children>
+                </element>
+              </children>
             </element>
             <element name="site" repeated="true">
               <attributes>
@@ -1344,15 +1383,35 @@
             <element name="composite" repeated="true">
               <attributes>
                 <attribute name="prefix" type="identifier"/>
-                <attribute name="type" type="keyword" valid_values="particle grid rope loop cloth box cylinder ellipsoid" required="true"/>
+                <attribute name="type" type="keyword" valid_values="particle grid cable rope loop cloth box cylinder ellipsoid" required="true"/>
                 <attribute name="count" type="array" array_type="int" array_size="3" required="true"/>
-                <attribute name="spacing" type="float" required="true"/>
+                <attribute name="spacing" type="float" required="false"/>
                 <attribute name="offset" type="array" array_type="float" array_size="3"/>
                 <attribute name="flatinertia" type="float"/>
                 <attribute name="solrefsmooth" type="array" array_type="float" array_size="2"/>
                 <attribute name="solimpsmooth" type="array" array_type="float" array_size="5"/>
+                <attribute name="vertex" type="string"/>
+                <attribute name="face" type="string"/>
+                <attribute name="initial" type="string"/>
+                <attribute name="curve" type="string"/>
+                <attribute name="size" type="array" array_type="float" array_size="3"/>
               </attributes>
               <children>
+                <element name="plugin" repeated="true" namespace="composite">
+                  <attributes>
+                    <attribute name="name" type="string"/>
+                    <attribute name="plugin" type="string"/>
+                    <attribute name="instance" type="reference" reference_namespace="plugin"/>
+                  </attributes>
+                  <children>
+                    <element name="config" repeated="true">
+                      <attributes>
+                        <attribute name="key" type="string"/>
+                        <attribute name="value" type="string"/>
+                      </attributes>
+                    </element>
+                  </children>
+                </element>
                 <element name="joint" repeated="true">
                   <attributes>
                     <attribute name="kind" type="keyword" valid_values="main twist stretch" required="true"/>
@@ -1395,7 +1454,7 @@
                 </element>
                 <element name="geom">
                   <attributes>
-                    <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh"/>
+                    <attribute name="type" type="keyword" valid_values="plane hfield sphere capsule ellipsoid cylinder box mesh sdf"/>
                     <attribute name="contype" type="int"/>
                     <attribute name="conaffinity" type="int"/>
                     <attribute name="condim" type="int"/>
@@ -1830,7 +1889,7 @@
           <attributes>
             <attribute name="name" type="identifier"/>
             <attribute name="class" type="reference" reference_namespace="default"/>
-            <attribute name="plugin" type="string" reference_namespace="plugin"/>
+            <attribute name="plugin" type="string"/>
             <attribute name="instance" type="reference" reference_namespace="plugin"/>
             <attribute name="group" type="int"/>
             <attribute name="ctrllimited" type="keyword" valid_values="false true auto"/>
@@ -2224,7 +2283,7 @@
         <element name="plugin" repeated="true" namespace="sensor">
           <attributes>
             <attribute name="name" type="identifier"/>
-            <attribute name="plugin" type="string" reference_namespace="plugin"/>
+            <attribute name="plugin" type="string"/>
             <attribute name="instance" type="reference" reference_namespace="plugin"/>
             <attribute name="cutoff" type="float"/>
             <attribute name="objtype" type="keyword" valid_values="body joint geom site camera light mesh skin hfield texture material equality tendon actuator sensor numeric text tuple contact keyframe"/>