diff --git a/.github/workflows/pypi_publish.yml b/.github/workflows/pypi_publish.yml
index 9b6d7927..a933e1d6 100644
--- a/.github/workflows/pypi_publish.yml
+++ b/.github/workflows/pypi_publish.yml
@@ -164,7 +164,7 @@ jobs:
         run: |
           source /tmp/test-venv/bin/activate
           python -c "
-          from mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout
+          from judo.mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout
           print('mujoco_extensions OK')
           from judo.tasks.spot.spot_base import SpotBase, XML_PATH
           from judo.tasks.spot.spot_constants import SPOT_LOCOMOTION_POLICY_PATH
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 96b263ef..f7d934cf 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -42,9 +42,9 @@ jobs:
         uses: actions/cache@v5
         with:
           path: |
-            mujoco_extensions/build
-            mujoco_extensions/policy_rollout/*.so
-          key: mujoco-ext-${{ matrix.os }}-${{ matrix.pixi-env }}-${{ hashFiles('pixi.lock', 'mujoco_extensions/**/*.cpp', 'mujoco_extensions/**/*.h', 'mujoco_extensions/**/CMakeLists.txt') }}
+            judo/mujoco_extensions/build
+            judo/mujoco_extensions/policy_rollout/*.so
+          key: mujoco-ext-${{ matrix.os }}-${{ matrix.pixi-env }}-${{ hashFiles('pixi.lock', 'judo/mujoco_extensions/**/*.cpp', 'judo/mujoco_extensions/**/*.h', 'judo/mujoco_extensions/**/CMakeLists.txt') }}
 
       - name: Build mujoco_extensions (cache miss)
         if: steps.ext-cache.outputs.cache-hit != 'true'
diff --git a/.github/workflows/test_gpu.yml b/.github/workflows/test_gpu.yml
index 280a7b3f..c1dda336 100644
--- a/.github/workflows/test_gpu.yml
+++ b/.github/workflows/test_gpu.yml
@@ -29,9 +29,9 @@ jobs:
         uses: actions/cache@v5
         with:
           path: |
-            mujoco_extensions/build
-            mujoco_extensions/policy_rollout/*.so
-          key: mujoco-ext-gpu-${{ hashFiles('pixi.lock', 'mujoco_extensions/**/*.cpp', 'mujoco_extensions/**/*.h', 'mujoco_extensions/**/CMakeLists.txt') }}
+            judo/mujoco_extensions/build
+            judo/mujoco_extensions/policy_rollout/*.so
+          key: mujoco-ext-gpu-${{ hashFiles('pixi.lock', 'judo/mujoco_extensions/**/*.cpp', 'judo/mujoco_extensions/**/*.h', 'judo/mujoco_extensions/**/CMakeLists.txt') }}
 
       - name: Build mujoco_extensions (cache miss)
         if: steps.ext-cache.outputs.cache-hit != 'true'
diff --git a/.gitignore b/.gitignore
index 9de1e035..a71c30f0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -188,7 +188,7 @@ outputs/
 MUJOCO_LOG.TXT
 
 # bundled shared libraries (auditwheel handles bundling into wheel)
-mujoco_extensions/policy_rollout/libonnxruntime*
+judo/mujoco_extensions/policy_rollout/libonnxruntime*
 wheelhouse/
 
 # assets
diff --git a/README.md b/README.md
index d5e80997..6df299f6 100644
--- a/README.md
+++ b/README.md
@@ -71,6 +71,18 @@ pixi run clean
 pixi run build
 ```
 
+If you change the `policy_rollout_pybind` C++ API (signatures in
+`judo/mujoco_extensions/policy_rollout/pybind/`), regenerate its type stubs so
+type checkers stay in sync (this builds the module first):
+```bash
+pixi run stubgen-extension
+```
+The generated `.pyi` files live next to the compiled module in
+`judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/` and are committed
+to the repo. `pybind11-stubgen` occasionally emits raw C++ types (e.g.
+`SystemClass::System`, `Ort::Session`) as invalid `...` annotations — review the
+diff and replace those with the proper Python types before committing.
+
 ## 2. Run the `judo` app!
 To start the simulator, from within the pixi shell, you can simply run:
 ```bash
diff --git a/judo/app/__init__.py b/judo/app/__init__.py
index 4d3e2daf..95856600 100644
--- a/judo/app/__init__.py
+++ b/judo/app/__init__.py
@@ -1 +1,81 @@
 # Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Judo application defaults.
+
+This package is judo's *batteries-included* task set. It is intentionally kept out of the
+individual libraries (tasks, optimizers, controllers, simulation) so those libraries can be reused
+by third-party packages that want to register their own tasks. Its sole job is to declare judo's
+default tasks and how each one is wired (rollout backend, simulation backend, and low-level
+locomotion policy).
+
+Importing ``judo.app`` registers judo's built-in tasks via :func:`register_default_tasks`.
+Third-party applications that only want the *mechanism* (not judo's default tasks) should avoid
+importing this module and instead call :func:`judo.tasks.register_task` themselves. Applications
+that want judo's defaults *and* their own can import this module (or call
+:func:`register_default_tasks`) and then register/override additional tasks by name.
+"""
+
+from judo.tasks import register_task
+from judo.tasks.caltech_leap_cube import CaltechLeapCube, CaltechLeapCubeConfig
+from judo.tasks.cartpole import Cartpole, CartpoleConfig
+from judo.tasks.cylinder_push import CylinderPush, CylinderPushConfig
+from judo.tasks.fr3_pick import FR3Pick, FR3PickConfig
+from judo.tasks.leap_cube import LeapCube, LeapCubeConfig
+from judo.tasks.leap_cube_down import LeapCubeDown, LeapCubeDownConfig
+from judo.tasks.spot import (
+    SpotBase,
+    SpotBaseConfig,
+    SpotBoxPush,
+    SpotBoxPushConfig,
+    SpotNavigate,
+    SpotNavigateConfig,
+    SpotTireRoll,
+    SpotTireRollConfig,
+    SpotTireUpright,
+    SpotTireUprightConfig,
+)
+from judo.tasks.spot.spot_constants import SPOT_LOCOMOTION_POLICY_PATH
+
+
+def register_default_tasks() -> None:
+    """Register judo's built-in tasks with their default backends and locomotion policies.
+
+    This is the application-level source of truth for which tasks are available and how each one
+    is wired (rollout backend, simulation backend, and low-level locomotion policy). Third-party
+    applications can call :func:`judo.tasks.register_task` (or
+    :func:`judo.registration.register_tasks_from_cfg`) to register their own tasks instead of, or
+    in addition to, these defaults. Re-registering a name overrides the previous entry, so callers
+    may register these defaults and then override individual tasks by name.
+    """
+    register_task(CylinderPush.name, CylinderPush, CylinderPushConfig)
+    register_task(Cartpole.name, Cartpole, CartpoleConfig)
+    register_task(FR3Pick.name, FR3Pick, FR3PickConfig)
+    register_task(LeapCube.name, LeapCube, LeapCubeConfig)
+    register_task(LeapCubeDown.name, LeapCubeDown, LeapCubeDownConfig)
+    register_task(CaltechLeapCube.name, CaltechLeapCube, CaltechLeapCubeConfig)
+
+    spot_policy_path = str(SPOT_LOCOMOTION_POLICY_PATH)
+    for spot_task, spot_config in (
+        (SpotBase, SpotBaseConfig),
+        (SpotBoxPush, SpotBoxPushConfig),
+        (SpotNavigate, SpotNavigateConfig),
+        (SpotTireRoll, SpotTireRollConfig),
+        (SpotTireUpright, SpotTireUprightConfig),
+    ):
+        register_task(
+            spot_task.name,
+            spot_task,
+            spot_config,
+            rollout_backend="mujoco_hierarchical",
+            simulation_backend="mujoco_hierarchical",
+            locomotion_policy_path=spot_policy_path,
+        )
+
+
+# Register judo's built-in tasks when the application defaults are imported.
+register_default_tasks()
+
+
+__all__ = [
+    "register_default_tasks",
+]
diff --git a/judo/app/dora/controller_node.py b/judo/app/dora/controller_node.py
index 872b066e..5cb4ae8d 100644
--- a/judo/app/dora/controller_node.py
+++ b/judo/app/dora/controller_node.py
@@ -9,8 +9,10 @@
 from dora_utils.node import DoraNode, on_event
 from omegaconf import DictConfig
 
-from judo.app.structs import MujocoState
 from judo.controller import Controller, make_controller
+from judo.optimizers import get_registered_optimizers
+from judo.structs import MujocoState
+from judo.tasks import get_registered_tasks
 
 
 class ControllerNode(DoraNode):
@@ -44,6 +46,7 @@ def __init__(
         self._optimizer_registration_cfg = optimizer_registration_cfg
         self.controller = self._build_controller(init_task, init_optimizer)
         self._paused = False
+        self._running = True
         self.write_controls()
         self.lock = Lock()
 
@@ -61,7 +64,7 @@ def _current_optimizer_name(self) -> str:
 
         Returns "cem" as a safe default if no registry entry matches the active optimizer instance.
         """
-        for name, (cls, _) in self.controller.available_optimizers.items():
+        for name, (cls, _) in get_registered_optimizers().items():
             if isinstance(self.controller.optimizer, cls):
                 return name
         return "cem"
@@ -70,7 +73,7 @@ def _current_optimizer_name(self) -> str:
     def update_task(self, event: dict) -> None:
         """Updates the task type."""
         new_task = event["value"].to_numpy(zero_copy_only=False)[0]
-        task_entry = self.controller.available_tasks.get(new_task)
+        task_entry = get_registered_tasks().get(new_task)
         if task_entry is None:
             raise ValueError(f"Task {new_task} not found in task registry.")
 
@@ -94,7 +97,7 @@ def set_paused_status(self, event: dict) -> None:
     def update_optimizer(self, event: dict) -> None:
         """Updates the optimizer type."""
         new_optimizer = event["value"].to_numpy(zero_copy_only=False)[0]
-        optimizer_entry = self.controller.available_optimizers.get(new_optimizer)
+        optimizer_entry = get_registered_optimizers().get(new_optimizer)
         if optimizer_entry is not None:
             optimizer_cls, optimizer_config_cls = optimizer_entry
             optimizer_config = optimizer_config_cls()
@@ -120,11 +123,25 @@ def update_task_config(self, event: dict) -> None:
         """Callback to update optimizer task config on receiving a new config message."""
         self.controller.task_config = from_event(event, type(self.controller.task_config))
 
+    def _send_output(self, output_id: str, data: pa.Array, metadata: dict | None = None) -> None:
+        """Publish an output, tolerating event-stream closure during shutdown.
+
+        During Ctrl-C / dataflow teardown the dora event stream can close while a step is in
+        progress, which makes ``send_output`` raise ``RuntimeError``. Treat that as a stop signal
+        so shutdown stays quiet instead of surfacing a traceback.
+        """
+        if not self._running:
+            return
+        try:
+            self.node.send_output(output_id, data, metadata or {})
+        except RuntimeError:
+            self._running = False
+
     def write_controls(self) -> None:
         """Util that publishes the current controller spline."""
         # send control action
         arr, metadata = to_arrow(self.controller.spline_data)
-        self.node.send_output("controls", arr, metadata)
+        self._send_output("controls", arr, metadata)
 
         # send traces
         if self.controller.traces is not None and len(self.controller.traces) > 0:
@@ -132,7 +149,7 @@ def write_controls(self) -> None:
                 "all_traces_rollout_size": str(self.controller.all_traces_rollout_size),
                 "shape": self.controller.traces.shape,
             }
-            self.node.send_output("traces", pa.array(self.controller.traces.flatten()), metadata=metadata)
+            self._send_output("traces", pa.array(self.controller.traces.flatten()), metadata=metadata)
 
     @on_event("INPUT", "states")
     def update_states(self, event: dict) -> None:
@@ -163,16 +180,18 @@ def step(self) -> None:
             self.controller.update_action()
             end = time.perf_counter()
 
-        self.node.send_output("plan_time", pa.array([end - start]))
+        self._send_output("plan_time", pa.array([end - start]))
         self.write_controls()
 
     def spin(self) -> None:
         """Spin logic for the controller node."""
         try:
-            while True:
+            while self._running:
                 start_time = time.time()
                 self.parse_messages()
                 self.step()
+                if not self._running:
+                    break
 
                 # Force controller to run at fixed rate specified by control_freq.
                 sleep_dt = 1 / self.controller.controller_cfg.control_freq - (time.time() - start_time)
diff --git a/judo/app/dora/simulation_node.py b/judo/app/dora/simulation_node.py
index d3925847..c9473146 100644
--- a/judo/app/dora/simulation_node.py
+++ b/judo/app/dora/simulation_node.py
@@ -8,9 +8,9 @@
 from dora_utils.node import DoraNode, on_event
 from omegaconf import DictConfig
 
-from judo.app.structs import SplineData
 from judo.simulation import DEFAULT_SIMULATION_BACKEND_REGISTRY
 from judo.simulation.base import Simulation
+from judo.structs import SplineData
 from judo.tasks import get_registered_tasks
 
 
@@ -56,7 +56,12 @@ def _init_sim(self, task_name: str) -> None:
             raise ValueError(f"Task {task_name} not found in task registry.")
 
         sim_backend_cls = self._resolve_backend(task_entry.simulation_backend)
-        self.sim = sim_backend_cls(init_task=task_name, task_registration_cfg=self._task_registration_cfg)
+        sim_kwargs: dict = {"init_task": task_name, "task_registration_cfg": self._task_registration_cfg}
+        # The hierarchical backend needs the low-level policy path passed explicitly (the
+        # Simulation classes are decoupled from the task registry).
+        if task_entry.simulation_backend == "mujoco_hierarchical":
+            sim_kwargs["locomotion_policy_path"] = task_entry.locomotion_policy_path
+        self.sim = sim_backend_cls(**sim_kwargs)
 
     @on_event("INPUT", "task")
     def update_task(self, event: dict) -> None:
diff --git a/judo/app/dora/visualization_node.py b/judo/app/dora/visualization_node.py
index 462155ae..ad6db89b 100644
--- a/judo/app/dora/visualization_node.py
+++ b/judo/app/dora/visualization_node.py
@@ -8,7 +8,7 @@
 from omegaconf import DictConfig
 from viser import GuiFolderHandle, GuiImageHandle, GuiInputHandle, IcosphereHandle, MeshHandle
 
-from judo.app.structs import RenderPose
+from judo.structs import RenderPose
 from judo.tasks import TaskRegistration
 from judo.visualizers.visualizer import Visualizer
 
diff --git a/judo/cli.py b/judo/cli.py
index 7a9a29d4..8fdeec58 100644
--- a/judo/cli.py
+++ b/judo/cli.py
@@ -119,7 +119,11 @@ def main_app(cfg: DictConfig) -> None:
     """Main function to run judo via a hydra configuration yaml file."""
     try:
         run(cfg)
-    except (KeyboardInterrupt, SystemExit):
+    except (KeyboardInterrupt, SystemExit, subprocess.CalledProcessError):
+        # On shutdown (e.g. Ctrl+C), dora_utils' cleanup (run.py) calls `dora destroy` with
+        # check=True; if the dataflow is already being torn down it exits non-zero and raises
+        # CalledProcessError. Our own _force_cleanup() already handles teardown, so all of these
+        # are expected shutdown paths rather than real failures.
         _force_cleanup()
 
 
@@ -144,7 +148,7 @@ def _warm_caches() -> None:
 def _require_mujoco_extensions() -> None:
     """Fail fast if mujoco_extensions is unavailable in the current environment."""
     try:
-        import mujoco_extensions  # noqa: F401, PLC0415
+        import judo.mujoco_extensions  # noqa: F401, PLC0415
     except Exception as e:  # pragma: no cover - environment dependent
         raise RuntimeError(
             "mujoco_extensions is required but could not be imported. Build it with: pixi run build"
diff --git a/judo/controller/__init__.py b/judo/controller/__init__.py
index 53aaa439..08de86f6 100644
--- a/judo/controller/__init__.py
+++ b/judo/controller/__init__.py
@@ -4,8 +4,8 @@
     BatchedControllers,
     Controller,
     ControllerConfig,
-    make_controller,
 )
+from judo.controller.factory import make_controller
 from judo.controller.overrides import (
     set_default_caltech_leap_cube_overrides,
     set_default_cartpole_overrides,
diff --git a/judo/controller/controller.py b/judo/controller/controller.py
index 6f2a5a6c..327d3aa5 100644
--- a/judo/controller/controller.py
+++ b/judo/controller/controller.py
@@ -7,15 +7,13 @@
 
 import numpy as np
 from mujoco import MjData
-from omegaconf import DictConfig
 from scipy.interpolate import interp1d
 
-from judo.app.structs import MujocoState, SplineData
-from judo.app.utils import register_optimizers_from_cfg, register_tasks_from_cfg
 from judo.config import OverridableConfig
 from judo.gui import slider
-from judo.optimizers import Optimizer, OptimizerConfig, get_registered_optimizers
-from judo.tasks import Task, TaskConfig, get_registered_tasks, get_task_registration
+from judo.optimizers import Optimizer, OptimizerConfig
+from judo.structs import MujocoState, SplineData
+from judo.tasks import Task, TaskConfig
 from judo.tasks.spot.spot_constants import POLICY_OUTPUT_DIM
 from judo.utils.hierarchical_mj_rollout_backend import HierarchicalMJRolloutBackend
 from judo.utils.mj_rollout_backend import MJRolloutBackend
@@ -75,10 +73,10 @@ def __init__(
             rollout_backend_registry: Optional mapping of backend names to backend classes.
                 Overrides entries in DEFAULT_ROLLOUT_BACKEND_REGISTRY.
             rollout_backend_kwargs: Optional extra kwargs for rollout backend constructor.
-                For "mujoco_hierarchical" backend, 'physics_substeps' and 'policy_path' cannot be
-                specified here—they are sourced from the task and task registry respectively.
-                Raises ValueError if either is provided. To use different values, create or
-                update a task registry entry.
+                For "mujoco_hierarchical" backend, 'physics_substeps' cannot be specified here—it
+                is sourced from the task (raises ValueError if provided). 'policy_path' is required
+                and must be supplied here by the caller (e.g., the app resolves it from the task
+                registry's locomotion_policy_path).
         """
         self._controller_cfg = controller_config
         self.task = task
@@ -87,9 +85,6 @@ def __init__(
         self._rollout_backend_registry.update(rollout_backend_registry or {})
         self._rollout_backend_kwargs = rollout_backend_kwargs or {}
 
-        self.available_optimizers = get_registered_optimizers()
-        self.available_tasks = get_registered_tasks()
-
         self.model = self.task.model
 
         self.rollout_backend: RolloutBackend = self._make_rollout_backend(
@@ -470,23 +465,14 @@ def _make_rollout_backend(
                 )
             final_kwargs["physics_substeps"] = self.task.physics_substeps
 
-            # policy_path is currently registry-owned for hierarchical backend wiring.
-            # This keeps policy/model assumptions centralized until hierarchical ONNX
-            # integration is generalized on the C++ side.
-            if "policy_path" in final_kwargs:
-                raise ValueError(
-                    f"Cannot specify 'policy_path' in rollout_backend_kwargs. "
-                    f"It must be defined in the task registry entry for '{self.task.name}'. "
-                    f"To use a different policy path, create or update a task registry entry with the desired path."
-                )
-
-            task_policy_path = get_task_registration(self.task.name).locomotion_policy_path
-            if task_policy_path is None:
+            # policy_path must be supplied explicitly by the caller (e.g., the app resolves it
+            # from the task registry's locomotion_policy_path and passes it via rollout_backend_kwargs).
+            if final_kwargs.get("policy_path") is None:
                 raise ValueError(
                     f"Backend '{backend_name}' requires 'policy_path'. "
-                    f"Task '{self.task.name}' must have a locomotion_policy_path registered in the task registry."
+                    f"Provide it via rollout_backend_kwargs for task '{self.task.name}' "
+                    f"(the app resolves it from the task registry's locomotion_policy_path)."
                 )
-            final_kwargs["policy_path"] = task_policy_path
 
         backend = backend_factory(**final_kwargs)
         if not isinstance(backend, RolloutBackend):
@@ -728,65 +714,3 @@ def make_spline(times: np.ndarray, controls: np.ndarray, spline_order: str) -> i
         fill_value=fill_value,  # interp1d is incorrectly typed # type: ignore
         bounds_error=False,
     )
-
-
-def make_controller(
-    init_task: str,
-    init_optimizer: str,
-    task_registration_cfg: DictConfig | None = None,
-    optimizer_registration_cfg: DictConfig | None = None,
-    controller_cls: type[Controller] | None = None,
-    **controller_kwargs: Any,
-) -> Controller:
-    """Make a controller.
-
-    Args:
-        init_task: The task name to use.
-        init_optimizer: The optimizer name to use.
-        task_registration_cfg: Optional task registration overrides keyed by task name.
-            Each entry must contain `task` and `config` import paths, and may also define
-            `rollout_backend`, `simulation_backend`, and `locomotion_policy_path`.
-            See register_tasks_from_cfg for the exact supported schema.
-        optimizer_registration_cfg: Optional optimizer registration overrides keyed by
-            optimizer name. Each entry must contain `optimizer` and `config` import paths.
-            See register_optimizers_from_cfg for the exact supported schema.
-        controller_cls: Optional controller class to instantiate instead of Controller.
-        **controller_kwargs: Additional keyword arguments forwarded to the controller
-            constructor.
-
-    Returns:
-        The created Controller instance.
-    """
-    available_optimizers = get_registered_optimizers()
-    available_tasks = get_registered_tasks()
-    if task_registration_cfg is not None:
-        register_tasks_from_cfg(task_registration_cfg)
-    if optimizer_registration_cfg is not None:
-        register_optimizers_from_cfg(optimizer_registration_cfg)
-
-    task_entry = available_tasks.get(init_task)
-    optimizer_entry = available_optimizers.get(init_optimizer)
-
-    assert task_entry is not None, f"Task {init_task} not found in task registry."
-    assert optimizer_entry is not None, f"Optimizer {init_optimizer} not found in optimizer registry."
-    task_registration = get_task_registration(init_task)
-
-    # instantiate the task/optimizer/controller
-    task = task_entry.task_type()
-
-    optimizer_cls, optimizer_config_cls = optimizer_entry
-    optimizer_cfg = optimizer_config_cls()
-    optimizer_cfg.set_override(init_task)
-    optimizer = optimizer_cls(optimizer_cfg, task.nu)
-
-    controller_cfg = ControllerConfig()
-    controller_cfg.set_override(init_task)
-
-    cls = controller_cls or Controller
-    return cls(
-        controller_config=controller_cfg,
-        task=task,
-        optimizer=optimizer,
-        rollout_backend=task_registration.rollout_backend,
-        **controller_kwargs,
-    )
diff --git a/judo/controller/factory.py b/judo/controller/factory.py
new file mode 100644
index 00000000..ca755329
--- /dev/null
+++ b/judo/controller/factory.py
@@ -0,0 +1,95 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Registry-aware controller factory.
+
+The :class:`~judo.controller.controller.Controller` class itself is intentionally decoupled from
+the task/optimizer registries (it receives its backend and locomotion policy explicitly). This
+module provides :func:`make_controller`, a convenience factory that *reads* the registries to
+resolve those values and then constructs a controller. It depends only on the registry
+*mechanism* (``judo.tasks`` / ``judo.optimizers``), not on any particular set of registered tasks,
+so it can be used equally by judo's own app and by third-party applications that register their
+own tasks.
+"""
+
+from typing import Any
+
+from omegaconf import DictConfig
+
+from judo.controller.controller import Controller, ControllerConfig
+from judo.optimizers import get_registered_optimizers
+from judo.registration import register_optimizers_from_cfg, register_tasks_from_cfg
+from judo.tasks import get_registered_tasks, get_task_registration
+
+
+def make_controller(
+    init_task: str,
+    init_optimizer: str,
+    task_registration_cfg: DictConfig | None = None,
+    optimizer_registration_cfg: DictConfig | None = None,
+    controller_cls: type[Controller] | None = None,
+    **controller_kwargs: Any,
+) -> Controller:
+    """Make a controller.
+
+    This factory reads the task/optimizer registries to resolve backends and the locomotion policy
+    path, then passes those to the (registry-agnostic) :class:`~judo.controller.Controller`
+    constructor explicitly.
+
+    Args:
+        init_task: The task name to use.
+        init_optimizer: The optimizer name to use.
+        task_registration_cfg: Optional task registration overrides keyed by task name.
+            Each entry must contain `task` and `config` import paths, and may also define
+            `rollout_backend`, `simulation_backend`, and `locomotion_policy_path`.
+            See register_tasks_from_cfg for the exact supported schema.
+        optimizer_registration_cfg: Optional optimizer registration overrides keyed by
+            optimizer name. Each entry must contain `optimizer` and `config` import paths.
+            See register_optimizers_from_cfg for the exact supported schema.
+        controller_cls: Optional controller class to instantiate instead of Controller.
+        **controller_kwargs: Additional keyword arguments forwarded to the controller
+            constructor.
+
+    Returns:
+        The created Controller instance.
+    """
+    if task_registration_cfg is not None:
+        register_tasks_from_cfg(task_registration_cfg)
+    if optimizer_registration_cfg is not None:
+        register_optimizers_from_cfg(optimizer_registration_cfg)
+
+    available_optimizers = get_registered_optimizers()
+    available_tasks = get_registered_tasks()
+
+    task_entry = available_tasks.get(init_task)
+    optimizer_entry = available_optimizers.get(init_optimizer)
+
+    assert task_entry is not None, f"Task {init_task} not found in task registry."
+    assert optimizer_entry is not None, f"Optimizer {init_optimizer} not found in optimizer registry."
+    task_registration = get_task_registration(init_task)
+
+    # instantiate the task/optimizer/controller
+    task = task_entry.task_type()
+
+    optimizer_cls, optimizer_config_cls = optimizer_entry
+    optimizer_cfg = optimizer_config_cls()
+    optimizer_cfg.set_override(init_task)
+    optimizer = optimizer_cls(optimizer_cfg, task.nu)
+
+    controller_cfg = ControllerConfig()
+    controller_cfg.set_override(init_task)
+
+    # Resolve the locomotion policy path from the registry and pass it explicitly to the
+    # controller so the Controller class itself stays decoupled from the task registry.
+    rollout_backend_kwargs = dict(controller_kwargs.pop("rollout_backend_kwargs", None) or {})
+    if task_registration.locomotion_policy_path is not None:
+        rollout_backend_kwargs.setdefault("policy_path", task_registration.locomotion_policy_path)
+
+    cls = controller_cls or Controller
+    return cls(
+        controller_config=controller_cfg,
+        task=task,
+        optimizer=optimizer,
+        rollout_backend=task_registration.rollout_backend,
+        rollout_backend_kwargs=rollout_backend_kwargs,
+        **controller_kwargs,
+    )
diff --git a/judo/examples/example_task.py b/judo/examples/example_task.py
index 30a77a22..c55f6948 100644
--- a/judo/examples/example_task.py
+++ b/judo/examples/example_task.py
@@ -2,7 +2,7 @@
 
 from dataclasses import dataclass
 
-from judo.tasks import CylinderPush, CylinderPushConfig
+from judo.tasks.cylinder_push import CylinderPush, CylinderPushConfig
 
 
 @dataclass
diff --git a/mujoco_extensions/CMakeLists.txt b/judo/mujoco_extensions/CMakeLists.txt
similarity index 97%
rename from mujoco_extensions/CMakeLists.txt
rename to judo/mujoco_extensions/CMakeLists.txt
index d8e3a5e7..12cd6e9d 100644
--- a/mujoco_extensions/CMakeLists.txt
+++ b/judo/mujoco_extensions/CMakeLists.txt
@@ -121,8 +121,8 @@ target_link_libraries(policy_rollout_pybind PRIVATE
   ${MUJOCO_LIB}
 )
 set_target_properties(policy_rollout_pybind PROPERTIES
-  BUILD_RPATH "$ORIGIN/../../mujoco"
-  INSTALL_RPATH "$ORIGIN/../../mujoco"
+  BUILD_RPATH "$ORIGIN/../../../mujoco"
+  INSTALL_RPATH "$ORIGIN/../../../mujoco"
   BUILD_RPATH_USE_ORIGIN TRUE
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/policy_rollout"
 )
diff --git a/mujoco_extensions/__init__.py b/judo/mujoco_extensions/__init__.py
similarity index 68%
rename from mujoco_extensions/__init__.py
rename to judo/mujoco_extensions/__init__.py
index 8c3458ba..aa6e78f2 100644
--- a/mujoco_extensions/__init__.py
+++ b/judo/mujoco_extensions/__init__.py
@@ -1,6 +1,6 @@
 # Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
 
-from mujoco_extensions import policy_rollout
+from judo.mujoco_extensions import policy_rollout
 
 __all__ = [
     "policy_rollout",
diff --git a/mujoco_extensions/onnx_interface/onnx_interface.cpp b/judo/mujoco_extensions/onnx_interface/onnx_interface.cpp
similarity index 100%
rename from mujoco_extensions/onnx_interface/onnx_interface.cpp
rename to judo/mujoco_extensions/onnx_interface/onnx_interface.cpp
diff --git a/mujoco_extensions/onnx_interface/onnx_interface.h b/judo/mujoco_extensions/onnx_interface/onnx_interface.h
similarity index 100%
rename from mujoco_extensions/onnx_interface/onnx_interface.h
rename to judo/mujoco_extensions/onnx_interface/onnx_interface.h
diff --git a/mujoco_extensions/policy_rollout/__init__.py b/judo/mujoco_extensions/policy_rollout/__init__.py
similarity index 73%
rename from mujoco_extensions/policy_rollout/__init__.py
rename to judo/mujoco_extensions/policy_rollout/__init__.py
index fe70d7f8..1ad3c966 100644
--- a/mujoco_extensions/policy_rollout/__init__.py
+++ b/judo/mujoco_extensions/policy_rollout/__init__.py
@@ -1,6 +1,6 @@
 # Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
 
-from mujoco_extensions.policy_rollout.policy_rollout_pybind.policy_rollout import (
+from judo.mujoco_extensions.policy_rollout.policy_rollout_pybind.policy_rollout import (
     System,
     create_systems_vector,
     set_state,
diff --git a/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/__init__.pyi b/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/__init__.pyi
new file mode 100644
index 00000000..40393b33
--- /dev/null
+++ b/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/__init__.pyi
@@ -0,0 +1,15 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Type stubs for the compiled ``policy_rollout_pybind`` extension module.
+
+These stubs let type checkers resolve the C++ pybind11 module without requiring
+the ``.so`` to be built (e.g. in lint-only CI jobs). Regenerate with::
+
+    pixi run stubgen-extension
+"""
+
+from __future__ import annotations
+
+from . import policy_rollout
+
+__all__: list[str] = ["policy_rollout"]
diff --git a/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/policy_rollout.pyi b/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/policy_rollout.pyi
new file mode 100644
index 00000000..a88a1340
--- /dev/null
+++ b/judo/mujoco_extensions/policy_rollout/policy_rollout_pybind/policy_rollout.pyi
@@ -0,0 +1,68 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+from __future__ import annotations
+
+import collections.abc
+import typing
+
+import numpy
+import numpy.typing
+
+__all__: list[str] = ["System", "create_systems_vector", "set_state", "threaded_rollout"]
+
+class System:
+    def __init__(self, model_filepath: str, policy_filepath: str) -> None: ...
+    def get_control(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]: ...
+    def get_state(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]: ...
+    def load_policy(self, arg0: str, arg1: typing.Any) -> None: ...
+    def policy_inference(self) -> None: ...
+    def reset(self, arg0: bool) -> None: ...
+    def rollout(
+        self,
+        state: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"],
+        command: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, n]"],
+        physics_substeps: typing.SupportsInt | typing.SupportsIndex = 2,
+        reset_last_output: bool = True,
+        cutoff_time: typing.SupportsFloat | typing.SupportsIndex = ...,
+    ) -> tuple[
+        typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, n]"],
+        typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, n]"],
+    ]: ...
+    def set_observation(
+        self, command: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"]
+    ) -> None: ...
+    @property
+    def observation(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]: ...
+    @observation.setter
+    def observation(
+        self, arg0: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"]
+    ) -> None: ...
+    @property
+    def policy_output(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]: ...
+    @policy_output.setter
+    def policy_output(
+        self, arg1: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"]
+    ) -> None: ...
+
+def create_systems_vector(
+    model: typing.Any, policy_filepath: str, num_systems: typing.SupportsInt | typing.SupportsIndex
+) -> list[System]: ...
+def set_state(
+    system: System, state: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"]
+) -> None:
+    """Sets the state of a system object"""
+
+def threaded_rollout(
+    systems: collections.abc.Sequence[System],
+    states: numpy.typing.ArrayLike,
+    command: numpy.typing.ArrayLike,
+    last_policy_output: numpy.typing.ArrayLike,
+    num_threads: typing.SupportsInt | typing.SupportsIndex,
+    physics_substeps: typing.SupportsInt | typing.SupportsIndex,
+    cutoff_time: typing.SupportsFloat | typing.SupportsIndex = ...,
+) -> tuple[
+    list[typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, n]"]],
+    list[typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, n]"]],
+    list[typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]],
+]:
+    """Threaded policy rollout with shared pointers to System objects."""
diff --git a/mujoco_extensions/policy_rollout/pybind/policy_rollout.cpp b/judo/mujoco_extensions/policy_rollout/pybind/policy_rollout.cpp
similarity index 100%
rename from mujoco_extensions/policy_rollout/pybind/policy_rollout.cpp
rename to judo/mujoco_extensions/policy_rollout/pybind/policy_rollout.cpp
diff --git a/mujoco_extensions/policy_rollout/pybind/pybind.cpp b/judo/mujoco_extensions/policy_rollout/pybind/pybind.cpp
similarity index 100%
rename from mujoco_extensions/policy_rollout/pybind/pybind.cpp
rename to judo/mujoco_extensions/policy_rollout/pybind/pybind.cpp
diff --git a/mujoco_extensions/system/eigen_types.h b/judo/mujoco_extensions/system/eigen_types.h
similarity index 100%
rename from mujoco_extensions/system/eigen_types.h
rename to judo/mujoco_extensions/system/eigen_types.h
diff --git a/mujoco_extensions/system/system_class.cpp b/judo/mujoco_extensions/system/system_class.cpp
similarity index 100%
rename from mujoco_extensions/system/system_class.cpp
rename to judo/mujoco_extensions/system/system_class.cpp
diff --git a/mujoco_extensions/system/system_class.h b/judo/mujoco_extensions/system/system_class.h
similarity index 100%
rename from mujoco_extensions/system/system_class.h
rename to judo/mujoco_extensions/system/system_class.h
diff --git a/mujoco_extensions/system/system_utils.cpp b/judo/mujoco_extensions/system/system_utils.cpp
similarity index 100%
rename from mujoco_extensions/system/system_utils.cpp
rename to judo/mujoco_extensions/system/system_utils.cpp
diff --git a/mujoco_extensions/system/system_utils.h b/judo/mujoco_extensions/system/system_utils.h
similarity index 100%
rename from mujoco_extensions/system/system_utils.h
rename to judo/mujoco_extensions/system/system_utils.h
diff --git a/judo/app/utils.py b/judo/registration.py
similarity index 100%
rename from judo/app/utils.py
rename to judo/registration.py
diff --git a/judo/simulation/__init__.py b/judo/simulation/__init__.py
index cb16104d..a6b8cd2f 100644
--- a/judo/simulation/__init__.py
+++ b/judo/simulation/__init__.py
@@ -1,12 +1,25 @@
 # Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
 
 from judo.simulation.base import Simulation
-from judo.simulation.hierarchical_mj_simulation import HierarchicalMJSimulation
 from judo.simulation.mj_simulation import MJSimulation
 
+# ``hierarchical_mj_simulation`` imports the ``judo.mujoco_extensions`` C++ pybind extension, which
+# is only available once it has been built (``pixi run build``). Make the import optional so that
+# third-party consumers using only the plain MuJoCo backend can ``import judo.simulation`` without
+# building the extension. The hierarchical backend is registered only when it imports successfully;
+# requesting it otherwise fails at registry lookup with a clear ``KeyError``.
+try:
+    from judo.simulation.hierarchical_mj_simulation import HierarchicalMJSimulation
+
+    _HIERARCHICAL_BACKEND: dict[str, type[Simulation]] = {"mujoco_hierarchical": HierarchicalMJSimulation}
+    _HIERARCHICAL_AVAILABLE = True
+except ImportError:
+    _HIERARCHICAL_BACKEND = {}
+    _HIERARCHICAL_AVAILABLE = False
+
 DEFAULT_SIMULATION_BACKEND_REGISTRY: dict[str, type[Simulation]] = {
     "mujoco": MJSimulation,
-    "mujoco_hierarchical": HierarchicalMJSimulation,
+    **_HIERARCHICAL_BACKEND,
 }
 
 
@@ -27,7 +40,9 @@ def get_simulation_backend(simulation_backend: str) -> type:
 __all__ = [
     "Simulation",
     "MJSimulation",
-    "HierarchicalMJSimulation",
     "DEFAULT_SIMULATION_BACKEND_REGISTRY",
     "get_simulation_backend",
 ]
+
+if _HIERARCHICAL_AVAILABLE:
+    __all__.append("HierarchicalMJSimulation")
diff --git a/judo/simulation/base.py b/judo/simulation/base.py
index bf9cbc77..beca7748 100644
--- a/judo/simulation/base.py
+++ b/judo/simulation/base.py
@@ -5,8 +5,8 @@
 import numpy as np
 from omegaconf import DictConfig
 
-from judo.app.structs import MujocoState, RenderPose
-from judo.app.utils import register_tasks_from_cfg
+from judo.registration import register_tasks_from_cfg
+from judo.structs import MujocoState, RenderPose
 from judo.tasks import get_registered_tasks
 from judo.tasks.base import Task
 
diff --git a/judo/simulation/hierarchical_mj_simulation.py b/judo/simulation/hierarchical_mj_simulation.py
index 483e8f1f..e411a6a2 100644
--- a/judo/simulation/hierarchical_mj_simulation.py
+++ b/judo/simulation/hierarchical_mj_simulation.py
@@ -9,11 +9,10 @@
 from omegaconf import DictConfig
 
 from judo.simulation.mj_simulation import MJSimulation
-from judo.tasks import get_task_registration
 from judo.tasks.spot.spot_constants import DEFAULT_SPOT_ROLLOUT_CUTOFF_TIME, POLICY_OUTPUT_DIM
 
 try:
-    from mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout  # type: ignore
+    from judo.mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout
 except ImportError as e:
     raise ImportError(
         "mujoco_extensions is not built. Spot locomotion tasks require the C++ extension.\n"
@@ -37,26 +36,22 @@ def __init__(
         self,
         init_task: str = "spot_base",
         task_registration_cfg: DictConfig | None = None,
+        locomotion_policy_path: str | Path | None = None,
     ) -> None:
         """Initialize the hierarchical simulation.
 
         Args:
             init_task: Name of the task to initialize.
             task_registration_cfg: Optional task registration configuration.
+            locomotion_policy_path: Path to the ONNX low-level policy used by hierarchical tasks.
+                Must be provided for tasks that use a locomotion policy; it is supplied by the
+                caller (e.g., the app resolves it from the task registry) rather than looked up
+                here, keeping the simulation decoupled from the task registry.
         """
-        super().__init__(init_task=init_task, task_registration_cfg=task_registration_cfg)
-
+        self._locomotion_policy_path = locomotion_policy_path
         self._systems = None
         self._last_policy_output = np.zeros(POLICY_OUTPUT_DIM)
-
-        # Initialize C++ systems if the task uses a hierarchical policy layer.
-        if self.task.uses_locomotion_policy:
-            policy_path = get_task_registration(self.task.name).locomotion_policy_path
-            if policy_path is None:
-                raise ValueError(
-                    f"Task '{self.task.name}' uses locomotion policy but no locomotion_policy_path is registered."
-                )
-            self._init_cpp_systems(policy_path)
+        super().__init__(init_task=init_task, task_registration_cfg=task_registration_cfg)
 
     def _init_cpp_systems(self, policy_path: str | Path) -> None:
         """Initialize the C++ systems vector for threaded rollout.
@@ -105,6 +100,7 @@ def _step_with_hierarchical_policy(self, command: np.ndarray) -> None:
         # states: (num_threads, nq+nv)
         # commands: (num_threads, num_timesteps, cmd_dim)
         # last_outputs: (num_threads, POLICY_OUTPUT_DIM)
+        assert self._systems is not None  # guaranteed by the caller's `_systems is not None` check
         states = np.array([state], dtype=np.float64)
         commands = np.array([[command]], dtype=np.float64)
         last_outputs = np.array([self._last_policy_output], dtype=np.float64)
@@ -149,12 +145,11 @@ def set_task(self, task_name: str) -> None:
 
         # Reinitialize systems based on the new task's policy layer.
         if self.task.uses_locomotion_policy:
-            policy_path = get_task_registration(self.task.name).locomotion_policy_path
-            if policy_path is None:
+            if self._locomotion_policy_path is None:
                 raise ValueError(
-                    f"Task '{self.task.name}' uses locomotion policy but no locomotion_policy_path is registered."
+                    f"Task '{self.task.name}' uses locomotion policy but no locomotion_policy_path was provided."
                 )
-            self._init_cpp_systems(policy_path)
+            self._init_cpp_systems(self._locomotion_policy_path)
             self._last_policy_output = np.zeros(POLICY_OUTPUT_DIM)
         else:
             raise ValueError(
diff --git a/judo/app/structs.py b/judo/structs.py
similarity index 100%
rename from judo/app/structs.py
rename to judo/structs.py
diff --git a/judo/tasks/__init__.py b/judo/tasks/__init__.py
index 30be02ad..9a8c233f 100644
--- a/judo/tasks/__init__.py
+++ b/judo/tasks/__init__.py
@@ -4,25 +4,6 @@
 from typing import Dict, Type
 
 from judo.tasks.base import Task, TaskConfig
-from judo.tasks.caltech_leap_cube import CaltechLeapCube, CaltechLeapCubeConfig
-from judo.tasks.cartpole import Cartpole, CartpoleConfig
-from judo.tasks.cylinder_push import CylinderPush, CylinderPushConfig
-from judo.tasks.fr3_pick import FR3Pick, FR3PickConfig
-from judo.tasks.leap_cube import LeapCube, LeapCubeConfig
-from judo.tasks.leap_cube_down import LeapCubeDown, LeapCubeDownConfig
-from judo.tasks.spot import (
-    SpotBase,
-    SpotBaseConfig,
-    SpotBoxPush,
-    SpotBoxPushConfig,
-    SpotNavigate,
-    SpotNavigateConfig,
-    SpotTireRoll,
-    SpotTireRollConfig,
-    SpotTireUpright,
-    SpotTireUprightConfig,
-)
-from judo.tasks.spot.spot_constants import SPOT_LOCOMOTION_POLICY_PATH
 
 
 @dataclass(frozen=True)
@@ -36,49 +17,11 @@ class TaskRegistration:
     locomotion_policy_path: str | None = None
 
 
-_registered_tasks: Dict[str, TaskRegistration] = {
-    CylinderPush.name: TaskRegistration(CylinderPush, CylinderPushConfig),
-    Cartpole.name: TaskRegistration(Cartpole, CartpoleConfig),
-    FR3Pick.name: TaskRegistration(FR3Pick, FR3PickConfig),
-    LeapCube.name: TaskRegistration(LeapCube, LeapCubeConfig),
-    LeapCubeDown.name: TaskRegistration(LeapCubeDown, LeapCubeDownConfig),
-    CaltechLeapCube.name: TaskRegistration(CaltechLeapCube, CaltechLeapCubeConfig),
-    SpotBase.name: TaskRegistration(
-        SpotBase,
-        SpotBaseConfig,
-        rollout_backend="mujoco_hierarchical",
-        simulation_backend="mujoco_hierarchical",
-        locomotion_policy_path=str(SPOT_LOCOMOTION_POLICY_PATH),
-    ),
-    SpotBoxPush.name: TaskRegistration(
-        SpotBoxPush,
-        SpotBoxPushConfig,
-        rollout_backend="mujoco_hierarchical",
-        simulation_backend="mujoco_hierarchical",
-        locomotion_policy_path=str(SPOT_LOCOMOTION_POLICY_PATH),
-    ),
-    SpotNavigate.name: TaskRegistration(
-        SpotNavigate,
-        SpotNavigateConfig,
-        rollout_backend="mujoco_hierarchical",
-        simulation_backend="mujoco_hierarchical",
-        locomotion_policy_path=str(SPOT_LOCOMOTION_POLICY_PATH),
-    ),
-    SpotTireRoll.name: TaskRegistration(
-        SpotTireRoll,
-        SpotTireRollConfig,
-        rollout_backend="mujoco_hierarchical",
-        simulation_backend="mujoco_hierarchical",
-        locomotion_policy_path=str(SPOT_LOCOMOTION_POLICY_PATH),
-    ),
-    SpotTireUpright.name: TaskRegistration(
-        SpotTireUpright,
-        SpotTireUprightConfig,
-        rollout_backend="mujoco_hierarchical",
-        simulation_backend="mujoco_hierarchical",
-        locomotion_policy_path=str(SPOT_LOCOMOTION_POLICY_PATH),
-    ),
-}
+# The registry is intentionally empty by default. Concrete tasks (and their backends /
+# locomotion policies) are registered at the application level so that this library can be
+# consumed by third-party packages without pulling in judo's built-in task set. Judo's own
+# default tasks are registered in ``judo.app`` (see ``judo.app.register_default_tasks``).
+_registered_tasks: Dict[str, TaskRegistration] = {}
 
 
 def get_registered_tasks() -> Dict[str, TaskRegistration]:
@@ -119,26 +62,4 @@ def register_task(
     "TaskRegistration",
     "Task",
     "TaskConfig",
-    "CaltechLeapCube",
-    "CaltechLeapCubeConfig",
-    "Cartpole",
-    "CartpoleConfig",
-    "CylinderPush",
-    "CylinderPushConfig",
-    "FR3Pick",
-    "FR3PickConfig",
-    "LeapCube",
-    "LeapCubeConfig",
-    "LeapCubeDown",
-    "LeapCubeDownConfig",
-    "SpotBase",
-    "SpotBaseConfig",
-    "SpotBoxPush",
-    "SpotBoxPushConfig",
-    "SpotNavigate",
-    "SpotNavigateConfig",
-    "SpotTireRoll",
-    "SpotTireRollConfig",
-    "SpotTireUpright",
-    "SpotTireUprightConfig",
 ]
diff --git a/judo/utils/assets.py b/judo/utils/assets.py
index f9fcb3c9..d38bc618 100644
--- a/judo/utils/assets.py
+++ b/judo/utils/assets.py
@@ -7,6 +7,20 @@
 
 import requests
 
+_TRUTHY_ENV_VALUES = {"1", "true", "yes", "on"}
+
+
+def mesh_downloads_disabled() -> bool:
+    """Return whether judo should skip downloading mesh assets from GitHub releases.
+
+    Network downloads are enabled by default. Third-party or offline deployments (e.g. air-gapped
+    robots, hermetic build systems that vendor meshes themselves) can opt out by setting the
+    ``JUDO_OFFLINE`` environment variable to a truthy value (``1``, ``true``, ``yes``, ``on``).
+    When disabled, :func:`download_and_extract_meshes` becomes a no-op and callers are expected to
+    provide the meshes through other means (e.g. a copy already present on disk).
+    """
+    return os.environ.get("JUDO_OFFLINE", "").strip().lower() in _TRUTHY_ENV_VALUES
+
 
 def acquire_lock(lock_path: Path, timeout: int = 60, poll_interval: float = 0.1) -> None:
     """Acquire a lock by creating a lock file atomically.
@@ -39,7 +53,15 @@ def download_and_extract_meshes(
     asset_name: str = "meshes.zip",
     tag: str | None = None,
 ) -> None:
-    """Downloads meshes.zip from the latest public GitHub release and extracts it."""
+    """Downloads meshes.zip from the latest public GitHub release and extracts it.
+
+    This is a no-op when mesh downloads are disabled via the ``JUDO_OFFLINE`` environment variable
+    (see :func:`mesh_downloads_disabled`), allowing offline/third-party deployments to supply their
+    own meshes without any network access.
+    """
+    if mesh_downloads_disabled():
+        return
+
     extract_path = Path(extract_root).expanduser()
     meshes_path = extract_path / "meshes"
     lock_path = extract_path / ".meshes_download.lock"
diff --git a/judo/utils/hierarchical_mj_rollout_backend.py b/judo/utils/hierarchical_mj_rollout_backend.py
index fc216d72..2f198d8d 100644
--- a/judo/utils/hierarchical_mj_rollout_backend.py
+++ b/judo/utils/hierarchical_mj_rollout_backend.py
@@ -43,7 +43,7 @@ def __init__(
     def _setup_mujoco_extensions(self, model: MjModel, policy_path: str | Path, num_threads: int) -> None:
         """Setup the mujoco_extensions C++ rollout backend with ONNX low-level policy."""
         try:
-            from mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout  # type: ignore  # noqa: PLC0415, I001
+            from judo.mujoco_extensions.policy_rollout import create_systems_vector, threaded_rollout  # noqa: PLC0415, I001
         except ImportError as e:
             raise ImportError("mujoco_extensions is required. Build with: pixi run build") from e
 
diff --git a/judo/visualizers/visualizer.py b/judo/visualizers/visualizer.py
index d69e1c3a..f5c65b19 100644
--- a/judo/visualizers/visualizer.py
+++ b/judo/visualizers/visualizer.py
@@ -10,11 +10,11 @@
 from viser import GuiFolderHandle, GuiImageHandle, GuiInputHandle, IcosphereHandle, MeshHandle
 
 from judo import PACKAGE_ROOT
-from judo.app.utils import register_optimizers_from_cfg, register_tasks_from_cfg
 from judo.config import set_config_overrides
 from judo.controller import ControllerConfig
 from judo.gui import create_gui_elements
 from judo.optimizers import get_registered_optimizers
+from judo.registration import register_optimizers_from_cfg, register_tasks_from_cfg
 from judo.tasks import TaskRegistration, get_registered_tasks
 from judo.visualizers.model import ViserMjModel
 
@@ -332,17 +332,30 @@ def _(_: viser.GuiEvent) -> None:
             with self.task_lock:
                 self.set_task(self.task_name, self.optimizer_name)
 
+    @staticmethod
+    def _is_removed(handle: object) -> bool:
+        """Return True if a viser handle has already been removed.
+
+        Different viser handle types track removal differently: GUI/scene handles expose
+        ``_impl.removed`` while tab handles expose ``_removed``. This guards against
+        double-removal warnings (e.g. removing a tab group already removes its child tabs).
+        """
+        if getattr(handle, "_removed", False):
+            return True
+        impl = getattr(handle, "_impl", None)
+        return bool(getattr(impl, "removed", False))
+
     def remove_handles(self, handles: list[ElementType] | ElementType) -> None:
         """Remove GUI handles from the visualization node."""
         if isinstance(handles, ElementType):
-            if not handles._impl.removed:
+            if not self._is_removed(handles):
                 handles.remove()
         else:
             assert isinstance(handles, list), "handles must be a list or a single handle."
             for handle in handles:
                 if isinstance(handle, list):
                     self.remove_handles(handle)
-                elif not handle._impl.removed:
+                elif not self._is_removed(handle):
                     handle.remove()
 
     def _remove_gui_elements(self) -> None:
@@ -351,7 +364,7 @@ def _remove_gui_elements(self) -> None:
             if isinstance(v, list):
                 for handle in v:
                     self.remove_handles(handle)
-            else:
+            elif not self._is_removed(v):
                 v.remove()
         self.viser_model.remove()
 
diff --git a/pixi.lock b/pixi.lock
index 3b92f5fe..6cc9a1de 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -5,13 +5,15 @@ environments:
     - url: https://conda.anaconda.org/conda-forge/
     indexes:
     - https://pypi.org/simple
+    options:
+      pypi-prerelease-mode: if-necessary-or-explicit
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.3.2-hc85cc9f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-5.0.1-hc65338a_0.conda
@@ -37,13 +39,13 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-hb03c661_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h877daf1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-13.4.0-h2a15e64_18.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.0-hf4e2dac_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.4-h13e7031_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.1-hcf80075_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-13.4.0-h6963c3b_118.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_18.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.42-h5347b49_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.51.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.52.1-h280c20c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h2d0b736_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/onnxruntime-cpp-1.19.2-h641f3bf_0_cpu.conda
@@ -133,10 +135,11 @@ environments:
       - pypi: ./
       osx-arm64:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/bzip2-1.0.8-hd037594_9.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.6-hc919400_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.8-h74c22ad_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.3.2-h8cb302d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigen-5.0.1-h44d0d2d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.22.2-h385eeb1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.19.0-hd5a2499_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcxx-22.1.4-h55c6f16_0.conda
@@ -147,9 +150,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libmpdec-4.0.0-h84a0fba_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h8f3e76b_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.0-h1b79a29_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.4-hca69786_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libssh2-1.11.1-h1590b86_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.51.0-h6caf38d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.52.1-h1a92334_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.5-h5e97a16_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/onnxruntime-cpp-1.19.2-hda9e549_0_cpu.conda
@@ -339,13 +342,15 @@ environments:
     - url: https://conda.anaconda.org/conda-forge/
     indexes:
     - https://pypi.org/simple
+    options:
+      pypi-prerelease-mode: if-necessary-or-explicit
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.3.2-hc85cc9f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-5.0.1-hc65338a_0.conda
@@ -358,6 +363,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.22.2-ha1258a1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-default_hbd61a6d_102.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libabseil-20260526.0-cxx17_h0dc7533_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-h39a168f_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-ha411449_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-h018ffa1_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.19.0-hcf29cc6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
@@ -371,15 +380,16 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-hb03c661_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.68.1-h877daf1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-13.4.0-h2a15e64_18.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.0-hf4e2dac_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.4-h13e7031_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.1-hcf80075_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-13.4.0-h6963c3b_118.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_18.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.42-h5347b49_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.51.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.52.1-h280c20c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h2d0b736_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/nodejs-26.6.0-hc039f44_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/onnxruntime-cpp-1.19.2-h641f3bf_0_cpu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.6.2-h35e630c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/patchelf-0.17.2-h58526e2_0.conda
@@ -533,11 +543,16 @@ environments:
       - pypi: ./
       osx-arm64:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/bzip2-1.0.8-hd037594_9.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.6-hc919400_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.34.8-h74c22ad_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.3.2-h8cb302d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigen-5.0.1-h44d0d2d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.22.2-h385eeb1_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libabseil-20260526.0-cxx17_h4c27e2a_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlicommon-1.2.0-h1dcdb26_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlidec-1.2.0-h5295a6a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlienc-1.2.0-h2ddc9cb_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.19.0-hd5a2499_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcxx-22.1.4-h55c6f16_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libedit-3.1.20250104-pl5321hafb1f1b_0.conda
@@ -547,11 +562,12 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libmpdec-4.0.0-h84a0fba_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.68.1-h8f3e76b_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.0-h1b79a29_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.4-hca69786_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libssh2-1.11.1-h1590b86_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.51.0-h6caf38d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.52.1-h1a92334_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.5-h5e97a16_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/nodejs-26.6.0-h00e74ec_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/onnxruntime-cpp-1.19.2-hda9e549_0_cpu.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/openssl-3.6.2-hd24854e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-3.0.3-pyhfe8187e_0.conda
@@ -711,6 +727,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/libssh2-1.11.1-h9aa295b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libuv-1.51.0-hfd05255_1.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.2-hfd05255_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/nodejs-26.6.0-h80d1838_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/onnxruntime-cpp-1.19.2-h50ebc8d_0_cpu.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.6.2-hf411b9b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-3.0.3-pyhfe8187e_0.conda
@@ -864,13 +881,15 @@ environments:
     - url: https://conda.anaconda.org/conda-forge/
     indexes:
     - https://pypi.org/simple
+    options:
+      pypi-prerelease-mode: if-necessary-or-explicit
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.3.2-hc85cc9f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-5.0.1-hc65338a_0.conda
@@ -883,6 +902,10 @@ environments:
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@@ -2149,13 +2186,15 @@ environments:
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@@ -3209,13 +3274,15 @@ environments:
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-  md5: bcb3cba70cf1eec964a03b4ba7775f01
+  size: 228700
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   license_family: MIT
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
+  sha256: 6cdb5dee54c72e56ab189fb3ad33cb28533553d42590e7e831160248f4416a43
+  md5: a5efc0b42bb8b42e97d0a29ae3e3c187
+  depends:
+  - __osx >=11.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 14070242
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   version: 0.1.0
-  sha256: 757fc34870fd4ae6ce9811e5a5f578d10323e408cf86342e87bcf789f1ddd5c5
+  sha256: 1c59c1edde8ca14aa4b327c3186888d80567d0d621f5229b23b0e25d95b3c78f
   requires_dist:
   - dora-utils
   - h5py
@@ -5787,7 +5890,6 @@ packages:
   - twine ; extra == 'dev'
   - wheel ; extra == 'dev'
   requires_python: '>=3.10'
-  editable: true
 - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
   sha256: 41557eeadf641de6aeae49486cef30d02a6912d8da98585d687894afd65b356a
   md5: 86d9cba083cd041bfbf242a01a7a1999
@@ -5894,6 +5996,102 @@ packages:
   purls: []
   size: 728002
   timestamp: 1774197446916
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libabseil-20260526.0-cxx17_h0dc7533_2.conda
+  sha256: 7bb3d495411b7059e85225aae500d84e7846a4bb02ebd77e4450200b20c180f0
+  md5: 6983bfe8e09992014b9cf393769c7a84
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  constrains:
+  - abseil-cpp =20260526.0
+  - libabseil-static =20260526.0=cxx17*
+  license: Apache-2.0
+  license_family: Apache
+  purls: []
+  size: 1436888
+  timestamp: 1787217011773
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libabseil-20260526.0-cxx17_h4c27e2a_2.conda
+  sha256: d9c62dae9d8f5bebadf72fcf369c00cc353183cb2521f9fffbf4c2f70b58bef9
+  md5: 2aa5e7dc7b5d218908effd2a8c70a8a8
+  depends:
+  - __osx >=11.0
+  - libcxx >=19
+  constrains:
+  - abseil-cpp =20260526.0
+  - libabseil-static =20260526.0=cxx17*
+  license: Apache-2.0
+  license_family: Apache
+  purls: []
+  size: 1277537
+  timestamp: 1787217005681
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-h39a168f_3.conda
+  sha256: e5864f257f839ffc27d681659bac95901f524f602b9121e5dcc5e2df18437f2d
+  md5: 7a2499a177753582fb7ae7e9dc4a908a
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=15
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 80265
+  timestamp: 1786622773969
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlicommon-1.2.0-h1dcdb26_3.conda
+  sha256: 5e62b856b2e77ce98db44133bacab1281b42c1040dcbd69dbacfb80890cff5b0
+  md5: b457450ba3f27c4749783c0204bd17b0
+  depends:
+  - __osx >=11.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 80027
+  timestamp: 1786622846050
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-ha411449_3.conda
+  sha256: dad31b6d104973deb89710929a35651033aad692d4e7793cdb5b786a9bd54678
+  md5: 6ab3315dc56618d652c1da42a648a129
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libbrotlicommon 1.2.0 h39a168f_3
+  - libgcc >=15
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 34828
+  timestamp: 1786622783405
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlidec-1.2.0-h5295a6a_3.conda
+  sha256: 510c9fce0d9ffcf41741dd96fc05db381672109d5665ef002c2e58f0d4ca0118
+  md5: e07a99c6fdd984f4d588060f2f936bf4
+  depends:
+  - __osx >=11.0
+  - libbrotlicommon 1.2.0 h1dcdb26_3
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 29935
+  timestamp: 1786622857695
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-h018ffa1_3.conda
+  sha256: d37124d0f51816e7d5e3a94bfc9ed3d6174d077f9b4f832d20c5a08b52bebf1f
+  md5: 2ac965638d4c6b2b38383bb1aebaf543
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libbrotlicommon 1.2.0 h39a168f_3
+  - libgcc >=15
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 298639
+  timestamp: 1786622792145
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlienc-1.2.0-h2ddc9cb_3.conda
+  sha256: eac412417eee2e93c62e9d53559f1f9c14f40b6c41e2c432af8b517596898dd1
+  md5: 954c78a9f591bfb12c79beaff7338ec8
+  depends:
+  - __osx >=11.0
+  - libbrotlicommon 1.2.0 h1dcdb26_3
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 295650
+  timestamp: 1786622868044
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.19.0-hcf29cc6_0.conda
   sha256: a0390fd0536ebcd2244e243f5f00ab8e76ab62ed9aa214cd54470fe7496620f4
   md5: d50608c443a30c341c24277d28290f76
@@ -6236,28 +6434,29 @@ packages:
   purls: []
   size: 6591860
   timestamp: 1771377400521
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.0-hf4e2dac_0.conda
-  sha256: ec37c79f737933bbac965f5dc0f08ef2790247129a84bb3114fad4900adce401
-  md5: 810d83373448da85c3f673fbcb7ad3a3
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.53.4-h13e7031_1.conda
+  sha256: f20d70da54e5b31dd4a51fb1efeaafafd5ab6dd8d7ac9d1438eaa2526ac4ed3d
+  md5: e72bbec309c2b0f37823ee7d4fabfcd3
   depends:
   - __glibc >=2.17,<3.0.a0
   - icu >=78.3,<79.0a0
-  - libgcc >=14
+  - libgcc >=15
   - libzlib >=1.3.2,<2.0a0
   license: blessing
   purls: []
-  size: 958864
-  timestamp: 1775753750179
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.0-h1b79a29_0.conda
-  sha256: 1a9d1e3e18dbb0b87cff3b40c3e42703730d7ac7ee9b9322c2682196a81ba0c3
-  md5: 8423c008105df35485e184066cad4566
+  size: 974348
+  timestamp: 1787051145557
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsqlite-3.53.4-hca69786_1.conda
+  sha256: 839b31d4830e896b4d315b551d27f2bb08026bc946df04bcc360d8627c3ba2cd
+  md5: fde96d40ebe9a9cb34e4122380189ddb
   depends:
   - __osx >=11.0
+  - icu >=78.3,<79.0a0
   - libzlib >=1.3.2,<2.0a0
   license: blessing
   purls: []
-  size: 920039
-  timestamp: 1775754485962
+  size: 942754
+  timestamp: 1787051243846
 - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.53.0-hf5d6505_0.conda
   sha256: 7a6256ea136936df4c4f3b227ba1e273b7d61152f9811b52157af497f07640b0
   md5: 4152b5a8d2513fd7ae9fb9f221a5595d
@@ -6351,27 +6550,27 @@ packages:
   purls: []
   size: 40297
   timestamp: 1775052476770
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.51.0-hb03c661_1.conda
-  sha256: c180f4124a889ac343fc59d15558e93667d894a966ec6fdb61da1604481be26b
-  md5: 0f03292cc56bf91a077a134ea8747118
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.52.1-h280c20c_1.conda
+  sha256: 67761d0206f84140047a367eaf9befe03a7e157a29ee25aee0047b40801cc6b6
+  md5: 01c4ed87826af55996768af6dbc936b4
   depends:
-  - __glibc >=2.17,<3.0.a0
   - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   license: MIT
   license_family: MIT
   purls: []
-  size: 895108
-  timestamp: 1753948278280
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.51.0-h6caf38d_1.conda
-  sha256: 042c7488ad97a5629ec0a991a8b2a3345599401ecc75ad6a5af73b60e6db9689
-  md5: c0d87c3c8e075daf1daf6c31b53e8083
+  size: 420040
+  timestamp: 1785914567661
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libuv-1.52.1-h1a92334_1.conda
+  sha256: 4f47de9de1990efd998edbbd6793f89c8f02ffde987ae8120b1c006acefd2a04
+  md5: de09bd0f175611e94f21b28f8c708e80
   depends:
   - __osx >=11.0
   license: MIT
   license_family: MIT
   purls: []
-  size: 421195
-  timestamp: 1753948426421
+  size: 122729
+  timestamp: 1785914645797
 - conda: https://conda.anaconda.org/conda-forge/win-64/libuv-1.51.0-hfd05255_1.conda
   sha256: f03dc82e6fb1725788e73ae97f0cd3d820d5af0d351a274104a0767035444c59
   md5: 31e1545994c48efc3e6ea32ca02a8724
@@ -7408,6 +7607,63 @@ packages:
   version: 1.10.0
   sha256: 5bb13e3eed2923615535339b3c620e76779af4cb4c6a90deccc9e36b274d3827
   requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*'
+- conda: https://conda.anaconda.org/conda-forge/linux-64/nodejs-26.6.0-hc039f44_0.conda
+  sha256: 049788cee5e10fe13846f806d8ae854642414aeb06018ad268ce9959b529be77
+  md5: c99a655b4c729eef64e63140962b8cc9
+  depends:
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - libuv >=1.52.1,<2.0a0
+  - libabseil >=20260526.0,<20260527.0a0
+  - libabseil * cxx17*
+  - zstd >=1.5.7,<1.6.0a0
+  - libsqlite >=3.53.4,<4.0a0
+  - icu >=78.3,<79.0a0
+  - openssl >=3.5.7,<4.0a0
+  - libnghttp2 >=1.68.1,<2.0a0
+  - libzlib >=1.3.2,<2.0a0
+  - libbrotlicommon >=1.2.0,<1.3.0a0
+  - libbrotlienc >=1.2.0,<1.3.0a0
+  - libbrotlidec >=1.2.0,<1.3.0a0
+  - c-ares >=1.34.8,<2.0a0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 20013853
+  timestamp: 1785852655297
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/nodejs-26.6.0-h00e74ec_0.conda
+  sha256: 379ba26eb11cccb4d9a10989d9afef3f8bc4c9039cbe371dec3e3ee24594597b
+  md5: f0ba635c2293dff6fb86fc2150c8c110
+  depends:
+  - libcxx >=19
+  - __osx >=12.0
+  - libnghttp2 >=1.68.1,<2.0a0
+  - libzlib >=1.3.2,<2.0a0
+  - libbrotlicommon >=1.2.0,<1.3.0a0
+  - libbrotlienc >=1.2.0,<1.3.0a0
+  - libbrotlidec >=1.2.0,<1.3.0a0
+  - libuv >=1.52.1,<2.0a0
+  - icu >=78.3,<79.0a0
+  - openssl >=3.5.7,<4.0a0
+  - libabseil >=20260526.0,<20260527.0a0
+  - libabseil * cxx17*
+  - zstd >=1.5.7,<1.6.0a0
+  - c-ares >=1.34.8,<2.0a0
+  - libsqlite >=3.53.4,<4.0a0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 18228083
+  timestamp: 1785852758781
+- conda: https://conda.anaconda.org/conda-forge/win-64/nodejs-26.6.0-h80d1838_0.conda
+  sha256: 8209fff36e34d2dc47ab37f879cb596059b3e6d58307fccefe7b9d79935492f3
+  md5: a375968cb2cf4a5b745c875b26d40b05
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 34057372
+  timestamp: 1785852767251
 - pypi: https://files.pythonhosted.org/packages/22/c2/4b9221495b2a132cc9d2eb862e21d42a009f5a60e45fc44b00118c174bff/numpy-2.2.6-cp310-cp310-macosx_11_0_arm64.whl
   name: numpy
   version: 2.2.6
diff --git a/pyproject.toml b/pyproject.toml
index 8307723f..a24af558 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -56,18 +56,18 @@ run_mpc = "run_mpc.cli:main"
 allow-direct-references = true
 
 [tool.hatch.build.targets.wheel]
-packages = ["judo", "mujoco_extensions", "run_mpc"]
-artifacts = ["mujoco_extensions/**/policy_rollout_pybind*.so", "judo/app/asset/*"]
+packages = ["judo", "run_mpc"]
+artifacts = ["judo/mujoco_extensions/**/policy_rollout_pybind*.so", "judo/app/asset/*"]
 exclude = [
     "judo/models/meshes",
-    "mujoco_extensions/build",
-    "mujoco_extensions/system",
-    "mujoco_extensions/onnx_interface",
-    "mujoco_extensions/example",
-    "mujoco_extensions/test",
-    "mujoco_extensions/CMakeLists.txt",
-    "mujoco_extensions/policy_rollout/pybind",
-    "mujoco_extensions/policy_rollout/test",
+    "judo/mujoco_extensions/build",
+    "judo/mujoco_extensions/system",
+    "judo/mujoco_extensions/onnx_interface",
+    "judo/mujoco_extensions/example",
+    "judo/mujoco_extensions/test",
+    "judo/mujoco_extensions/CMakeLists.txt",
+    "judo/mujoco_extensions/policy_rollout/pybind",
+    "judo/mujoco_extensions/policy_rollout/test",
 ]
 
 [project.optional-dependencies]
@@ -114,6 +114,9 @@ stubPath = "typings"
 
 reportMissingTypeStubs = false
 reportPrivateImportUsage = false
+# The mujoco_extensions C++ module is type-checked via committed .pyi stubs; its compiled
+# .so is built separately (pixi run build) and is absent in lint-only environments.
+reportMissingModuleSource = false
 
 
 pythonVersion = "3.13"
@@ -150,7 +153,7 @@ exclude=[
     "site-packages",
     "venv",
     "docs",
-    "mujoco_extensions",
+    "judo/mujoco_extensions",
 ]
 
 [tool.ruff.lint]
@@ -214,9 +217,10 @@ judo-rai = { path = ".", editable = true }
 
 [tool.pixi.tasks]
 # Build mujoco_extensions C++ module
-configure = { cmd = "cmake -B mujoco_extensions/build -S mujoco_extensions", description = "Configure mujoco_extensions cmake build" }
-build = { cmd = "cmake --build mujoco_extensions/build -j8", depends-on = ["configure"], description = "Build mujoco_extensions pybind modules" }
-clean = { cmd = "rm -rf mujoco_extensions/build mujoco_extensions/policy_rollout/*.so", description = "Clean mujoco_extensions build artifacts" }
+configure = { cmd = "cmake -B judo/mujoco_extensions/build -S judo/mujoco_extensions", description = "Configure mujoco_extensions cmake build" }
+build = { cmd = "cmake --build judo/mujoco_extensions/build -j8", depends-on = ["configure"], description = "Build mujoco_extensions pybind modules" }
+clean = { cmd = "rm -rf judo/mujoco_extensions/build judo/mujoco_extensions/policy_rollout/*.so", description = "Clean mujoco_extensions build artifacts" }
+stubgen-extension = { cmd = "python -m pybind11_stubgen policy_rollout_pybind -o .", cwd = "judo/mujoco_extensions/policy_rollout", depends-on = ["build"], description = "Regenerate .pyi type stubs for the policy_rollout_pybind C++ module (review output for C++ leaks afterwards)" }
 upload-meshes = { cmd = "bash scripts/upload_meshes.sh", description = "Zip and upload meshes to latest GitHub release" }
 build-wheel = { cmd = "rm -rf dist && python -m build --wheel --outdir dist && bash scripts/repair_wheel.sh dist/*.whl wheelhouse \"\" $(python -c \"import sys; print(f'cp{sys.version_info[0]}{sys.version_info[1]}')\")", depends-on = ["clean", "build"], description = "Build manylinux wheel with auditwheel" }
 run_mpc = { cmd = "run_mpc", description = "Run batched MPC (pass args after --)" }
@@ -225,6 +229,9 @@ run_mpc = { cmd = "run_mpc", description = "Run batched MPC (pass args after --)
 LD_LIBRARY_PATH = "$CONDA_PREFIX/lib:$LD_LIBRARY_PATH"
 PYTHONNOUSERSITE = "1"
 
+[tool.pixi.feature.dev.dependencies]
+nodejs = ">=18"  # pyright needs a modern Node.js (system node may be too old to parse its bundled JS)
+
 [tool.pixi.feature.py310.dependencies]
 python = "3.10.*"
 [tool.pixi.feature.py311.dependencies]
diff --git a/run_mpc/__init__.py b/run_mpc/__init__.py
index 4d3e2daf..1a3f0754 100644
--- a/run_mpc/__init__.py
+++ b/run_mpc/__init__.py
@@ -1 +1,5 @@
 # Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+# Importing the judo application layer registers judo's built-in tasks (and their backends /
+# locomotion policies) in the task registry, which run_mpc relies on when loading configs.
+import judo.app  # noqa: F401
diff --git a/run_mpc/mpc_batch.py b/run_mpc/mpc_batch.py
index 5cca2856..5743673b 100644
--- a/run_mpc/mpc_batch.py
+++ b/run_mpc/mpc_batch.py
@@ -9,11 +9,11 @@
 import numpy as np
 from tqdm import tqdm
 
-from judo.app.structs import RenderPose
 from judo.controller import BatchedControllers as JudoBatchedController
 from judo.controller import Controller as JudoController
 from judo.simulation.hierarchical_mj_simulation import HierarchicalMJSimulation
 from judo.simulation.mj_simulation import MJSimulation
+from judo.structs import RenderPose
 from judo.visualizers.visualizer import Visualizer
 from run_mpc.mpc_config import MPCTimers, PublicMPCConfig, SizeData
 
diff --git a/run_mpc/mpc_setup.py b/run_mpc/mpc_setup.py
index f3b5b856..651d2aab 100644
--- a/run_mpc/mpc_setup.py
+++ b/run_mpc/mpc_setup.py
@@ -58,7 +58,7 @@ def setup_mpc(
 
     for _ in range(num_parallel):
         if use_spot:
-            sim = HierarchicalMJSimulation(init_task=json_configs["task"])
+            sim = HierarchicalMJSimulation(init_task=json_configs["task"], locomotion_policy_path=policy_path)
         else:
             sim = MJSimulation(init_task=json_configs["task"])
         sim.task.config = copy.deepcopy(task.config)
diff --git a/tests/conftest.py b/tests/conftest.py
index a7cfd6d7..fcb4b1bc 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -8,6 +8,8 @@
 import numpy as np
 import pytest
 
+import judo.app  # noqa: F401  # registers judo's built-in tasks in the task registry
+
 
 @pytest.fixture(scope="session")
 def temp_np_seed() -> Callable[[int], contextlib._GeneratorContextManager[None]]:
diff --git a/tests/test_controller/test_controller.py b/tests/test_controller/test_controller.py
index b43765e6..d8290bcf 100644
--- a/tests/test_controller/test_controller.py
+++ b/tests/test_controller/test_controller.py
@@ -6,7 +6,7 @@
 
 from judo.controller import Controller, ControllerConfig, make_controller
 from judo.optimizers import Optimizer, OptimizerConfig, get_registered_optimizers
-from judo.tasks import CylinderPush
+from judo.tasks.cylinder_push import CylinderPush
 
 # ##### #
 # MOCKS #
diff --git a/tests/test_simulation/test_simulation.py b/tests/test_simulation/test_simulation.py
index 5254de27..1729ded6 100644
--- a/tests/test_simulation/test_simulation.py
+++ b/tests/test_simulation/test_simulation.py
@@ -43,7 +43,8 @@ def test_simulation_data_step(temp_np_seed: Callable) -> None:
 
 def test_spot_simulation_init() -> None:
     """Test HierarchicalMJSimulation initializes with a Spot task and C++ systems."""
-    sim = HierarchicalMJSimulation(init_task="spot_base")
+    policy_path = get_task_registration("spot_base").locomotion_policy_path
+    sim = HierarchicalMJSimulation(init_task="spot_base", locomotion_policy_path=policy_path)
     assert sim._systems is not None
     assert sim.task.uses_locomotion_policy
     assert get_task_registration(sim.task.name).locomotion_policy_path is not None
@@ -51,7 +52,8 @@ def test_spot_simulation_init() -> None:
 
 def test_spot_simulation_step() -> None:
     """Test HierarchicalMJSimulation steps correctly with Spot locomotion policy."""
-    sim = HierarchicalMJSimulation(init_task="spot_base")
+    policy_path = get_task_registration("spot_base").locomotion_policy_path
+    sim = HierarchicalMJSimulation(init_task="spot_base", locomotion_policy_path=policy_path)
     qpos_before = sim.task.data.qpos.copy()
     command = np.zeros(sim.task.nu)
     sim.step(command)