diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index 748be165fa..aeb0f7ed85 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -296,71 +296,70 @@ def __init__(self, model: Model, specs: Sequence[Any]):
       specs = [specs]
     ids = []
     for spec in specs:
-      match spec:
-        case mujoco.MjsBody():
-          self.prefix = 'body_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
-        case mujoco.MjsJoint():
-          self.prefix = 'jnt_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
-        case mujoco.MjsGeom():
-          self.prefix = 'geom_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
-        case mujoco.MjsSite():
-          self.prefix = 'site_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
-        case mujoco.MjsLight():
-          self.prefix = 'light_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
-        case mujoco.MjsCamera():
-          self.prefix = 'cam_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
-        case mujoco.MjsMesh():
-          self.prefix = 'mesh_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
-        case mujoco.MjsHField():
-          self.prefix = 'hfield_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
-        case mujoco.MjsPair():
-          self.prefix = 'pair_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
-        case mujoco.MjsTendon():
-          self.prefix = 'tendon_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
-        case mujoco.MjsActuator():
-          self.prefix = 'actuator_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
-        case mujoco.MjsSensor():
-          self.prefix = 'sensor_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
-        case mujoco.MjsNumeric():
-          self.prefix = 'numeric_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
-        case mujoco.MjsText():
-          self.prefix = 'text_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
-        case mujoco.MjsTuple():
-          self.prefix = 'tuple_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
-        case mujoco.MjsKey():
-          self.prefix = 'key_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
-        case mujoco.MjsEquality():
-          self.prefix = 'eq_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
-        case mujoco.MjsExclude():
-          self.prefix = 'exclude_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
-        case mujoco.MjsSkin():
-          self.prefix = 'skin_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
-        case mujoco.MjsMaterial():
-          self.prefix = 'material_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
-        case _:
-          raise ValueError('invalid spec type')
+      if isinstance(spec, mujoco.MjsBody):
+        self.prefix = 'body_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
+      elif isinstance(spec, mujoco.MjsJoint):
+        self.prefix = 'jnt_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
+      elif isinstance(spec, mujoco.MjsGeom):
+        self.prefix = 'geom_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
+      elif isinstance(spec, mujoco.MjsSite):
+        self.prefix = 'site_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
+      elif isinstance(spec, mujoco.MjsLight):
+        self.prefix = 'light_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
+      elif isinstance(spec, mujoco.MjsCamera):
+        self.prefix = 'cam_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
+      elif isinstance(spec, mujoco.MjsMesh):
+        self.prefix = 'mesh_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
+      elif isinstance(spec, mujoco.MjsHField):
+        self.prefix = 'hfield_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
+      elif isinstance(spec, mujoco.MjsPair):
+        self.prefix = 'pair_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
+      elif isinstance(spec, mujoco.MjsTendon):
+        self.prefix = 'tendon_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
+      elif isinstance(spec, mujoco.MjsActuator):
+        self.prefix = 'actuator_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
+      elif isinstance(spec, mujoco.MjsSensor):
+        self.prefix = 'sensor_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
+      elif isinstance(spec, mujoco.MjsNumeric):
+        self.prefix = 'numeric_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
+      elif isinstance(spec, mujoco.MjsText):
+        self.prefix = 'text_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
+      elif isinstance(spec, mujoco.MjsTuple):
+        self.prefix = 'tuple_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
+      elif isinstance(spec, mujoco.MjsKey):
+        self.prefix = 'key_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
+      elif isinstance(spec, mujoco.MjsEquality):
+        self.prefix = 'eq_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
+      elif isinstance(spec, mujoco.MjsExclude):
+        self.prefix = 'exclude_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
+      elif isinstance(spec, mujoco.MjsSkin):
+        self.prefix = 'skin_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
+      elif isinstance(spec, mujoco.MjsMaterial):
+        self.prefix = 'material_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
+      else:
+        raise ValueError('invalid spec type')
       if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')
+        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
       ids.append(idx)
     if len(ids) == 1:
       self.id = ids[0]
@@ -388,41 +387,40 @@ def __init__(self, data: Data, model: Model, specs: Sequence[Any]):
       specs = [specs]
     ids = []
     for spec in specs:
-      match spec:
-        case mujoco.MjsBody():
-          self.prefix = ''
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
-        case mujoco.MjsJoint():
-          self.prefix = 'jnt_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
-        case mujoco.MjsGeom():
-          self.prefix = 'geom_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
-        case mujoco.MjsSite():
-          self.prefix = 'site_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
-        case mujoco.MjsLight():
-          self.prefix = 'light_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
-        case mujoco.MjsCamera():
-          self.prefix = 'cam_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
-        case mujoco.MjsTendon():
-          self.prefix = 'ten_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
-        case mujoco.MjsActuator():
-          self.prefix = 'actuator_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
-        case mujoco.MjsSensor():
-          self.prefix = 'sensor_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
-        case mujoco.MjsEquality():
-          self.prefix = 'eq_'
-          idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
-        case _:
-          raise ValueError('invalid spec type')
+      if isinstance(spec, mujoco.MjsBody):
+        self.prefix = ''
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
+      elif isinstance(spec, mujoco.MjsJoint):
+        self.prefix = 'jnt_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
+      elif isinstance(spec, mujoco.MjsGeom):
+        self.prefix = 'geom_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
+      elif isinstance(spec, mujoco.MjsSite):
+        self.prefix = 'site_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
+      elif isinstance(spec, mujoco.MjsLight):
+        self.prefix = 'light_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
+      elif isinstance(spec, mujoco.MjsCamera):
+        self.prefix = 'cam_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
+      elif isinstance(spec, mujoco.MjsTendon):
+        self.prefix = 'ten_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
+      elif isinstance(spec, mujoco.MjsActuator):
+        self.prefix = 'actuator_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
+      elif isinstance(spec, mujoco.MjsSensor):
+        self.prefix = 'sensor_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
+      elif isinstance(spec, mujoco.MjsEquality):
+        self.prefix = 'eq_'
+        idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
+      else:
+        raise ValueError('invalid spec type')
       if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')
+        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
       ids.append(idx)
     if len(ids) == 1:
       self.id = ids[0]