The back-to-back competitions were held at the Musashino Forest Sport Plaza, which will play host to badminton action at the 2020 Olympic Games.

Hurd, the 2017 world champion and 2018 All-around bronze medallist, made a successful return to competition after undergoing minor elbow surgery in December.

By a narrow margin of just 0.067 points, she captured her second World Cup win to go with last year’s American Cup victory.

Hurd, who will turn 18 years of age in July, tallied 55.099 points with Canada’s Ellie Black second on 55.032 and Japan’s Asuka Teramoto third on 54.799.

After a crooked attempt on her double-twisting Yurchenko vault, Hurd grabbed the lead with the top score of 14.300 points on uneven bars. 

She led by 0.500 points at the halfway point of the competition, but wobbles on balance beam and a deduction for going overtime dropped her to second with one rotation left. 

Hurd then debuted her new floor exercise routine for a top score of 13.633 points. 

Second to Hurd at the 2017 World Championships in Montreal, two-time Olympian Black, 23, found herself in a familiar place.

She vaulted a beautifully-stuck McIntosh and performed very confidently for the highest score of the competition on balance beam.

Leading Hurd by just 0.3 points going into the final event, Black nailed her very difficult first pass but took a costly step out of bounds on her second pass, landing her in second overall.

In the absence of defending champion Mai Murakami, fellow Japanese Teramoto gave the home crowd plenty to cheer about by hitting four strong routines en route to the bronze medal.

The 23-year-old's layout rudi on vault brought the top score of the women’s competition, 14.800 points, and she threw four release moves on bars.

After a solid routine on balance beam, Teramoto wound up her day with an elegant floor routine that was second only to Hurd in the scoring.

In the men's event, two-time Olympian Mikulak decided to reset his routines following disappointing mistakes at last year’s World Championships in Doha and the American Cup last month, taking out difficulty that was tricking him up.

The results paid off in Tokyo, where the Californian hit six routines to score his first major international victory since the 2015 Pan American Games.

Mikulak tallied 86.599 points to comfortably win over Japanese gymnasts Wataru Tanigawa and Kenzō Shirai, who managed final scores of 85.665 and 82.964 respectively.

Beginning with a solid start on floor exercise and pommel horse that each scored 14.200 points, Mikulak allowed his momentum to grow, scoring higher on each routine.

After a stuck double-double dismount on still rings, he drilled his two-and-a-half-twisting Tsukahara for 14.533 points, followed by 14.600 on parallel bars.

Leading by just 0.001 points going into the final rotation of horizontal bar, both his best event and nemesis, he confidently hit his difficult routine to clinch the title by nearly a full point.

Tanigawa, 22, also hit six routines to win the silver medal, outscoring his rivals on still rings, vault and parallel bars.

His effort was punctuated by the highest score of the competition on vault, where he produced a Blanik.

Defending champion Shirai, 22, settled for the bronze medal after leaving out some of his most difficult tricks and botching his routine on parallel bars.

His best scores came on floor exercise, where his passes included a three-and-a-half twist to double-twisting front and tucked double-double, and on vault, where he slightly under-cooked a triple-twisting Yurchenko for 14.766 points.