diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 860b079d..6c64c8ab 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -18,6 +18,11 @@ set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 include(GoogleTest)
 
 macro(mujoco_test name)
+  set(options)
+  set(oneValueArgs)
+  set(multiValueArgs PROPERTIES)
+  cmake_parse_arguments(_ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
   add_executable(${name} ${name}.cc)
   target_link_libraries(${name} gtest_main mujoco)
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
@@ -34,6 +39,9 @@ macro(mujoco_test name)
       ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
     )
   endif()
+  if(_ARGS_PROPERTIES)
+    set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
+  endif()
 endmacro()
 
 add_library(fixture STATIC fixture.h fixture.cc)
@@ -65,7 +73,4 @@ add_subdirectory(engine)
 add_subdirectory(sample)
 add_subdirectory(user)
 add_subdirectory(xml)
-
-if(NOT WIN32)
-  add_subdirectory(plugin/elasticity)
-endif()
+add_subdirectory(plugin/elasticity)
diff --git a/test/plugin/elasticity/CMakeLists.txt b/test/plugin/elasticity/CMakeLists.txt
index e62dae06..008ae8be 100644
--- a/test/plugin/elasticity/CMakeLists.txt
+++ b/test/plugin/elasticity/CMakeLists.txt
@@ -12,6 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-mujoco_test(elasticity_test)
-target_link_libraries(elasticity_test fixture gmock elasticity)
-
+mujoco_test(
+  elasticity_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
+)
+target_link_libraries(elasticity_test fixture gmock)
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index c5e70674..b94c74a9 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -27,8 +27,28 @@
 
 namespace mujoco {
 namespace {
-using PluginTest = MujocoTest;
 
+class PluginTest : public MujocoTest {
+ public:
+  // load plugin library
+  PluginTest() : MujocoTest() {
+    #if defined(_WIN32) || defined(__CYGWIN__)
+      mj_loadPluginLibrary((
+        std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+        std::string("\\elasticity.dll")).c_str());
+    #else
+      #if defined(__APPLE__)
+        mj_loadPluginLibrary((
+          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+          std::string("/libelasticity.dylib")).c_str());
+      #else
+        mj_loadPluginLibrary((
+          std::string(std::getenv("MUJOCO_PLUGIN_DIR")) +
+          std::string("/libelasticity.so")).c_str());
+      #endif
+    #endif
+  }
+};
 
 // -------------------------------- cable -----------------------------------