diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 1e4c1c49..860b079d 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -33,17 +33,6 @@ macro(mujoco_test name)
     set_tests_properties(
       ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
     )
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/bin"
-    )
-  elseif(APPLE)
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/lib"
-    )
-  else()
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "MUJOCO_PLUGIN_DIR=${CMAKE_BINARY_DIR}/lib"
-    )
   endif()
 endmacro()
 
@@ -76,4 +65,7 @@ add_subdirectory(engine)
 add_subdirectory(sample)
 add_subdirectory(user)
 add_subdirectory(xml)
-add_subdirectory(plugin/elasticity)
+
+if(NOT WIN32)
+  add_subdirectory(plugin/elasticity)
+endif()
diff --git a/test/plugin/elasticity/CMakeLists.txt b/test/plugin/elasticity/CMakeLists.txt
index 20671245..e62dae06 100644
--- a/test/plugin/elasticity/CMakeLists.txt
+++ b/test/plugin/elasticity/CMakeLists.txt
@@ -13,5 +13,5 @@
 # limitations under the License.
 
 mujoco_test(elasticity_test)
-target_link_libraries(elasticity_test fixture gmock)
+target_link_libraries(elasticity_test fixture gmock elasticity)
 
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index b94c74a9..c5e70674 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -27,28 +27,8 @@
 
 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 -----------------------------------