diff --git a/plugin/elasticity/CMakeLists.txt b/plugin/elasticity/CMakeLists.txt
index ca649524..b16cd3e8 100644
--- a/plugin/elasticity/CMakeLists.txt
+++ b/plugin/elasticity/CMakeLists.txt
@@ -20,6 +20,7 @@ set(MUJOCO_ELASTICITY_INCLUDE
 set(MUJOCO_ELASTICITY_SRCS
     cable.cc
     cable.h
+    elasticity.cc
     solid.cc
     solid.h
 )
diff --git a/plugin/elasticity/cable.cc b/plugin/elasticity/cable.cc
index dca45dc6..d7192728 100644
--- a/plugin/elasticity/cable.cc
+++ b/plugin/elasticity/cable.cc
@@ -221,7 +221,7 @@ void Cable::Compute(const mjModel* m, mjData* d, int instance) {
 
 
 
-mjPLUGIN_DYNAMIC_LIBRARY_INIT {
+void Cable::RegisterPlugin() {
   mjpPlugin plugin;
   mjp_defaultPlugin(&plugin);
 
diff --git a/plugin/elasticity/cable.h b/plugin/elasticity/cable.h
index 9c419deb..186bb127 100644
--- a/plugin/elasticity/cable.h
+++ b/plugin/elasticity/cable.h
@@ -36,6 +36,8 @@ class Cable {
 
   void Compute(const mjModel* m, mjData* d, int instance);
 
+  static void RegisterPlugin();
+
   int i0;                         // index of first body
   int n;                          // number of bodies in the cable
   std::vector<int> prev;          // indices of previous bodies   (n x 1)
diff --git a/plugin/elasticity/elasticity.cc b/plugin/elasticity/elasticity.cc
new file mode 100644
index 00000000..38e63edb
--- /dev/null
+++ b/plugin/elasticity/elasticity.cc
@@ -0,0 +1,26 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/mjplugin.h>
+#include "cable.h"
+#include "solid.h"
+
+namespace mujoco::plugin::elasticity {
+
+mjPLUGIN_DYNAMIC_LIBRARY_INIT {
+  Cable::RegisterPlugin();
+  Solid::RegisterPlugin();
+}
+
+}  // namespace mujoco::plugin::elasticity
diff --git a/plugin/elasticity/solid.cc b/plugin/elasticity/solid.cc
index ea7697af..c79df296 100644
--- a/plugin/elasticity/solid.cc
+++ b/plugin/elasticity/solid.cc
@@ -342,7 +342,7 @@ void Solid::Compute(const mjModel* m, mjData* d, int instance) {
 
 
 
-mjPLUGIN_DYNAMIC_LIBRARY_INIT {
+void Solid::RegisterPlugin() {
   mjpPlugin plugin;
   mjp_defaultPlugin(&plugin);
 
diff --git a/plugin/elasticity/solid.h b/plugin/elasticity/solid.h
index fd813e6a..25593f56 100644
--- a/plugin/elasticity/solid.h
+++ b/plugin/elasticity/solid.h
@@ -41,6 +41,8 @@ class Solid {
 
   void Compute(const mjModel* m, mjData* d, int instance);
 
+  static void RegisterPlugin();
+
   int i0;  // index of first body
   int nc;  // number of cubes in the grid
   int nv;  // number of vertices (bodies) in the solid