diff --git a/build.sh b/build.sh
index c9d8fce..7f4e034 100755
--- a/build.sh
+++ b/build.sh
@@ -5,26 +5,6 @@ set -e
 
 root=`pwd`
 
-if [[ -z "$MJLIB_PATH" ]]; then
-  # If MJLIB_PATH was not set, attempt to locate mujoco.so.
-  # This grep aims to avoid nogl versions of the MuJoCo libraru.
-  MJLIB_PATH=$(find -L $HOME/.mujoco/ -type f -name "*mujoco*.so" | grep "libmujoco[[:digit:]]*.so")
-  if [[ ! $? ]]; then
-    echo "Failed to find mujoco shared library (.so file)."
-    echo "Please set MJLIB_PATH to the location of the mujoco .so file."
-    exit 1
-  fi
-fi
-
-if [[ ! -r "$MJLIB_PATH" ]]; then
-  echo "Cannot read the mujoco library at ${MJLIB_PATH}"
-  echo "Set the MJLIB_PATH env var to change this location"
-  exit  1
-fi
-
-echo "MJLIB_PATH: ${MJLIB_PATH}"
-export MJLIB_PATH
-
 cmake_binary=${CMAKE_EXE:-cmake}
 echo "Using cmake command '$cmake_binary'"
 
diff --git a/cpp/setup.py b/cpp/setup.py
index fecc2e3..c73812f 100644
--- a/cpp/setup.py
+++ b/cpp/setup.py
@@ -69,11 +69,11 @@ def build_extension(self, ext):
         "-DCMAKE_BUILD_TYPE={}".format(build_type),
         "-DDM_ROBOTICS_BUILD_TESTS=OFF",
         "-DDM_ROBOTICS_BUILD_WHEEL=True",
-        "-DDM_ROBOTICS_MUJOCO_TAR={}".format(PRE_DOWNLOADED_MUJOCO_TAR),
         "--log-level=VERBOSE",
     ]
 
     if use_preinstalled_libs:
+      cmake_args.append("-DDM_ROBOTICS_MUJOCO_TAR={}".format(PRE_DOWNLOADED_MUJOCO_TAR))
       cmake_args.append("-DFETCHCONTENT_FULLY_DISCONNECTED:BOOL=TRUE")
       cmake_args.append("-DDM_ROBOTICS_USE_SYSTEM_Eigen3:BOOL=TRUE")
 
diff --git a/py/agentflow/tox.ini b/py/agentflow/tox.ini
index 281e5f9..5a383c5 100644
--- a/py/agentflow/tox.ini
+++ b/py/agentflow/tox.ini
@@ -9,7 +9,6 @@ deps =
      {distshare}/dm_robotics*geometry-*.zip
      -r requirements_external.txt
      setuptools
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 
@@ -19,7 +18,6 @@ deps =
      {distshare}/dm_robotics*transformations-*.zip
      {distshare}/dm_robotics*geometry-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python run_tests.py .
 
 # This test command runs each test in a separate process.
diff --git a/py/geometry/tox.ini b/py/geometry/tox.ini
index 09e244a..f0b0ddb 100644
--- a/py/geometry/tox.ini
+++ b/py/geometry/tox.ini
@@ -8,7 +8,6 @@ deps =
      {distshare}/dm_robotics*transformations-*.zip
      -rrequirements_external.txt
      setuptools
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 
@@ -16,5 +15,4 @@ commands = python setup.py sdist bdist_wheel
 deps =
      {distshare}/dm_robotics*transformations-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python -m unittest discover -p '*_test.py'
diff --git a/py/manipulation/tox.ini b/py/manipulation/tox.ini
index 1bee56b..01a2f52 100644
--- a/py/manipulation/tox.ini
+++ b/py/manipulation/tox.ini
@@ -11,7 +11,6 @@ deps =
      {distshare}/dm_robotics*moma-*.zip
      -r requirements_external.txt
      setuptools
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 [testenv:test]
@@ -23,5 +22,4 @@ deps =
      {distshare}/dm_robotics*moma-*.zip
      -r requirements_external.txt
      -r requirements_test.txt
-passenv = MJLIB_PATH
 commands = python run_tests.py .
diff --git a/py/moma/tox.ini b/py/moma/tox.ini
index acd86d7..239bfa5 100644
--- a/py/moma/tox.ini
+++ b/py/moma/tox.ini
@@ -10,7 +10,6 @@ deps =
      {distshare}/dm_robotics*controllers-*manylinux2014_x86_64.whl
      -r requirements_external.txt
      setuptools
-passenv = MJLIB_PATH
 commands =
      python setup.py sdist bdist_wheel
 
@@ -26,7 +25,6 @@ deps =
      {distshare}/dm_robotics*agentflow-*.zip
      {distshare}/dm_robotics*controllers-*manylinux2014_x86_64.whl
      -r requirements_external.txt
-passenv = MJLIB_PATH
 setenv =
   MUJOCO_GL = osmesa
 commands = python run_tests.py .