diff --git a/rmf_demos_assets/CMakeLists.txt b/rmf_demos_assets/CMakeLists.txt
index d9876f78..218f3d52 100644
--- a/rmf_demos_assets/CMakeLists.txt
+++ b/rmf_demos_assets/CMakeLists.txt
@@ -4,6 +4,8 @@ project(rmf_demos_assets)
 
 find_package(ament_cmake REQUIRED)
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
 install(
   DIRECTORY models
   DESTINATION share/${PROJECT_NAME}
diff --git a/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in b/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in
new file mode 100644
index 00000000..d606dbe8
--- /dev/null
+++ b/rmf_demos_assets/hooks/rmf_demos_assets.dsv.in
@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/rmf_demos_assets/models
diff --git a/rmf_demos_gz/launch/simulation.launch.xml b/rmf_demos_gz/launch/simulation.launch.xml
index b15b1cc5..8a017450 100644
--- a/rmf_demos_gz/launch/simulation.launch.xml
+++ b/rmf_demos_gz/launch/simulation.launch.xml
@@ -7,8 +7,7 @@
   <arg name="gazebo_version" default='8'/>
 
   <let name="world_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/$(var map_name).world" />
-  <let name="model_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/models:$(find-pkg-share $(var map_package))/maps/$(var map_name)/models:$(find-pkg-share rmf_demos_assets)/models:$(env HOME)/.gazebo/models" />
-  <let name="plugin_path" value="$(find-pkg-prefix rmf_robot_sim_gz_plugins)/lib/rmf_robot_sim_gz_plugins:$(find-pkg-prefix rmf_building_sim_gz_plugins)/lib/rmf_building_sim_gz_plugins" />
+  <let name="model_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/models:$(env HOME)/.gazebo/models" />
 
   <!-- Use crowd sim if `use_crowdsim` is true-->
   <let name="menge_resource_path" if="$(var use_crowdsim)" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/config_resource"/>
@@ -17,10 +16,9 @@
   <let name="gz_headless" if="$(var headless)" value="-s"/>
   <let name="gz_headless" unless="$(var headless)" value="" />
 
+  <!-- TODO(luca) Remove the manual concatenation of GZ_SIM_RESOURCE_PATH and just use environment hooks -->
   <executable cmd="gz sim --force-version $(var gazebo_version) $(var gz_headless) -r -v 3 $(var world_path)" output="both">
-    <env name="GZ_SIM_RESOURCE_PATH" value="$(var model_path):$(var world_path)" />
-    <env name="GZ_SIM_SYSTEM_PLUGIN_PATH" value="$(var plugin_path)"/>
-    <env name="GZ_GUI_PLUGIN_PATH" value="$(var plugin_path)"/>
+    <env name="GZ_SIM_RESOURCE_PATH" value="$(env GZ_SIM_RESOURCE_PATH):$(var model_path)" />
     <env name="MENGE_RESOURCE_PATH" value="$(var menge_resource_path)"/>
   </executable>