diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index d0fc17c0..85540dee 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -230,7 +230,27 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build
 
 # Setup the simulation environment variables
-RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc
+RUN  <<EOT cat >> /home/$USERNAME/.bashrc
+
+# Add results of ArduSub build
+export PATH=\$HOME/ardupilot/build/sitl/bin:\$PATH
+
+# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
+export PATH=\$HOME/ardupilot/Tools/autotest:\$PATH
+
+# Add ardupilot_gazebo plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+
+# Add ardupilot_gazebo models and worlds
+export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue models and worlds
+BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue meshes
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH
+EOT
 
 FROM desktop AS desktop-nvidia
 
diff --git a/.docker/entrypoints/sim.sh b/.docker/entrypoints/sim.sh
deleted file mode 100644
index 85b3946b..00000000
--- a/.docker/entrypoints/sim.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/usr/bin/env bash
-
-# Add results of ArduSub build
-export PATH=$HOME/ardupilot/build/sitl/bin:$PATH
-
-# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
-export PATH=$HOME/ardupilot/Tools/autotest:$PATH
-
-# Add ardupilot_gazebo plugin
-export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
-
-# Add ardupilot_gazebo models and worlds
-export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
-
-# Add blue models and worlds
-export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/gazebo/models:$HOME/ws_blue/src/blue/blue_description/gazebo/worlds:$GZ_SIM_RESOURCE_PATH
-
-# Add blue meshes
-export GZ_SIM_RESOURCE_PATH=$HOME/ws_blue/src/blue/blue_description/meshes:$GZ_SIM_RESOURCE_PATH
-
-# Build ros_gz for Gazebo Garden
-export GZ_VERSION=garden