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Add plugin install rules #2789

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Add plugin install rules #2789

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Add plugin install rules
joaocandre Aug 7, 2025
aff63cf
Merge branch 'google-deepmind:main' into main
joaocandre Aug 8, 2025
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13 changes: 13 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -225,6 +225,19 @@ if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev
)

# Install plugin libraries
install(
TARGETS actuator elasticity sdf_plugin sensor
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}/plugin" COMPONENT runtime
# LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin" COMPONENT runtime
)

# Create symlink (on supported OSs) to plugin libraries on binary folder for runtime plugin loading (https://stackoverflow.com/a/41037224)
install(CODE "execute_process( \
COMMAND ${CMAKE_COMMAND} -E create_symlink \"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/plugin\" \"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}/mujoco_plugin\")"
)


set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")

# Generate and install the mujocoTargets.cmake file. This defines the targets as
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