Fix documentation typos and CMake framework setup for macOS.

The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.

PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623

CMakeLists.txt

@@ -112,18 +112,6 @@ set_target_properties(
 # CMake's built-in FRAMEWORK option doesn't give us control over the dylib name inside the
 # Framework. We instead make our own Framework here.
 if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-  include(DuplicateTarget)
-  duplicate_target(
-    TARGET
-    mujoco
-    NEW_TARGET_NAME
-    mujoco_framework
-  )
-
-  # Do not add mujoco::mujoco to the ALL target. We do this to speed up the
-  # build assuming the user is interested in the Frameworks.
-  set_target_properties(mujoco PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
   set(TAPI
       "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi"
   )
@@ -132,31 +120,27 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
     ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
   )
   set_target_properties(
-    mujoco_framework
+    mujoco
     PROPERTIES LIBRARY_OUTPUT_DIRECTORY
                "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/mujoco.framework/Versions/A"
                BUILD_WITH_INSTALL_NAME_DIR TRUE
                INSTALL_NAME_DIR "@rpath/mujoco.framework/Versions/A"
-               OUTPUT_NAME "mujoco"
   )
   add_custom_command(
-    TARGET mujoco_framework
+    TARGET mujoco
     POST_BUILD
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco_framework>/Headers
-    COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS}
-            $<TARGET_FILE_DIR:mujoco_framework>/Headers
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco_framework>/Modules
-    COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap
-            $<TARGET_FILE_DIR:mujoco_framework>/Modules
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco_framework>/Resources
+    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Headers
+    COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS} $<TARGET_FILE_DIR:mujoco>/Headers
+    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Modules
+    COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap $<TARGET_FILE_DIR:mujoco>/Modules
+    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Resources
     COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
-            $<TARGET_FILE_DIR:mujoco_framework>/Resources/Info.plist
-    COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco_framework>/../Current
-    COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco_framework> -o
-            $<TARGET_FILE_DIR:mujoco_framework>/../../mujoco.tbd
-    COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco_framework>/../../Headers
-    COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco_framework>/../../Modules
-    COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco_framework>/../../Resources
+            $<TARGET_FILE_DIR:mujoco>/Resources/Info.plist
+    COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco>/../Current
+    COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
+    COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco>/../../Headers
+    COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco>/../../Modules
+    COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco>/../../Resources
     COMMAND_EXPAND_LISTS
   )
 endif()
@@ -181,48 +165,50 @@ if(BUILD_TESTING AND MUJOCO_TEST_PYTHON_UTIL)
   add_subdirectory(python/mujoco/util)
 endif()
 
-# Install the libraries.
-install(
-  TARGETS mujoco
-  EXPORT ${PROJECT_NAME}
-  RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
-  LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
-  ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
-  PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT dev
-)
+if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
+  # Install the libraries.
+  install(
+    TARGETS mujoco
+    EXPORT ${PROJECT_NAME}
+    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
+    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT dev
+  )
 
-set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
+  set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
 
-# Generate and install the mujocoTargets.cmake file. This defines the targets as
-# IMPORTED libraries for downstream users.
-install(
-  EXPORT ${PROJECT_NAME}
-  DESTINATION ${CONFIG_PACKAGE_LOCATION}
-  NAMESPACE mujoco::
-  FILE "${PROJECT_NAME}Targets.cmake"
-)
+  # Generate and install the mujocoTargets.cmake file. This defines the targets as
+  # IMPORTED libraries for downstream users.
+  install(
+    EXPORT ${PROJECT_NAME}
+    DESTINATION ${CONFIG_PACKAGE_LOCATION}
+    NAMESPACE mujoco::
+    FILE "${PROJECT_NAME}Targets.cmake"
+  )
 
-include(CMakePackageConfigHelpers)
+  include(CMakePackageConfigHelpers)
 
-write_basic_package_version_file(
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-  VERSION ${mujoco_VERSION}
-  COMPATIBILITY AnyNewerVersion
-)
+  write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+    VERSION ${mujoco_VERSION}
+    COMPATIBILITY AnyNewerVersion
+  )
 
-configure_package_config_file(
-  cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-  INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION}
-)
+  configure_package_config_file(
+    cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+    INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION}
+  )
 
-install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-        DESTINATION ${CONFIG_PACKAGE_LOCATION}
-)
+  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+                "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+          DESTINATION ${CONFIG_PACKAGE_LOCATION}
+  )
 
-# Install also models into share folder.
-install(
-  DIRECTORY model
-  DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
-  PATTERN "CMakeLists.txt" EXCLUDE
-)
+  # Install also models into share folder.
+  install(
+    DIRECTORY model
+    DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
+    PATTERN "CMakeLists.txt" EXCLUDE
+  )
+endif()