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
This commit is contained in:
Saran Tunyasuvunakool
+42
-133
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
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project(
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mujoco_samples
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VERSION 2.1.5
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VERSION 2.2.0
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DESCRIPTION "MuJoCo samples binaries"
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HOMEPAGE_URL "https://mujoco.org"
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)
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@@ -161,145 +161,54 @@ if(APPLE)
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target_link_libraries(simulate "-framework Cocoa")
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endif()
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if(NOT SAMPLE_STANDALONE)
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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macro(link_to_mujoco_framework target)
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get_target_property(interface_link_libraries ${target} INTERFACE_LINK_LIBRARIES)
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get_target_property(link_libraries ${target} LINK_LIBRARIES)
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# Remove mujoco::mujoco target which is the not-framework library.
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list(REMOVE_ITEM interface_link_libraries mujoco::mujoco)
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list(REMOVE_ITEM link_libraries mujoco::mujoco)
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set_target_properties(
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${target} PROPERTIES INTERFACE_LINK_LIBRARIES "${interface_link_libraries}"
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)
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set_target_properties(${target} PROPERTIES LINK_LIBRARIES "${link_libraries}")
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# Add mujoco_framework.
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target_link_libraries(${target} mujoco_framework)
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endmacro()
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include(DuplicateTarget)
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duplicate_target(
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TARGET
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simulate
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NEW_TARGET_NAME
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simulate_macos
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)
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link_to_mujoco_framework(simulate_macos)
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if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
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set_target_properties(
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simulate
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RESOURCE ${SIMULATE_RESOURCE_FILES}
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MACOSX_BUNDLE TRUE
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MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
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MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
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MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
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MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
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MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
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MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
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)
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macro(embed_in_bundle target)
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add_dependencies(${target} simulate)
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set_target_properties(
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simulate_macos
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${target}
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RESOURCE ${SIMULATE_RESOURCE_FILES}
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MACOSX_BUNDLE TRUE
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MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
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MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
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MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
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MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
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MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
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MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
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MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
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OUTPUT_NAME "simulate"
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RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
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)
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endmacro()
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macro(embed_in_bundle target)
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add_dependencies(${target} simulate_macos)
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set_target_properties(
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${target}
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PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
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BUILD_WITH_INSTALL_RPATH TRUE
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RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate_macos>
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)
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endmacro()
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embed_in_bundle(basic simulate)
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embed_in_bundle(compile simulate)
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embed_in_bundle(derivative simulate)
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embed_in_bundle(record simulate)
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embed_in_bundle(testspeed simulate)
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embed_in_bundle(testxml simulate)
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duplicate_target(
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TARGET
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basic
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NEW_TARGET_NAME
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basic_macos
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)
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set_target_properties(basic_macos PROPERTIES OUTPUT_NAME basic)
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link_to_mujoco_framework(basic_macos)
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embed_in_bundle(basic_macos simulate_macos)
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duplicate_target(
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TARGET
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compile
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NEW_TARGET_NAME
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compile_macos
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)
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set_target_properties(compile_macos PROPERTIES OUTPUT_NAME compile)
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link_to_mujoco_framework(compile_macos)
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embed_in_bundle(compile_macos simulate_macos)
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duplicate_target(
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TARGET
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derivative
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NEW_TARGET_NAME
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derivative_macos
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)
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set_target_properties(derivative_macos PROPERTIES OUTPUT_NAME derivative)
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link_to_mujoco_framework(derivative_macos)
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embed_in_bundle(derivative_macos simulate_macos)
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duplicate_target(
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TARGET
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record
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NEW_TARGET_NAME
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record_macos
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)
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set_target_properties(record_macos PROPERTIES OUTPUT_NAME record)
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link_to_mujoco_framework(record_macos)
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embed_in_bundle(record_macos simulate_macos)
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duplicate_target(
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TARGET
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testspeed
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NEW_TARGET_NAME
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testspeed_macos
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)
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set_target_properties(testspeed_macos PROPERTIES OUTPUT_NAME testspeed)
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link_to_mujoco_framework(testspeed_macos)
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embed_in_bundle(testspeed_macos simulate_macos)
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duplicate_target(
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TARGET
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testxml
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NEW_TARGET_NAME
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testxml_macos
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)
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set_target_properties(testxml_macos PROPERTIES OUTPUT_NAME testxml)
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link_to_mujoco_framework(testxml_macos)
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embed_in_bundle(testxml_macos simulate_macos)
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# Do not add the original binaries to the ALL target. We do this to speed up the
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# build assuming the user is interested in the Frameworks.
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set_target_properties(simulate PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(basic PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(derivative PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(record PROPERTIES EXCLUDE_FROM_ALL TRUE)
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set_target_properties(testxml PROPERTIES EXCLUDE_FROM_ALL TRUE)
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# Note: compile and testspeed are needed by the tests.
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# Embed mujoco.framework inside the App bundle ane move the icon file over too.
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add_custom_command(
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TARGET simulate_macos
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:simulate_macos>/../Frameworks
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework
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COMMAND cp -a $<TARGET_FILE_DIR:mujoco_framework>/../../../mujoco.framework
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$<TARGET_FILE_DIR:simulate_macos>/../Frameworks/
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# Delete the symlink and the TBD, otherwise we can't sign and notarize.
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework/mujoco.tbd
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COMMAND
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rm -rf
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$<TARGET_FILE_DIR:simulate_macos>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
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)
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endif()
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# Embed mujoco.framework inside the App bundle ane move the icon file over too.
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add_custom_command(
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TARGET simulate
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POST_BUILD
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COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
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COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
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$<TARGET_FILE_DIR:simulate>/../Frameworks/
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# Delete the symlink and the TBD, otherwise we can't sign and notarize.
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COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
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COMMAND rm -rf
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$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
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)
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endif()
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# Do not install if macOS Bundles are created as RPATH is managed manually there.
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