disable_copy_cxx_files_in_python_package.patch

diff --git a/python/setup.py b/python/setup.py
index 4a4f1ee9f..0ffa7247b 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -159,9 +159,9 @@ def run(self):
       assert ext.name.startswith(EXT_PREFIX)
       assert '.' not in ext.name[len(EXT_PREFIX):]
       self.build_extension(ext)
-    self._copy_external_libraries()
-    self._copy_mujoco_headers()
-    self._copy_plugin_libraries()
+    # self._copy_external_libraries()
+    # self._copy_mujoco_headers()
+    # self._copy_plugin_libraries()
     if self._is_apple:
       self._copy_mjpython()

diff --git a/python/mujoco/__init__.py b/python/mujoco/__init__.py
index 5fb63ec44..3db713d28 100644
--- a/python/mujoco/__init__.py
+++ b/python/mujoco/__init__.py
@@ -22,7 +22,7 @@
 
 _SYSTEM = platform.system()
 if _SYSTEM == 'Windows':
-  ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
+  ctypes.WinDLL('mujoco.dll')
 elif _SYSTEM == 'Darwin':
   proc_translated = subprocess.run(
       ['sysctl', '-n', 'sysctl.proc_translated'], capture_output=True).stdout
@@ -53,8 +53,13 @@
   else:
     from mujoco.glfw import GLContext
 
-HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
-PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
+if _SYSTEM == 'Windows':
+  _MJ_INSTALL_DIR = os.path.join(os.environ.get('CONDA_PREFIX'), 'Library')
+else:
+  _MJ_INSTALL_DIR = os.environ.get('CONDA_PREFIX')
+
+HEADERS_DIR = os.path.join(_MJ_INSTALL_DIR, 'include/mujoco')
+PLUGINS_DIR = os.path.join(_MJ_INSTALL_DIR, 'bin/mujoco_plugin')
 
 PLUGIN_HANDLES = []
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7473cf3c..75f29a143 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,7 @@ option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
 option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
+option(MUJOCO_INSTALL_PLUGINS "Install MuJoCo plugins" OFF)
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
   enable_language(OBJC)
diff --git a/plugin/elasticity/CMakeLists.txt b/plugin/elasticity/CMakeLists.txt
index 7d25ffcf5..2be85c56a 100644
--- a/plugin/elasticity/CMakeLists.txt
+++ b/plugin/elasticity/CMakeLists.txt
@@ -39,3 +39,17 @@ target_link_options(
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
 )
+
+if(MUJOCO_INSTALL_PLUGINS)
+  if(WIN32)
+    install(TARGETS elasticity
+            ARCHIVE DESTINATION "$ENV{TEMP}"
+            LIBRARY DESTINATION "$ENV{TEMP}"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  else()
+    install(TARGETS elasticity
+            ARCHIVE DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  endif()
+endif()

diff --git a/plugin/sensor/CMakeLists.txt b/plugin/sensor/CMakeLists.txt
index 4dac6d0a6..6c9908703 100644
--- a/plugin/sensor/CMakeLists.txt
+++ b/plugin/sensor/CMakeLists.txt
@@ -40,3 +40,17 @@ target_link_options(
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
 )
+
+if(MUJOCO_INSTALL_PLUGINS)
+  if(WIN32)
+    install(TARGETS sensor
+            ARCHIVE DESTINATION "$ENV{TEMP}"
+            LIBRARY DESTINATION "$ENV{TEMP}"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  else()
+    install(TARGETS sensor
+            ARCHIVE DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  endif()
+endif()

diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
index 3e216fc42d..482337b262 100644
--- a/plugin/sdf/CMakeLists.txt
+++ b/plugin/sdf/CMakeLists.txt
@@ -51,3 +51,18 @@ target_link_options(
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
 )
+
+if(MUJOCO_INSTALL_PLUGINS)
+  if(WIN32)
+    install(TARGETS sdf
+            ARCHIVE DESTINATION "$ENV{TEMP}"
+            LIBRARY DESTINATION "$ENV{TEMP}"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  else()
+    install(TARGETS sdf
+            ARCHIVE DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  endif()
+endif()
+

diff --git a/plugin/actuator/CMakeLists.txt b/plugin/actuator/CMakeLists.txt
index 6cc79944a4..a738f03e2e 100644
--- a/plugin/actuator/CMakeLists.txt
+++ b/plugin/actuator/CMakeLists.txt
@@ -39,3 +39,17 @@ target_link_options(
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
 )
+
+if(MUJOCO_INSTALL_PLUGINS)
+  if(WIN32)
+    install(TARGETS actuator
+            ARCHIVE DESTINATION "$ENV{TEMP}"
+            LIBRARY DESTINATION "$ENV{TEMP}"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  else()
+    install(TARGETS actuator
+            ARCHIVE DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
+            RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin")
+  endif()
+endif()