diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 660c85be52..6343b741f9 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -118,24 +118,28 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
   set(_INSTALL_SAMPLES OFF)
 endif()
 
-if(_INSTALL_SAMPLES)
-
-  include(TargetAddRpath)
-
-  # Add support to RPATH for the samples.
-  target_add_rpath(
-    TARGETS
-    basic
-    compile
-    record
-    testspeed
-    INSTALL_DIRECTORY
-    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-    LIB_DIRS
-    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
-    DEPENDS
-    MUJOCO_ENABLE_RPATH
-  )
+option(MUJOCO_SAMPLES_INSTALL "If ON, also install samples executables." ${_INSTALL_SAMPLES})
+
+if(MUJOCO_SAMPLES_INSTALL)
+
+  if(MUJOCO_ENABLE_RPATH)
+    include(TargetAddRpath)
+
+    # Add support to RPATH for the samples.
+    target_add_rpath(
+      TARGETS
+      basic
+      compile
+      record
+      testspeed
+      INSTALL_DIRECTORY
+      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+      LIB_DIRS
+      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+      DEPENDS
+      MUJOCO_ENABLE_RPATH
+    )
+  endif()
 
   install(
     TARGETS basic
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 4762100e07..504ec330a6 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -223,21 +223,25 @@ if(SIMULATE_BUILD_EXECUTABLE)
     set(_INSTALL_SIMULATE OFF)
   endif()
 
-  if(_INSTALL_SIMULATE)
+  option(MUJOCO_SIMULATE_INSTALL "If ON, also install simulate executable." ${_INSTALL_SIMULATE})
 
-    include(TargetAddRpath)
+  if(MUJOCO_SIMULATE_INSTALL)
 
-    # Add support to RPATH for the samples.
-    target_add_rpath(
-      TARGETS
-      simulate
-      INSTALL_DIRECTORY
-      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-      LIB_DIRS
-      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
-      DEPENDS
-      MUJOCO_ENABLE_RPATH
-    )
+    if(MUJOCO_ENABLE_RPATH)
+      include(TargetAddRpath)
+
+      # Add support to RPATH for the samples.
+      target_add_rpath(
+        TARGETS
+        simulate
+        INSTALL_DIRECTORY
+        "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+        LIB_DIRS
+        "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+        DEPENDS
+        MUJOCO_ENABLE_RPATH
+      )
+    endif()
 
     install(
       TARGETS simulate