From 0a392ab6c91676ac72677ebc0df9e5d01eb8a13b Mon Sep 17 00:00:00 2001 From: e-ndorfin Date: Wed, 17 Dec 2025 04:51:57 -0500 Subject: [PATCH 1/2] Appended MacOS fixes --- doc/programming/index.rst | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/doc/programming/index.rst b/doc/programming/index.rst index e27cf48ea6..acbfa81fc8 100644 --- a/doc/programming/index.rst +++ b/doc/programming/index.rst @@ -62,6 +62,9 @@ now run the precompiled code samples, for example: Windows: simulate ..\model\humanoid\humanoid.xml Linux and macOS: ./simulate ../model/humanoid/humanoid.xml +Note that for macOS exclusively, the distribution is an `Application Bundle `__. The ``simulate`` binary executable is located inside the bundle in ``MuJoCo.app/Contents/MacOS`` within the DMG disk image. Alternatively, you can double-click ``MuJoCo.app`` to launch the ``simulate`` GUI. + The directory structure is shown below. Users can re-organize it if needed, as well as install the dynamic libraries in other directories and set the path accordingly. The only file created automatically is MUJOCO_LOG.TXT in the executable directory; it contains error and warning messages, and can be deleted at any time. @@ -79,10 +82,8 @@ working development environment. We provide a cross-platform `CMake `__ setup that can be used to build sample applications independently of the MuJoCo library itself. -On macOS, the DMG disk image contains ``MuJoCo.app``, which you can double-click to launch the ``simulate`` GUI. You can -also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. As well as the -``MuJoCo.app`` `Application Bundle `__, the DMG includes the ``mujoco.framework`` subdirectory containing the MuJoCo dynamic library and all of +On MacOS, you can also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. As well as the +``MuJoCo.app``, the DMG includes the ``mujoco.framework`` subdirectory containing the MuJoCo dynamic library and all of its public headers. If you are using Xcode, you can import it as a framework dependency on your project. (This also works for Swift projects without any modification). If you are building manually, you can use ``-F`` and ``-framework mujoco`` to specify the header search path and the library search path respectively. From ed7c969ed2f11a53b4fad9cdb5b94155a658e8db Mon Sep 17 00:00:00 2001 From: Zachary Tang Date: Mon, 22 Dec 2025 04:06:06 -0500 Subject: [PATCH 2/2] Update doc/programming/index.rst Co-authored-by: Kristian Hartikainen --- doc/programming/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/programming/index.rst b/doc/programming/index.rst index acbfa81fc8..8b83f549d2 100644 --- a/doc/programming/index.rst +++ b/doc/programming/index.rst @@ -82,7 +82,7 @@ working development environment. We provide a cross-platform `CMake `__ setup that can be used to build sample applications independently of the MuJoCo library itself. -On MacOS, you can also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. As well as the +On MacOS, you can also drag ``MuJoCo.app`` into the ``/Applications`` on your system, as you would to install any other app. As well as the ``MuJoCo.app``, the DMG includes the ``mujoco.framework`` subdirectory containing the MuJoCo dynamic library and all of its public headers. If you are using Xcode, you can import it as a framework dependency on your project. (This also works for Swift projects without any modification). If you are building manually, you can use ``-F`` and