Appended MacOS specific information to Getting Started docs

[e-ndorfin]

Changes made

Edited doc/programming/index.rst.

• specified location of simulate binary execution file in MacOS
• moved up some MacOS specific information relevant to the simulate section

Additional bug

I also encountered bug wherein you have to either run absolute path of the simulate binary OR when directly in the App Bundle folder otherwise ParseXML will return error - sounds like this is because Application Bundles automatically reset the current working directory to the internal resource folder upon launch, and loses track of the folder I'm running from. Should I add this to docs / patch it or is it minor enough to not matter (user will likely just open XML from GUI rather than CLI)?

zacharytang@Mac-mini MuJoCo % ./MuJoCo.app/Contents/MacOS/simulate model/humanoid/humanoid.xml
MuJoCo version 3.4.0
Plugins registered by library 'libsdf_plugin.dylib':
    mujoco.sdf.bolt
    mujoco.sdf.bowl
    mujoco.sdf.gear
    mujoco.sdf.nut
    mujoco.sdf.torus
Plugins registered by library 'libactuator.dylib':
    mujoco.pid
Plugins registered by library 'libsensor.dylib':
    mujoco.sensor.touch_grid
Plugins registered by library 'libelasticity.dylib':
    mujoco.elasticity.cable
ParseXML: Error opening file 'model/humanoid/humanoid.xml': No such file or directory
2025-12-17 04:58:01.444 simulate[57863:669631] +[IMKClient subclass]: chose IMKClient_Modern
2025-12-17 04:58:01.444 simulate[57863:669631] +[IMKInputSession subclass]: chose IMKInputSession_Modern


zacharytang@Mac-mini MuJoCo % cd ./MuJoCo.app/Contents/MacOS/ && ./simulate ../../../model/humanoid/humanoid.xml
MuJoCo version 3.4.0
Plugins registered by library 'libsdf_plugin.dylib':
    mujoco.sdf.bolt
    mujoco.sdf.bowl
    mujoco.sdf.gear
    mujoco.sdf.nut
    mujoco.sdf.torus
Plugins registered by library 'libactuator.dylib':
    mujoco.pid
Plugins registered by library 'libsensor.dylib':
    mujoco.sensor.touch_grid
Plugins registered by library 'libelasticity.dylib':
    mujoco.elasticity.cable
2025-12-17 04:58:24.079 simulate[57867:669963] +[IMKClient subclass]: chose IMKClient_Modern
2025-12-17 04:58:24.079 simulate[57867:669963] +[IMKInputSession subclass]: chose IMKInputSession_Modern

[e-ndorfin]

Good catch @hartikainen ! Anything else?