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Appended MacOS specific information to Getting Started docs #2993

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0a392ab
Appended MacOS fixes
e-ndorfin Dec 17, 2025
ed7c969
Update doc/programming/index.rst
e-ndorfin Dec 22, 2025
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9 changes: 5 additions & 4 deletions doc/programming/index.rst
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Expand Up @@ -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 <https://developer.apple.com/go/?id=bundle-
structure>`__. 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.
Expand All @@ -79,10 +82,8 @@ working development environment. We provide a cross-platform `CMake
<https://github.com/google-deepmind/mujoco/blob/main/sample/CMakeLists.txt>`__ 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 <https://developer.apple.com/go/?id=bundle-
structure>`__, 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 ``/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
``-framework mujoco`` to specify the header search path and the library search path respectively.
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