Change macOS bundle structure.

This allows us to sign and notarize the bundle with mujoco.tbd in place, which is required for AppleClang to be able to build against the embedded framework.

PiperOrigin-RevId: 455952502
Change-Id: I366f1c17e7a6c06d956467ced6f16f3c37aebf6a

CMakeLists.txt

@@ -136,8 +136,9 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
     COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Resources
     COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
             $<TARGET_FILE_DIR:mujoco>/Resources/Info.plist
+    COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/mujoco.tbd
     COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco>/../Current
-    COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
+    COMMAND ln -fhs Versions/Current/mujoco.tbd $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
     COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco>/../../Headers
     COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco>/../../Modules
     COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco>/../../Resources
@@ -211,4 +212,4 @@ if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
     DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
     PATTERN "CMakeLists.txt" EXCLUDE
   )
-endif()
+endif()

dist/Info.plist.framework.in

@@ -5,7 +5,7 @@
     <key>CFBundleName</key>
     <string>MuJoCo</string>
     <key>CFBundleIdentifier</key>
-    <string>org.mujoco.mujoco</string>
+    <string>org.mujoco.framework</string>
     <key>CFBundleVersion</key>
     <string>${PROJECT_VERSION}</string>
     <key>CFBundleGetInfoString</key>

sample/CMakeLists.txt

@@ -170,7 +170,7 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
                MACOSX_BUNDLE TRUE
                MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
                MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
-               MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
+               MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.app"
                MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
                MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
                MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
@@ -196,7 +196,7 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
   embed_in_bundle(testspeed simulate)
   embed_in_bundle(testxml simulate)
 
-  # Embed mujoco.framework inside the App bundle ane move the icon file over too.
+  # Embed mujoco.framework inside the App bundle.
   add_custom_command(
     TARGET simulate
     POST_BUILD
@@ -204,10 +204,6 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
     COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
     COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
             $<TARGET_FILE_DIR:simulate>/../Frameworks/
-    # Delete the symlink and the TBD, otherwise we can't sign and notarize.
-    COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
-    COMMAND rm -rf
-            $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
   )
 endif()