467
edits
Changes
→Specific ideas for changes
As of this writing, you'd need to disable several features of 3.1.6 to allow for a successful WASM build.
For example in <pre>CMakeLists.txt</pre>, the options to build examples, simulate library, and tests for MuJoCo have been turned off by default (changed from ON to OFF). New configurations and target properties for building MuJoCo with Emscripten have been added. This includes defining source files, checking their existence, and setting specific properties and options for building WebAssembly (.wasm) and HTML output. Some target link options have been adjusted, including removing the lodepng library from the target link list.
In `src/user/user_objects.cc`, comment out the line that includes `lodepng.h`. Replace the bodies of the `mjCHField::LoadPNG` and `mjCTexture::LoadPNG` functions with a single return statement.
emmake make
</syntaxhighlight>
=== Notes ===
* Ensure that the Emscripten environment is correctly activated before starting the build process.
* Regularly clean the build directory to maintain a clean build environment.