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Proceed with the next steps once you've made suggested changes to your codebase to allow for a WASM build. You can see the changes here as a reference https://github.com/google-deepmind/mujoco/compare/main...vrtnis:mujoco:release-3.1.6
You probably have to disable several features of 3.1.6 to allow for a successful WASM build.
For example in CMakeLists.txt:
Build Options Modified
The options to build examples, simulate library, and tests for MuJoCo have been turned off by default (changed from ON to OFF).
Emscripten Setup Added
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.
Target Library Links Updated
Some target link options have been adjusted, including removing the lodepng library from the target link list.
Also, for example in mjxmacro.h you have to involve adding explicit casting to size_t for the calculations of key_mpos and key_mquat array sizes, ensuring correct memory allocation and preventing potential integer overflow issues.
4. '''Prepare the Build Environment:'''