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As of this writing, you'd need have to disable several features of 3.1.6 to allow for a successful WASM build.
* For example in CMakeLists.txt, 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.*
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.