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== 1. Install emscripten ==
First, you need to install emscripten, which is a compiler toolchain for WebAssembly.
=== 1.1. Get the emsdk repo ===
<code>
git clone https://github.com/emscripten-core/emsdk.git
</code>
=== 1.2. Enter that directory ===
<code>
cd emsdk
</code>
=== 1.3. Download and install the latest SDK tools ===
<code>
./emsdk install latest
</code>
=== 1.4. Make the "latest" SDK "active" ===
<code>
./emsdk activate latest
</code>
=== 1.5. Activate PATH and other environment variables ===
<code>
source ./emsdk_env.sh
</code>
=== 1.6. Now just try it! ===
<code>
emcc
</code>
== 2. Build the mujoco_wasm Binary ==
Next, you'll build the MuJoCo WebAssembly binary.
=== 2.1. On Linux ===
<code>
mkdir build
