Glossary

Term

Meaning in this project

ABI

The callable surface exposed by the WASM build: exported C symbols + wrapper conventions.

dist/<ver>

Build outputs for one MuJoCo version/ref.

exports.lst

The explicit export list consumed by Emscripten (-sEXPORTED_FUNCTIONS=@...).

wrapper

Generated mjwf_* functions that form a stable, reviewable surface.

introspection

Automated extraction from mujoco.h into JSON (functions/structs/enums + AST).

gate

A check that detects export/ABI drift or quality regressions (size/init time).

smoke test

A minimal runtime test that compiles and steps a tiny model to catch major regressions.