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* In the cmake/MujocoOptions.cmake file, remove the -Wno-int-in-bool-context compiler warning flag from the list of warnings.
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* In the CMakeLists.txt file, make the following changes:
Change the default values of the options to disable the building of examples, simulate library, tests, and Python utility libraries by setting them to OFF:
Set MUJOCO_BUILD_EXAMPLES to OFF.
Set MUJOCO_BUILD_SIMULATE to OFF.
Set MUJOCO_BUILD_TESTS to OFF.
Set MUJOCO_TEST_PYTHON_UTIL to OFF.
Remove the lodepng library from the target_link_libraries list for the mujoco target.
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.