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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.
We'd suggest taking a look at https://github.com/stillonearth/MuJoCo-WASM/issues/1 (older 2.3.1 build but still relevant)
