From b04969a56e92d20eea7c3328884c3aeddccdc34b Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Mon, 24 Aug 2026 01:13:59 +0100
Subject: [PATCH] Make mjsan.h compile under strict C11 with GCC

---
 include/mujoco/mjsan.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/mujoco/mjsan.h b/include/mujoco/mjsan.h
index dcacfd9f2cc..0afb3bdb2fb 100644
--- a/include/mujoco/mjsan.h
+++ b/include/mujoco/mjsan.h
@@ -55,17 +55,17 @@ extern "C" {
 #endif
 
 void mj__markStack(mjData*) __attribute__((noinline));
-static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
-  asm volatile("" ::: "memory");
+__attribute__((always_inline)) static inline void mj_markStack(mjData* d) {
+  __asm__ volatile("" ::: "memory");
   mj__markStack(d);
-  asm volatile("" ::: "memory");
+  __asm__ volatile("" ::: "memory");
 }
 
 void mj__freeStack(mjData*) __attribute__((noinline));
-static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
-  asm volatile("" ::: "memory");
+__attribute__((always_inline)) static inline void mj_freeStack(mjData* d) {
+  __asm__ volatile("" ::: "memory");
   mj__freeStack(d);
-  asm volatile("" ::: "memory");
+  __asm__ volatile("" ::: "memory");
 }
 
 #ifdef __cplusplus