From 07d8bd5b801a35a24f5fcef04a6178a5ce4f9b85 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Wed, 19 Nov 2025 05:21:54 -0800
Subject: [PATCH] MuJoCo Warp documentation: Add note about `nconmax` and
 `njmax` not being parsed from XML.

PiperOrigin-RevId: 834247810
Change-Id: Iadee0f1713c9322cab781aabfe86954c145932ba
---
 doc/mjwarp/index.rst | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index f68400a1..94f08aec 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -101,6 +101,13 @@ MJWarp is optimized for parallel simulation. A batch of simulations can be speci
   worlds does not exceed ``nworld x nconmax``. However, the number of constraints per world is strictly limited by
   `njmax`_.
 
+.. admonition:: XML parsing
+  :class: note
+
+  Values for `nconmax`_ and `njmax`_ are not parsed from :ref:`size/nconmax <size-nconmax>` and
+  :ref:`size/njmax <size-njmax>` (these parameters are deprecated). Values for these parameters must be provided to
+  :func:`mjw.make_data <mujoco_warp.make_data>` or :func:`mjw.put_data <mujoco_warp.put_data>`.
+
 Functions
 ---------