diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index b2ee5281..e2e3a608 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -365,7 +365,8 @@ Modifying fields ---------------- The recommended workflow for modifying an :ref:`mjModel` field is to first modify the corresponding :ref:`mjSpec` and -then compile to create a new :ref:`mjModel` with the updated field. However, compilation currently requires a host call. +then compile to create a new :ref:`mjModel` with the updated field. However, compilation currently requires a host call: +1 call per new field instance, i.e., ``nworld`` host calls for ``nworld`` instances. Certain fields are safe to modify directly without compilation, enabling on-device updates. Please see :ref:`mjModel changes` for details about specific fields. Additionally,