From 47ea0e76ae837049d04aa63f70d1732685a8b959 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Sun, 4 Jan 2026 14:00:53 +0000 Subject: [PATCH] mujoco warp documentation: update modifying fields --- doc/mjwarp/index.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index e4cd3695..ba648b75 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -359,7 +359,8 @@ 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,