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Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields

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Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
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Copybara-Service
2026-01-08 01:32:50 -08:00
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doc/mjwarp/index.rst
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@@ -365,7 +365,8 @@ Modifying fields
---------------- ----------------
The recommended workflow for modifying an :ref:`mjModel` field is to first modify the corresponding :ref:`mjSpec` and 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 Certain fields are safe to modify directly without compilation, enabling on-device updates. Please see
:ref:`mjModel changes<sichange>` for details about specific fields. Additionally, :ref:`mjModel changes<sichange>` for details about specific fields. Additionally,