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mujoco warp documentation: update modifying fields

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Taylor Howell
2026-01-04 14:00:53 +00:00
parent fba2021091
commit 47ea0e76ae
1 changed files with 2 additions and 1 deletions
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doc/mjwarp/index.rst
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@@ -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<sichange>` for details about specific fields. Additionally,