diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index ee8210bc..5be44e27 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -4404,6 +4404,10 @@ mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
 
     // save error info
     errInfo = err;
+    if (warningtext[0]) {
+      mju::strcat_arr(errInfo.message, "\n");
+      mju::strcat_arr(errInfo.message, warningtext);
+    }
 
     // restore handler, return 0
     _mjPRIVATE__set_tls_error_fn(save_error);