From 740afe22b374d48ed3ab3462f3866f031a20fff2 Mon Sep 17 00:00:00 2001
From: Adrian Collister <acollister@google.com>
Date: Tue, 4 Nov 2025 04:14:13 -0800
Subject: [PATCH] Append warnings to model compile errors.

PiperOrigin-RevId: 827903480
Change-Id: I2ad17bf4cea0dae0ab803fbb7baa9bd70eef303d
---
 src/user/user_model.cc | 4 ++++
 1 file changed, 4 insertions(+)

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);