From a9632a9825c254ccc690bc7a508834004a37ea6c Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 9 Oct 2025 04:32:29 -0700
Subject: [PATCH] MuJoCo Warp feature parity documentation.

PiperOrigin-RevId: 817123818
Change-Id: I21e4fd64943d68ffd714a1d84309ed5085764d6a
---
 doc/mjwarp/index.rst | 37 +++++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index e5436ca7..78e3d8c1 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -140,3 +140,40 @@ Interactive environment simulation with MJWarp
 .. code-block:: shell
 
     mjwarp-viewer benchmark/humanoid/humanoid.xml
+
+Feature Parity
+==============
+
+MJWarp supports most of the main simulation features of MuJoCo, with a few exceptions. MJWarp will raise an exception if
+asked to copy to device an :ref:`mjModel` with field values referencing unsupported features.
+
+The following features are **not supported** in MJWarp:
+
+.. list-table::
+   :width: 90%
+   :align: left
+   :widths: 2 5
+   :header-rows: 1
+
+   * - Category
+     - Feature
+   * - :ref:`Equality <mjtEq>`
+     - ``FLEX``
+   * - :ref:`Integrator <mjtIntegrator>`
+     - ``IMPLICIT``, ``IMPLICITFAST`` not supported with fluid drag
+   * - :ref:`Solver <mjtSolver>`
+     - ``PGS``, ``noslip``, :ref:`islands <soIsland>`
+   * - Fluid Model
+     - :ref:`flEllipsoid`
+   * - :ref:`Sensors <mjtSensor>`
+     - ``GEOMDIST``, ``GEOMNORMAL``, ``GEOMFROMTO``
+   * - Flex
+     - ``VERTCOLLIDE=false``, ``INTERNAL=true``, ``nflex > 1``
+   * - Jacobian format
+     - ``SPARSE``
+   * - Option
+     - :ref:`contact override <COverride>`
+   * - Plugins
+     - ``All`` except ``SDF``
+   * - :ref:`User parameters <CUser>`
+     - ``All``