From b8a8d811e1a007066a84c5e81873c87cff8ce5b9 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 14 May 2024 06:00:31 -0700
Subject: [PATCH] Update documentation for URDF parsing, noting different
 default values for compiler attributes.

PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
---
 doc/modeling.rst | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/doc/modeling.rst b/doc/modeling.rst
index 27f2f6aa..6fbd46af 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -1489,7 +1489,9 @@ sub-elements :ref:`compiler <compiler>`, :ref:`option <option>`,
 are modified so as to accomodate the URDF modeling convention. The :ref:`compiler <compiler>` extension
 in particular has proven very useful, and indeed several of its attributes were introduced because a number of
 existing URDF models have non-physical dynamics parameters which MuJoCo's built-in compiler will reject if left
-unmodified. This extension is also needed to specify mesh directories.
+unmodified. This extension is also needed to specify mesh directories. Also note that the compiler attributes
+:ref:`strippath<compiler-strippath>`, :ref:`angle<compiler-angle>`, :ref:`fusestatic<compiler-fusestatic>` and
+:ref:`discardvisual<compiler-discardvisual>` have different default values for URDF and MJCF.
 
 Note that the while MJCF models are checked against a custom XML schema by the parser, URDF models are not. Even the
 MuJoCo-specific elements embedded in the URDF file are not checked. As a result, mis-typed attribute names are