From d86acd7e122bde942e40218e5d837d41cb65b314 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 15 Jan 2026 04:49:31 -0800
Subject: [PATCH] MuJoCo Warp documentation: Warmstart.

PiperOrigin-RevId: 856608941
Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
---
 doc/mjwarp/index.rst | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index d25757b7..fe8637bf 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -622,3 +622,15 @@ can be accomplished by deleting the directory ``~/.cache/warp`` or via Python
 Yes. Please see Warp's
 `Ahead-of-Time Compilation Workflows <https://nvidia.github.io/warp/codegen.html#ahead-of-time-compilation-workflows>`__
 documentation for details.
+
+Differences from MuJoCo
+=======================
+
+This section notes differences between MJWarp and MuJoCo.
+
+Warmstart
+---------
+
+If warmstarts are not :ref:`disabled <option-flag-warmstart>`, the MJWarp solver warmstart always initializes the
+acceleration with ``qacc_warmstart``. In contrast, MuJoCo performs a comparison between ``qacc_smooth`` and
+``qacc_warmstart`` to determine which one is utilized for the initialization.