Add missing documentation for the asset cache.

Also improve `compile` sample timing logic and documentation.

PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5

doc/APIreference/APIfunctions.rst

@@ -28,6 +28,7 @@ API function can be classified as:
    - :ref:`Ray casting<Raycollisions>`.
    - :ref:`Printing<Printing>` of various quantities.
    - :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
+   - :ref:`Asset cache<Assetcache>`, used to speed up model compilation.
    - :ref:`Initialization<Initialization>` of data structures.
    - :ref:`Error and memory<Errorandmemory>`.
    - :ref:`Miscellaneous<Miscellaneous>` functions.

doc/APIreference/functions.rst

@@ -1359,12 +1359,6 @@ Add file to VFS. The directory argument is optional and can be NULL or empty. Re
 
 *Nullable:* ``directory``
 
-
-.. Assetcache:
-
-The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
-The following methods provide way to control the capacity of the cache or to disable it altogether.
-
 .. _mj_addBufferVFS:
 
 `mj_addBufferVFS <#mj_addBufferVFS>`__
@@ -1392,6 +1386,59 @@ Delete file from VFS, return 0: success, -1: not found in VFS.
 
 Delete all files from VFS and deallocates VFS internal memory.
 
+.. _Assetcache:
+
+Asset cache
+^^^^^^^^^^^
+
+The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
+The following methods provide way to control the capacity of the cache or to disable it altogether.
+
+.. _mj_getCacheSize:
+
+`mj_getCacheSize <#mj_getCacheSize>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_getCacheSize
+
+Get the current size of the asset cache in bytes.
+
+.. _mj_getCacheCapacity:
+
+`mj_getCacheCapacity <#mj_getCacheCapacity>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_getCacheCapacity
+
+Get the capacity of the asset cache in bytes.
+
+.. _mj_setCacheCapacity:
+
+`mj_setCacheCapacity <#mj_setCacheCapacity>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_setCacheCapacity
+
+Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
+
+.. _mj_getCache:
+
+`mj_getCache <#mj_getCache>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_getCache
+
+Get the internal asset cache used by the compiler.
+
+.. _mj_clearCache:
+
+`mj_clearCache <#mj_clearCache>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_clearCache
+
+Clear the asset cache.
+
 .. _Initialization:
 
 Initialization

doc/APIreference/functions_override.rst

@@ -25,8 +25,7 @@ Add file to VFS. The directory argument is optional and can be NULL or empty. Re
 
 *Nullable:* ``directory``
 
-
-.. Assetcache:
+.. _Assetcache:
 
 The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
 The following methods provide way to control the capacity of the cache or to disable it altogether.