Add mjs_getCompiler C API and compiler property to Python spec elements.

PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c

doc/APIreference/functions.rst

@@ -4580,6 +4580,15 @@ Find and get utilities
 
 Get spec from body.
 
+.. _mjs_getCompiler:
+
+`mjs_getCompiler <#mjs_getCompiler>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_getCompiler
+
+Get compiler associated with element's origin spec.
+
 .. _mjs_findSpec:
 
 `mjs_findSpec <#mjs_findSpec>`__

doc/changelog.rst

@@ -15,6 +15,9 @@ General
      ``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer computed at run time by
      ``mj_tendon`` but at compile time.
 
+- Added :ref:`mjs_getCompiler` C API function and a ``compiler`` read-only property to all Python spec element types.
+  This allows querying the compiler settings (e.g., ``meshdir``) from any element, with the correct originating spec's
+  compiler preserved after attachment.
 - Added a new ``strain`` :ref:`equality constraint<flexcomp-edge-equality>` type for trilinear and quadratic
   :ref:`dofs<body-flexcomp-dof>`.
 - Flexes now support collisions with SDF geoms.

doc/includes/references.h

@@ -3643,6 +3643,7 @@ mjsTexture* mjs_addTexture(mjSpec* s);
 mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
 int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
 mjSpec* mjs_getSpec(mjsElement* element);
+mjsCompiler* mjs_getCompiler(mjsElement* element);
 mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
 mjsBody* mjs_findBody(mjSpec* s, const char* name);
 mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);