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

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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
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Sam Haves
2026-03-10 09:56:50 -07:00
committed by Copybara-Service
parent d6aac2041e
commit 6890e133c0
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doc/changelog.rst
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@@ -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.