Add compiler timing diagnostics to mjsCompiler, printed by compile.cc

For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs

```
Compile 1 (cold cache):
  total:      317.2 ms
  assets:     284.8 ms (wall clock)
    load:     616.1 ms
    hull:      26.4 ms
    poly:     137.8 ms
    inert:    177.8 ms
    bvh:      568.2 ms
    octr:       1.6 ms
    tex:       25.3 ms
  other:       32.4 ms

Compile 2 (warm cache):
  total:       79.9 ms
  assets:      54.5 ms (wall clock)
    load:     888.5 ms
    hull:       0.0 ms
    poly:       0.0 ms
    inert:      0.0 ms
    bvh:        0.0 ms
    octr:       0.0 ms
    tex:       21.4 ms
  other:       25.3 ms
```

PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e

wasm/codegen/generated/bindings.cc

@@ -5612,6 +5612,7 @@ struct MjSpec {
   std::unique_ptr<MjSpec> copy();
   mjSpec* get() const;
   void set(mjSpec* ptr);
+  emscripten::val timer() const;
   mjString modelname() const {
     return (ptr_ && ptr_->modelname) ? *(ptr_->modelname) : "";
   }
@@ -8402,6 +8403,10 @@ MjSpec::~MjSpec() {
 mjSpec *MjSpec::get() const { return ptr_; }
 void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
 
+emscripten::val MjSpec::timer() const {
+  return emscripten::val(emscripten::typed_memory_view(9, mjs_getTimer(ptr_)));
+}
+
 std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
   char error[1000];
   mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
@@ -10911,6 +10916,17 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .value("mjBUTTON_LEFT", mjBUTTON_LEFT)
     .value("mjBUTTON_RIGHT", mjBUTTON_RIGHT)
     .value("mjBUTTON_MIDDLE", mjBUTTON_MIDDLE);
+  enum_<mjtCTimer>("mjtCTimer")
+    .value("mjCTIMER_TOTAL", mjCTIMER_TOTAL)
+    .value("mjCTIMER_ASSETS", mjCTIMER_ASSETS)
+    .value("mjCTIMER_TEXTURE", mjCTIMER_TEXTURE)
+    .value("mjCTIMER_MESH_LOAD", mjCTIMER_MESH_LOAD)
+    .value("mjCTIMER_MESH_HULL", mjCTIMER_MESH_HULL)
+    .value("mjCTIMER_MESH_POLYGON", mjCTIMER_MESH_POLYGON)
+    .value("mjCTIMER_MESH_INERTIA", mjCTIMER_MESH_INERTIA)
+    .value("mjCTIMER_MESH_BVH", mjCTIMER_MESH_BVH)
+    .value("mjCTIMER_MESH_OCTREE", mjCTIMER_MESH_OCTREE)
+    .value("mjNCTIMER", mjNCTIMER);
   enum_<mjtCamLight>("mjtCamLight")
     .value("mjCAMLIGHT_FIXED", mjCAMLIGHT_FIXED)
     .value("mjCAMLIGHT_TRACK", mjCAMLIGHT_TRACK)
@@ -12371,6 +12387,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("nupdate", &MjSolverStat::nupdate, &MjSolverStat::set_nupdate, reference());
   emscripten::class_<MjSpec>("MjSpec")
     .constructor<const MjSpec &>()
+    .property("timer", &MjSpec::timer)
     .property("comment", &MjSpec::comment, &MjSpec::set_comment, reference())
     .property("compiler", &MjSpec::compiler, reference())
     .property("element", &MjSpec::element, reference())

wasm/codegen/generators/constants.py

@@ -176,6 +176,7 @@ _SKIPPED_GETTERS_AND_SETTERS: tuple[str, ...] = (
     "mjs_getDouble",
     "mjs_getPluginAttributes",
     "mjs_getString",
+    "mjs_getTimer",
     "mjs_getUserValue",
     "mjs_setBuffer",
     "mjs_setDouble",

wasm/codegen/generators/structs.py

@@ -381,6 +381,9 @@ def build_struct_header(
     builder.line(f"{s}* get() const;")
     builder.line(f"void set({s}* ptr);")
 
+    if w == "MjSpec":
+      builder.line("emscripten::val timer() const;")
+
     # field declarations
     for field in wrapped_fields:
       if field.declaration and field not in member_inits:
@@ -598,6 +601,7 @@ def _build_struct_bindings(
   #undef X_ACCESSOR""".lstrip())
     elif w == "MjSpec":
       builder.line(".constructor<const MjSpec &>()")
+      builder.line('.property("timer", &MjSpec::timer)')
     elif w == "MjvScene":
       builder.line(".constructor<MjModel *, int>()")
       builder.line(".constructor<>()")

wasm/codegen/templates/bindings.cc

@@ -715,6 +715,10 @@ MjSpec::~MjSpec() {
 mjSpec *MjSpec::get() const { return ptr_; }
 void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
 
+emscripten::val MjSpec::timer() const {
+  return emscripten::val(emscripten::typed_memory_view(9, mjs_getTimer(ptr_)));
+}
+
 std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
   char error[1000];
   mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));