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Change mjSpec and mjModel signature mechanism. #2700

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Job	Run time
ubuntu-22.04-gcc-10	12m 12s
ubuntu-22.04-gcc-11	12m 58s
ubuntu-22.04-gcc-12	13m 43s
ubuntu-20.04-clang-12	13m 37s
ubuntu-22.04-clang-13	14m 13s
ubuntu-20.04-clang-11	13m 58s
ubuntu-20.04-clang-10	14m 9s
macos-13	16m 50s
ubuntu-22.04-gcc-9	12m 20s
ubuntu-22.04-clang-14	14m 30s
windows-2022	14m 10s
	2h 32m 40s