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Add mujoco.MjSpec.MjStruct type. #2514

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Job	Run time
ubuntu-22.04-gcc-12	13m 25s
ubuntu-22.04-gcc-11	12m 14s
ubuntu-22.04-gcc-10	12m 8s
ubuntu-22.04-gcc-9	11m 51s
ubuntu-22.04-clang-14	13m 49s
ubuntu-22.04-clang-13	14m 43s
ubuntu-20.04-clang-12	12m 53s
ubuntu-20.04-clang-11	14m 15s
ubuntu-20.04-clang-10	13m 30s
macos-13	12m 41s
windows-2022	13m 23s
	2h 24m 52s