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Add mujoco.MjSpec.to_zip() #2487

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Run time

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Job	Run time
ubuntu-22.04-gcc-12	13m 15s
ubuntu-22.04-gcc-11	12m 32s
ubuntu-22.04-gcc-10	13m 12s
ubuntu-22.04-gcc-9	11m 48s
ubuntu-22.04-clang-14	15m 3s
ubuntu-22.04-clang-13	13m 54s
ubuntu-20.04-clang-12	12m 42s
ubuntu-20.04-clang-11	14m 38s
ubuntu-20.04-clang-10	14m 53s
macos-13	14m 20s
windows-2022	12m 58s
	2h 29m 15s