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Add asset argument to MjSpec constructors. #2498

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Run time

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Job	Run time
ubuntu-22.04-gcc-12	13m 41s
ubuntu-22.04-gcc-11	12m 36s
ubuntu-22.04-gcc-10	12m 23s
ubuntu-22.04-gcc-9	11m 8s
ubuntu-22.04-clang-14	13m 18s
ubuntu-22.04-clang-13	14m 14s
ubuntu-20.04-clang-12	12m 57s
ubuntu-20.04-clang-11	13m 49s
ubuntu-20.04-clang-10	13m 43s
macos-13	19m 1s
windows-2022	13m 35s
	2h 30m 25s