CI - Linux via APT

Merge pull request #2477 from MegMll/fix/mjcf_armature #2486

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Job	Run time
build (ubuntu:20.04)	1h 15m 57s
build (ubuntu:22.04)	1h 19m 59s
build (ubuntu:24.04)	1h 19m 49s
check-linux-apt	4s
	3h 55m 49s