Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE.

- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c

src/engine/engine_support.c

@@ -82,8 +82,8 @@ const char* mjTIMERSTRING[mjNTIMER]= {
   "position",
   "velocity",
   "actuation",
-  "acceleration",
   "constraint",
+  "advance",
   "pos_kinematics",
   "pos_inertia",
   "pos_collision",