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refactor `MujocoEnv` WIP #2855

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Run time

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Job	Run time
build-necessary	1m 4s
build-all (3.8)	3m 0s
build-all (3.9)	2m 46s
build-all (3.10)	2m 51s
build-all (3.11)	2m 59s
	12m 40s