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Refactor remove `BaseMujocoEnv` class #2981

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Run time

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Job	Run time
build-necessary	50s
build-all (3.8)	8m 16s
build-all (3.9)	8m 10s
build-all (3.10)	7m 46s
build-all (3.11)	7m 28s
build-all (3.12)	8m 18s
	40m 48s