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Refactor remove `BaseMujocoEnv` class #2982

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Run time

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Job	Run time
build-necessary	1m 1s
build-all (3.8)	7m 40s
build-all (3.9)	7m 50s
build-all (3.10)	7m 46s
build-all (3.11)	7m 21s
build-all (3.12)	8m 5s
	39m 43s