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Refactor remove `BaseMujocoEnv` class (#1075) #2983

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Run time

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Job	Run time
build-necessary	1m 6s
build-all (3.8)	8m 18s
build-all (3.9)	8m 22s
build-all (3.10)	7m 34s
build-all (3.11)	7m 39s
build-all (3.12)	7m 59s
	40m 58s