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That can be easily done - look for something like a Turtle mod and fix it how you would like.
https://steamcommunity.com/sharedfiles/filedetails/?id=1895424347
Use the dev console to delete the mortars and turrets. Voila! Infantry battle.
I've limited experience with the scenario editor. I do what I need with various mods. (This may or may not work, since enemy bases may just plop down mortars and turrets instead of looking at the research reqs.) Take a look and see if it can be done there. As corisai said, you'd need to do something with sieges as well. Wouldn't take much effort to twiddle a few XML files to see if it is feasible, then you could make it a mod if you wanted.
I've never seen that and I just double checked. Is it under the "add part" section
If that's the case, Sorry about that. As I said, I haven't played around with the scenario editor that much, but I have seen older posts where it was stated this was possible. I'll look when I get home and see if I can find something.