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unpin `mujoco` (support `mujoco>=3.2`) #894

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Run time

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Job	Run time
build (3.8)	6m 2s
build (3.9)	5m 58s
build (3.10)	5m 34s
build (3.11)	5m 51s
build (3.12)	4m 42s
	28m 7s