fix: update renderer for new dependencies

[lvjonok]

Good day!

I have been trying to get this repository running and I feel that the use of MujocoRenderer is somehow outdated (I followed the instructions and it didn't work right away)

After a few tries I think I have made the examples with simulation running, but I would be glad if you verify. Maybe a reasonable way would be to make requirements more strict so people would not face same issue.

Looking forward to your feedback!