Fixed compatibility issues for MuJoCo >3.0 upgrade

[rbharadwaj9]

Followed the changelog recommendation to account for the removal of the mjOption.collision and the associated option/collision attribute.

Full Details from the CHANGELOG: https://mujoco.readthedocs.io/en/latest/changelog.html#id40

Removed mjOption.collision and the associated option/collision attribute.
Migration:

• For models which have <option collision="all"/>, delete the attribute.
• For models which have <option collision="dynamic"/>, delete all pair elements.
• For models which have <option collision="predefined"/>, disable all dynamic collisions (determined via contype/conaffinity) by first deleting all contype and conaffinity attributes in the model and then setting them globally to 0 using .

checklist

PR can be merged after all these are met

• describe the changes (with screenshots if it helps):

1. For the collision removal: Followed the recommendations above and loaded both the faive hand and the book within MuJoCo 3.2.3 viewer using python -m mujoco.viewer
2. Also noticed that the damping property of the joint in simple_book.xml should be a real number. I assume there was an erroneous space added so I've removed that too.

• If this PR modifies any part of the training, post the W&B results of the following experiments (post screenshot of the consecutive_successes) No changes here.

  python train.py task=FaiveHandP0 capture_video=True force_render=False wandb_activate=True wandb_group=srl_ethz wandb_project=faive_hand wandb_name=faivehandp0_check

[Yasu31]

Thanks for the PR!
I'll check if this doesn't cause any unintended issues in IsaacGym (its MJCF parser is based on mujoco<3 but it's not a perfect implementation, so sometimes it has weird errors- I'm a bit worried that removing collision attributes could cause some issues) later and merge the PR.