diff --git a/requirements.txt b/requirements.txt
index a15c77d..a2270f5 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,4 +4,4 @@ pybullet>=3.2.5
 pytransform3d>=2.0.0
 scipy>=1.10.0
 setuptools>=65.5.1
-mujoco >= 3.1.6
+mujoco >= 3.2.0
diff --git a/setup.py b/setup.py
index 85eab90..bfc6f70 100644
--- a/setup.py
+++ b/setup.py
@@ -19,6 +19,6 @@
             "gymnasium",
             "numpy>=1.23.5,<2.0.0",
             "pytransform3d",
-            "mujoco==3.1.6",
+            "mujoco>=3.2.0",
         ],
     )