diff --git a/pyproject.toml b/pyproject.toml
index c58094804..d5886fed5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -41,7 +41,7 @@ classic-control = ["pygame >=2.1.3"]
 classic_control = ["pygame >=2.1.3"]  # kept for backward compatibility
 mujoco-py = ["mujoco-py >=2.1,<2.2", "cython<3"]
 mujoco_py = ["mujoco-py >=2.1,<2.2", "cython<3"]       # kept for backward compatibility
-mujoco = ["mujoco >=2.1.5, <= 3.1.1", "imageio >=2.14.1"]
+mujoco = ["mujoco >=2.1.5", "imageio >=2.14.1"]
 toy-text = ["pygame >=2.1.3"]
 toy_text = ["pygame >=2.1.3"]         # kept for backward compatibility
 jax = ["jax >=0.4.0", "jaxlib >=0.4.0", "flax >= 0.5.0"]
@@ -67,7 +67,7 @@ all = [
     "mujoco-py >=2.1,<2.2",
     "cython<3",
     # mujoco
-    "mujoco >=2.1.5, <=3.1.1",
+    "mujoco >=2.1.5",
     "imageio >=2.14.1",
     # toy-text
     "pygame >=2.1.3",
diff --git a/tests/envs/mujoco/test_mujoco_v5.py b/tests/envs/mujoco/test_mujoco_v5.py
index 20ea9c028..2b92b3665 100644
--- a/tests/envs/mujoco/test_mujoco_v5.py
+++ b/tests/envs/mujoco/test_mujoco_v5.py
@@ -588,7 +588,8 @@ def test_model_object_count(version: str):
     assert env.model.nv == 11
     assert env.model.nu == 7
     assert env.model.nbody == 13
-    assert env.model.nbvh == 18
+    if mujoco.__version__ >= "3.1.2":
+        assert env.model.nbvh == 8
     assert env.model.njnt == 11
     assert env.model.ngeom == 21
     assert env.model.ntendon == 0
@@ -599,7 +600,8 @@ def test_model_object_count(version: str):
     assert env.model.nv == 4
     assert env.model.nu == 2
     assert env.model.nbody == 5
-    assert env.model.nbvh == 5
+    if mujoco.__version__ >= "3.1.2":
+        assert env.model.nbvh == 3
     assert env.model.njnt == 4
     assert env.model.ngeom == 10
     assert env.model.ntendon == 0
@@ -610,7 +612,8 @@ def test_model_object_count(version: str):
     assert env.model.nv == 5
     assert env.model.nu == 2
     assert env.model.nbody == 4
-    assert env.model.nbvh == 4
+    if mujoco.__version__ >= "3.1.2":
+        assert env.model.nbvh == 0
     assert env.model.njnt == 5
     assert env.model.ngeom == 4
     assert env.model.ntendon == 0