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Update mcap dependencies #11

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Run time

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Job	Run time
Build Python (3.12, macos-latest)	20s
Build Python (3.10, macos-latest)	41s
Build Python (3.12, ubuntu-latest)	28s
Build Python (3.13, macos-latest)	19s
Build Python (3.11, macos-latest)	30s
Build Python (3.10, ubuntu-latest)	24s
Build Python (3.11, ubuntu-latest)	28s
Build Python (3.13, ubuntu-latest)	25s
	3m 35s