Remove legacy workarounds in conda-forge GitHub Actions job (#3270)

In #3223 (comment) we added some workarounds for the conda-forge CI, namely pin the version of some dependencies and removed dartsim. Now that the long term fixes to that problems (linked in #3223 (comment)) has been fixed, we can remove the workarounds.

.github/workflows/conda-forge.yml

@@ -37,9 +37,7 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        # re-add dartsim once the libsdformat 9.8 issue is resolved
-        # https://github.com/osrf/gazebo/pull/3223#issuecomment-1140019713
-        mamba install libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt=5.12.9=*_4 ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp simbody hdf5 openal-soft glib gts
+        mamba install libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt-main ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp simbody hdf5 openal-soft glib gts dartsim
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')