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parcoords.py: Fix get_limits compatibility with pandas 3.0

Updates get_limits() to properly handle categorical/object columns in pandas 3.0.0rc1. The previous implementation returned individual values instead of sets for object columns due to changes in pandas behavior around dtype handling and unique value extraction.

Changes:
- Add explicit check for categorical dtypes using pd.api.types.is_categorical_dtype()
- Use dropna() before unique() to handle NaN values consistently
- Ensure object/categorical columns return sets of unique values as expected

Fixes test failures in test_get_limits and test_plot when using
pre-release pandas dependencies.

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