Drop python 3.8, add python 3.12 support

[araffin]

Description

Motivation and Context

• I have raised an issue to propose this change (required for new features and bug fixes)

Types of changes

• Bug fix (non-breaking change which fixes an issue)
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[araffin]

Currently blocked by bulletphysics/bullet3#4649, pybullet needs to be re-compiled with Numpy>=2.0

cc @erwincoumans (hopefully it is only a matter of triggering a build, if not, please let us know and I'm sure some people will be happy to provide PRs that solve the issues)

[araffin]

Solved it by downgrading numpy and adding a note for now until bulletphysics/bullet3#4649 is resolved.