Enable MacOS ARM Runner And Wheels

[mikedh]

• there are currently built Mac ARM wheels on PyPi from CIBW but CI did not test them and they are broken.
  • MacOS/ARM looks like it would require some work to get going and no wheel we release until macOS arm wheel ImportError symbol not found #61 is fixed would be functional.
  • There are no plans to do this, but PR's are certainly welcome!
  • we should probably pull the release with the broken wheels via the PyPi interface eventually
    • 'Symbol not found in flat namespace' and 'fatal error: 'octomap/OccupancyOcTreeBase.h' file not found` on OSX Sonoma 14.1 #73
    • Macos with m1 chip support #46
• This PR also moves setup.cfg into pyproject.toml and bumps the minimum Python version to 3.7 which I've found is the lowest version that is easy to support as of late 2023. oldest-supported-numpy is replaced with numpy as there were issues with it elsewhere and it is unnecessary.

[mikedh]

Tried the suggestion in #61... anyone with an ARM mac want to try the wheels in this build:
https://github.com/BerkeleyAutomation/python-fcl/suites/18753693015/artifacts/1092358848

[mikedh]

Github very recently released M1 runners (runs-on: macos-14) and I just enabled them, it is building and running tests natively on arm64 (vs previously was cross-compiling). Tests appear to be passing:

============================= test session starts ==============================
platform darwin -- Python 3.12.2, pytest-8.1.1, pluggy-1.4.0
rootdir: /Users/runner/work/python-fcl/python-fcl
configfile: pyproject.toml
collected 15 items
../../../../../../../../../Users/runner/work/python-fcl/python-fcl/tests/test_fcl.py . [ 6%]
....... [ 53%]
../../../../../../../../../Users/runner/work/python-fcl/python-fcl/tests/test_precision.py . [ 60%]
...... [100%]
============================== 15 passed in 0.08s ==============================
✓ 4.30s
✓ cp312-macosx_arm64 finished in 17.97s