Commenting igakit to support python3.12

[campospinto]

This PR disables all the imports to igakit, as well as all the dependent psydac functions, so that users can install and run psydac with python3.12 (see psydac issues 406 and 53 )

This temporarily disables nurbs in psydac: In a further PR the nurbs functions should re-implemented, or re-imported from a stable source.

Some changes are also made in the continuous integration workflow:

• use of a development version of sympde to allow for more flexible development
• more robust install of h5py to avoid issues with github cache

Finally some numpy typed mapping parameters are converted to native python types to avoid errors with sympify

[saidctb]

You don't have to comment all parts that uses igakit, you only need to comment the tests that uses it, i.e. psydac/cad/tests/test_geometry.py

[campospinto]

> igakit

What do you mean ? We cannot install igakit anymore, so how can we have a running code with some parts still using igakit ?