Raise minimum numpy version to 1.23.5 to fix installation errors on windows (#6082)

Fixes #6047

Fixes the following errors when installing ml-agents-envs on windows if numpy 1.21.2 is already installed:
```
  Building wheel for numpy (pyproject.toml) ... error
  error: subprocess-exited-with-error

  × Building wheel for numpy (pyproject.toml) did not run successfully.
  │ exit code: 1
  ╰─> [326 lines of output]
      setup.py:63: RuntimeWarning: NumPy 1.21.2 may not yet support Python 3.10.
        warnings.warn(
      Running from numpy source directory.
```

Author: alex-mccarthy-unity

com.unity.ml-agents/CHANGELOG.md

@@ -28,7 +28,7 @@ and this project adheres to
 - Fixed 3DBall sample package to remove Barracuda dependency. (#6030)
 
 #### ml-agents / ml-agents-envs
-- Bumped numpy version to >=1.21.2,<1.24.0 (#5997)
+- Bumped numpy version to >=1.23.5,<1.24.0 (#6082)
 - Bumped onnx version to 1.15.0 (#6062)
 - Bumped protobuf version to >=3.6,<21 (#6062)
 

ml-agents-envs/setup.py

@@ -60,7 +60,7 @@ def run(self):
         "pyyaml>=3.1.0",
         "gym>=0.21.0",
         "pettingzoo==1.15.0",
-        "numpy>=1.21.2,<1.24.0",
+        "numpy>=1.23.5,<1.24.0",
         "filelock>=3.4.0",
     ],
     python_requires=">=3.10.1,<=3.10.12",

ml-agents/setup.py

@@ -58,7 +58,7 @@ def run(self):
         "grpcio>=1.11.0,<=1.48.2",
         "h5py>=2.9.0",
         f"mlagents_envs=={VERSION}",
-        "numpy>=1.21.2,<1.24.0",
+        "numpy>=1.23.5,<1.24.0",
         "Pillow>=4.2.1",
         "protobuf>=3.6,<3.21",
         "pyyaml>=3.1.0",