Numpy 2.x Importing Error

[hilookas]

pybullet build time: Nov 28 2023 23:45:17

A module that was compiled using NumPy 1.x cannot be run in
NumPy 2.0.1 as it may crash. To support both 1.x and 2.x
versions of NumPy, modules must be compiled with NumPy 2.0.
Some module may need to rebuild instead e.g. with 'pybind11>=2.12'.

If you are a user of the module, the easiest solution will be to
downgrade to 'numpy<2' or try to upgrade the affected module.
We expect that some modules will need time to support NumPy 2.

Traceback (most recent call last):  File "/home/rosdev/ros2_ws/non_ros_src/mr_urdf_loader/tests/example/3DoF/sim.py", line 1, in <module>
    import pybullet as p
AttributeError: _ARRAY_API not found
Traceback (most recent call last):
  File "/home/rosdev/ros2_ws/non_ros_src/mr_urdf_loader/tests/example/3DoF/sim.py", line 1, in <module>
    import pybullet as p
ImportError: numpy.core.multiarray failed to import

Minimal reproducible example:

pip install -U numpy
pip install -U pybullet

import numpy
import pybullet