Support Numpy 2

[qhaas]

Is your feature request related to a problem? Please describe.
We are unable to build the pythonapi client when numpy 2 is in our environment

Describe the solution you'd like
An upgrade of boost.python or migration to pybind such that numpy 2.x is supported

Describe alternatives you've considered
continue using the outdated numpy 1

Additional context
relevant check

if ("${NUMPY_VERSION_STRING}" VERSION_GREATER "2.0.0")
  carla_error ("Unsupported Numpy version, please downgrade to a version prior to numpy 2.")
endif ()