I worked out a method that works for me.

First, I rebuilt the wheels for spatialmath, spatialgeometry, and swift to use numpy 2.2.2. This involved removing the version restrictions in the pyproject.toml files, including replacing references to "oldest-supported-numpy" with simply "numpy". I then rebuilt all three modules with numpy 2.2.2.

Within a clone of the roboticstoolbox working director, I pip installed the resulting wheels into the virtual environment. In the filemobile/DistanceTransformPlanner.py I removed line 5:from numpy import disp which was unused anyway. I then rebuilt the roboticstoolbox wheel. Finally, I installed these four wheels (spatialmath, spatialgeometry, swift-sim, roboticstoolbox) into my project directory's virtual environment which had numpy 2.2.2.

I'll make my forks of the projects public if anybody wants to clone them and build their own wheels. The build command I used for each project waspython -m build --wheel

I should note that I wasn't able to run the test suite on rtb. I kept getting the same numpy module error. However, I'm not sure it matters. Caveat emptor. Unless I can assure myself that all the tests run, I'm not going to submit a pull request on these changes.

@petercorke, if you'd like me to clean up my forks, ensure all tests run/pass, and make the pull requests to the various repos, I can put a weekend into that in the not too distant future.