[setup] Adjust macOS pip dependencies (RobotLocomotion#21845)

- Revert "Pin mac binary numpy version to 2.0.1".
- Disable Python 3.11 wheel builds.

setup/mac/binary_distribution/requirements.txt

@@ -1,7 +1,6 @@
 ipywidgets
 matplotlib
 notebook
-numpy < 2.1
 Pillow
 pydot
 PyYAML

tools/wheel/image/setup.py

@@ -9,7 +9,7 @@
 # Required python packages that will be pip installed along with pydrake
 python_required = [
     'matplotlib',
-    'numpy < 2.1',
+    'numpy',
     'pydot',
     'PyYAML',
 ]

tools/wheel/wheel_builder/macos.py

@@ -21,7 +21,9 @@
 # default, all targets are built, but the user may down-select from this set.
 # On macOS (unlike Linux), this is just the set of Python versions targeted.
 python_targets = (
-    PythonTarget(3, 11),
+    # TODO(jwnimmer-tri) Python 3.11 is disabled until NumPy ships PyPI wheels
+    # for that Python version that are installable on macOS 13.
+    # PythonTarget(3, 11),
     PythonTarget(3, 12),
 )