Lando Norris had been due to drive on both days of the test for McLaren ahead of heading to Macau to compete in Formula 3 before racing in Formula 2 Abu Dhabi.
Pirelli now offers teams five tire compounds - hard, medium, soft, super-soft and ultra-soft - to use throughout the season, with any three being made available for each race weekend.
Pirelli has confirmed the incident took place as personnel left Interlagos on Sunday evening, just 48 hours after a minibus carrying Mercedes team members had been robbed at gunpoint on the outskirts of the circuit.
And there was a fresh incident on Sunday night after criminals made an attempt to slow a auto containing Pirelli personnel to a stop for a robbery, before the vehicle featuring the tyre supplier's staff luckily escaped.
McLaren and Pirelli have chose to cancel a tyre test at Interlagos due to security concerns following incidents at the Brazilian Grand Prix last week.
Earlier in the week, a auto containing officials from motor sport's world governing body the FIA was approached by masked gunmen, while members of the Williams team witnessed the attack.
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One member of the community, Judy Green, said he was "completely distant and way out in thought". The Greens both have licenses to carry handguns, and they are friends with Kelley's in-laws.
All escaped unharmed, but the incidents will raise question marks over the future of a race which has been a permanent fixture on the calendar since 1990.
"We are extremely disappointed with the events of the last week", an F1 spokesperson told Sky Sports News.
A spokesman for Liberty Media, the sport's owners, said it was up to the circuit and local authorities to ensure safety this week.
"But is not our call, and it is not our responsibility. We are actively involved, but we can not be experts in every city we go to". Some of Hamilton's Mercedes team was robbed at gunpoint previous year before the Mexican Grand Prix, with the robbers talking wallets and watches but not harming anyone. "People leaving the circuit are exposed and it is obvious that they are at a disadvantage and that is something that needs to be addressed".
After the Mercedes incident, Hamilton tweeted that "F1 and the teams need to do more, there's no excuse" as far as safety goes.