Warnings in numpy >= 1.25

[carlosluis]

Just FYI, as part of the migration / maintenance of MetaWorld, it might be important to take care of this numpy warning.

I've ran tests for all 50 metaworld envs for commit c822f28, and it occurs on dial-turn-v2, door-open-v2, hammer-v2 and lever-pull-v2.

Here's an example stack trace from one of my tests:

self = <metaworld.envs.mujoco.sawyer_xyz.v2.sawyer_lever_pull_v2.SawyerLeverPullEnvV2 object at 0x7f330a01ebe0>
obs = array([ 0.0058129 ,  0.39943335,  0.19429615,  1.        ,  0.14983521,
        0.58119154,  0.24981888,  0.66279996, ...      ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ])
action = array([ 0.2889182 , -0.93614006, -0.69611247, -0.55025635])

    @_assert_task_is_set
    def evaluate_state(self, obs, action):
        (
            reward,
            shoulder_to_lever,
            ready_to_lift,
            lever_error,
            lever_engagement,
        ) = self.compute_reward(action, obs)
    
        info = {
>           "success": float(lever_error <= np.pi / 24),
            "near_object": float(shoulder_to_lever < 0.03),
            "grasp_success": float(ready_to_lift > 0.9),
            "grasp_reward": ready_to_lift,
            "in_place_reward": lever_engagement,
            "obj_to_target": shoulder_to_lever,
            "unscaled_reward": reward,
        }
E       DeprecationWarning: Conversion of an array with ndim > 0 to a scalar is deprecated, and will error in future. Ensure you extract a single element from your array before performing this operation. (Deprecated NumPy 1.25.)

../../anaconda3/envs/rlcore/lib/python3.9/site-packages/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py:79: DeprecationWarning

It's harmless for now (I think), but it might break the code after a future version of numpy

[reginald-mclean]

This should be fixed by #475