[numpy] Replace uses of np.in1d with np.isin(...).ravel().

np.in1d is removed in NumPy 2.4.

PiperOrigin-RevId: 840207834
Change-Id: I27dcc518ed3325515001ec965af12e4c81928acc

Author: hawkinsp

dm_control/composer/initializers/tcp_initializer_test.py

@@ -53,10 +53,10 @@ def assertEntitiesInContact(self, physics, first, second):
     second_geom_ids = physics.bind(
         second.mjcf_model.find_all('geom')).element_id
     contact = physics.data.contact
-    first_to_second = (np.in1d(contact.geom1, first_geom_ids) &
-                       np.in1d(contact.geom2, second_geom_ids))
-    second_to_first = (np.in1d(contact.geom1, second_geom_ids) &
-                       np.in1d(contact.geom2, first_geom_ids))
+    first_to_second = (np.isin(contact.geom1, first_geom_ids).ravel() &
+                       np.isin(contact.geom2, second_geom_ids).ravel())
+    second_to_first = (np.isin(contact.geom1, second_geom_ids).ravel() &
+                       np.isin(contact.geom2, first_geom_ids).ravel())
     touching = contact.dist <= 0
     valid_contact = touching & (first_to_second | second_to_first)
     self.assertTrue(np.any(valid_contact), msg='Entities are not in contact.')

dm_control/suite/quadruped.py

@@ -155,7 +155,9 @@ def _get_sensor_names(self, *sensor_types):
     try:
       sensor_names = self._sensor_types_to_names[sensor_types]
     except KeyError:
-      [sensor_ids] = np.where(np.in1d(self.model.sensor_type, sensor_types))
+      [sensor_ids] = np.where(
+          np.isin(self.model.sensor_type, sensor_types).ravel()
+      )
       sensor_names = [self.model.id2name(s_id, 'sensor') for s_id in sensor_ids]
       self._sensor_types_to_names[sensor_types] = sensor_names
     return sensor_names