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utilities: Allow Numpy warning from numpy.exceptions (#3173)

Numpy 1.25.0 moved warnings and errors to a submodule[0].
Moreover, they are removed from the top-level namespace in Numpy 2.0.0 [1].

Add and use exception import that either points to the new exception submodule,
or the global namespace depending on whether the former is available.

[0] https://numpy.org/doc/2.1/release/1.25.0-notes.html#numpy-now-has-an-np-exceptions-namespace
[1] https://numpy.org/doc/2.1/release/2.0.0-notes.html#numpy-2-0-python-api-removals

Signed-off-by: Jan Vesely <jan.vesely@rutgers.edu>

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