Clean up after getting compatibility with numpy-1.24 (quantumlib#6187)

- remove numpy version pinning, but require major version 1
- remove warning filters not relevant after numpy-1.24

Follow up to quantumlib#5967

requirements.txt

@@ -3,7 +3,7 @@
 duet~=0.2.8
 matplotlib~=3.0
 networkx>=2.4
-numpy>=1.16
+numpy~=1.16
 pandas
 sortedcontainers~=2.0
 scipy