NEP29: Set minimum required version to NumPy 1.21+ #2389
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Description of proposed changes
Following NEP29 policy where NumPy 1.20 is to be dropped on or after 31 January 2023 (in a minor version increment, i.e. for PyGMT v0.9.0). Bumps minimum supported NumPy version to 1.21 in the pyproject.toml, requirements.txt and environment.yml files. Also update installation documentation to mention NumPy 1.21+ requirement.
This is in line with PyGMT's policy on NEP29 at https://www.pygmt.org/v0.8.0/maintenance.html#dependencies-policy, xref #1074.
Note that CI tests already run on NumPy 1.21 since #2057.
Supersedes #1985.
Reminders
make format
andmake check
to make sure the code follows the style guide.doc/api/index.rst
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