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docs: Set minimum versions for sphinx (#1760)
I saw that the build was failing, hence this is my attempt to fix it, altough I don't know how to test this before merging it. See https://readthedocs.org/projects/luigi/builds/4189801/ Unfortunately I couldn't find a way to connect a webhook between GitHub PRs and readthedocs: readthedocs/readthedocs.org#1340 The reason I believe a version bump would fix it is because I see exactly the same error as in sphinx-doc/sphinx#2465 and readthedocs seem to use 1.3.5, causing the pdf docs to be outdated.
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