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refactor: fixes for numpy-2.0 deprecation warnings, require numpy>=1.…
…20.3 (#2237) This PR resolves several deprecation warnings from NumPy 2.0 (xref #2153): * np.in1d() → np.isin() * "a16" → "S16" to describe 16-length string of bytes * The numpy.core.records module is private, so use numpy.rec instead, which seems to work with older versions This also bumps the minimum version of numpy from 1.15.0 to 1.20.3, since this is the minimum for pandas 2.0.0, thus the minimum versions were incompatible.
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