Bump minimal numpy version to 1.12. #15645
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Numpy 1.12 was released in January 2017
(https://github.com/numpy/numpy/tags?after=v1.12.1), which will be more
than 3y ago when mpl3.3 will be released, so it's fine to depend on it
per the dependency policy.
Numpy 1.12 added pathlib support for numpy.load
(numpy/numpy#6660),
a minor convenience for improving cbook.get_sample_data (#15641).
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