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Revert to numpy 1.21.6 for Python versions < 3.7
1.22.0 only supports Python 3.8 or newer: https://numpy.org/doc/stable/release/1.22.0-notes.html#python-3-7-is-no-longer-supported PiperOrigin-RevId: 497220130 Change-Id: I3549aedf940515762cee22edfc4eb0d6f8110072
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