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Merge pull request #23613 from Random-Liu/remove-out-of-date-code
Automatic merge from submit-queue Kubelet: Remove nsinit related code and bump up minimum docker apiversion Docker has native exec support after 1.3.x. We never need this code now. As for the apiversion, because Kubernetes supports 1.8.x - 1.10.x now, we should bump up the minimum docker apiversion. @yujuhong I checked the [changes](https://github.com/docker/engine-api/blob/master/types/versions/v1p20/types.go), we are not relying on any of those changes. So #23506 should work with docker 1.8.x+
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