From 1baf0d7d7703eee80e762fe5edc4b60b9dc499f1 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 26 Dec 2019 00:24:20 +0000
Subject: [PATCH] CompatHelper: add new compat entry for "InteractBase" at
 version "0.10"

---
 Project.toml                                  |   1 +
 docs/Manifest.toml                            | 389 ++++++++++--------
 notebooks/Quick start guide/Manifest.toml     | 266 +++++-------
 .../Manifest.toml                             | 288 ++++++-------
 4 files changed, 447 insertions(+), 497 deletions(-)

diff --git a/Project.toml b/Project.toml
index c948cab..3cf1a77 100644
--- a/Project.toml
+++ b/Project.toml
@@ -22,6 +22,7 @@ Blink = "≥ 0.9.0"
 DiffEqBase = "≥ 3.4.1"
 DiffEqCallbacks = "≥ 1.0.0"
 DocStringExtensions = "≥ 0.4.1"
+InteractBase = "0.10"
 MeshCatMechanisms = "≥ 0.1.1"
 NBInclude = "≥ 2.0.0"
 Observables = "≥ 0.1.2"
diff --git a/docs/Manifest.toml b/docs/Manifest.toml
index a033c79..a740c07 100644
--- a/docs/Manifest.toml
+++ b/docs/Manifest.toml
@@ -1,10 +1,22 @@
 # This file is machine-generated - editing it directly is not advised
 
+[[Adapt]]
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "82dab828020b872fa9efd3abec1152b075bc7cbf"
+uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
+version = "1.0.0"
+
+[[ArnoldiMethod]]
+deps = ["DelimitedFiles", "LinearAlgebra", "Random", "SparseArrays", "StaticArrays", "Test"]
+git-tree-sha1 = "2b6845cea546604fb4dca4e31414a6a59d39ddcd"
+uuid = "ec485272-7323-5ecc-a04f-4719b315124d"
+version = "0.0.4"
+
 [[ArrayInterface]]
-deps = ["Requires", "Test"]
-git-tree-sha1 = "6a1a371393e56f5e8d5657fe4da4b11aea0bfbae"
+deps = ["LinearAlgebra", "Requires", "SparseArrays"]
+git-tree-sha1 = "7b26f0015d9459082a16ebe3fe934c4abb8f1327"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "0.1.1"
+version = "2.2.0"
 
 [[AssetRegistry]]
 deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"]
@@ -22,22 +34,22 @@ version = "1.0.0"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[BinDeps]]
-deps = ["Compat", "Libdl", "SHA", "URIParser"]
-git-tree-sha1 = "12093ca6cdd0ee547c39b1870e0c9c3f154d9ca9"
+deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"]
+git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764"
 uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee"
-version = "0.8.10"
+version = "1.0.0"
 
 [[BinaryProvider]]
-deps = ["Libdl", "Logging", "SHA"]
-git-tree-sha1 = "c7361ce8a2129f20b0e05a89f7070820cfed6648"
+deps = ["Libdl", "SHA"]
+git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c"
 uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
-version = "0.5.6"
+version = "0.5.8"
 
 [[Blink]]
-deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Libdl", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "Test", "WebIO", "WebSockets"]
-git-tree-sha1 = "5b0ca771f6e59bbba820888af8a6edbcc62bc86a"
+deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"]
+git-tree-sha1 = "cbce79ce8bfa1a576bb0a166ce75e7b92a575098"
 uuid = "ad839575-38b3-5650-b840-f874b8c74a25"
-version = "0.10.1"
+version = "0.12.0"
 
 [[CSSUtil]]
 deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"]
@@ -45,29 +57,28 @@ git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2"
 uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.0"
 
-[[CSTParser]]
-deps = ["Tokenize"]
-git-tree-sha1 = "376a39f1862000442011390f1edf5e7f4dcc7142"
-uuid = "00ebfdb7-1f24-5e51-bd34-a7502290713f"
-version = "0.6.0"
-
 [[Calculus]]
-deps = ["Compat"]
-git-tree-sha1 = "f60954495a7afcee4136f78d1d60350abd37a409"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad"
 uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
-version = "0.4.1"
+version = "0.5.1"
+
+[[Cassette]]
+git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673"
+uuid = "7057c7e9-c182-5462-911a-8362d720325c"
+version = "0.2.6"
 
 [[ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "10050a24b09e8e41b951e9976b109871ce98d965"
+git-tree-sha1 = "b41d0f666d46ba128c6a0fc632d6e33fbfc03604"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.8.0"
+version = "0.9.0"
 
 [[Colors]]
-deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport", "Test"]
-git-tree-sha1 = "9f0a0210450acb91c730b730a994f8eef1d3d543"
+deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"]
+git-tree-sha1 = "b9c284790747cf072af85f35acfe958845cfe9a9"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.9.5"
+version = "0.11.0"
 
 [[CommonSubexpressions]]
 deps = ["Test"]
@@ -77,9 +88,9 @@ version = "0.2.0"
 
 [[Compat]]
 deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
-git-tree-sha1 = "84aa74986c5b9b898b0d1acaf3258741ee64754f"
+git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "2.1.0"
+version = "2.2.0"
 
 [[CoordinateTransformations]]
 deps = ["Compat", "Rotations", "StaticArrays"]
@@ -87,11 +98,16 @@ git-tree-sha1 = "47f05d0b7f4999609f92e657147df000818c1f24"
 uuid = "150eb455-5306-5404-9cee-2592286d6298"
 version = "0.5.0"
 
+[[DataAPI]]
+git-tree-sha1 = "674b67f344687a88310213ddfa8a2b3c76cc4252"
+uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
+version = "1.1.0"
+
 [[DataStructures]]
 deps = ["InteractiveUtils", "OrderedCollections"]
-git-tree-sha1 = "0809951a1774dc724da22d26e4289bbaab77809a"
+git-tree-sha1 = "a1b652fb77ae8ca7ea328fa7ba5aa151036e5c10"
 uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
-version = "0.17.0"
+version = "0.17.6"
 
 [[DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -107,46 +123,40 @@ deps = ["Mmap"]
 uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
 
 [[DiffEqBase]]
-deps = ["Compat", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews"]
-git-tree-sha1 = "76b059cad5d43fd1fcfd7ffcd8ab5696d2027595"
+deps = ["ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "Printf", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews", "ZygoteRules"]
+git-tree-sha1 = "c2a3d3b1f44240feee1e5052d77afc7ac4d5b953"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "5.16.0"
+version = "6.10.0"
 
 [[DiffEqCallbacks]]
-deps = ["DataStructures", "DiffEqBase", "LinearAlgebra", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays", "Test"]
-git-tree-sha1 = "027a13f010f2a93b2df725b7f6202590ce6f559d"
+deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "LinearAlgebra", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
+git-tree-sha1 = "f85da2bade6eb9bee58f06540a8c00d071e9f432"
 uuid = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-version = "2.5.2"
+version = "2.10.0"
 
 [[DiffEqDiffTools]]
-deps = ["LinearAlgebra", "SparseArrays", "StaticArrays"]
-git-tree-sha1 = "2d4f49c1839c1f30e4820400d8c109c6b16e869a"
+deps = ["ArrayInterface", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays"]
+git-tree-sha1 = "951600cc05d9626c3282e2ed125492931596e430"
 uuid = "01453d9d-ee7c-5054-8395-0335cb756afa"
-version = "0.13.0"
-
-[[DiffEqOperators]]
-deps = ["DiffEqBase", "ForwardDiff", "LinearAlgebra", "SparseArrays", "StaticArrays", "SuiteSparse"]
-git-tree-sha1 = "2884a79a72aac38347b247615ac42eda41aa36e0"
-uuid = "9fdde737-9c7f-55bf-ade8-46b3f136cc48"
-version = "3.5.0"
+version = "1.6.0"
 
 [[DiffResults]]
-deps = ["Compat", "StaticArrays"]
-git-tree-sha1 = "34a4a1e8be7bc99bc9c611b895b5baf37a80584c"
+deps = ["StaticArrays"]
+git-tree-sha1 = "da24935df8e0c6cf28de340b958f6aac88eaa0cc"
 uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5"
-version = "0.0.4"
+version = "1.0.2"
 
 [[DiffRules]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "dc0869fb2f5b23466b32ea799bd82c76480167f7"
+deps = ["NaNMath", "Random", "SpecialFunctions"]
+git-tree-sha1 = "10dca52cf6d4a62d82528262921daf63b99704a2"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "0.0.10"
+version = "1.0.0"
 
 [[Distances]]
-deps = ["LinearAlgebra", "Printf", "Random", "Statistics", "Test"]
-git-tree-sha1 = "a135c7c062023051953141da8437ed74f89d767a"
+deps = ["LinearAlgebra", "Statistics"]
+git-tree-sha1 = "23717536c81b63e250f682b0e0933769eecd1411"
 uuid = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7"
-version = "0.8.0"
+version = "0.8.2"
 
 [[Distributed]]
 deps = ["Random", "Serialization", "Sockets"]
@@ -154,41 +164,35 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
 [[DocStringExtensions]]
 deps = ["LibGit2", "Markdown", "Pkg", "Test"]
-git-tree-sha1 = "4d30e889c9f106a51ffa4791a88ffd4765bf20c3"
+git-tree-sha1 = "88bb0edb352b16608036faadcc071adda068582a"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.7.0"
+version = "0.8.1"
 
 [[Documenter]]
-deps = ["Base64", "DocStringExtensions", "InteractiveUtils", "JSON", "LibGit2", "Logging", "Markdown", "REPL", "Unicode"]
-git-tree-sha1 = "bb727cddc81525c55b70b56c3691fbf244d7728f"
+deps = ["Base64", "Dates", "DocStringExtensions", "InteractiveUtils", "JSON", "LibGit2", "Logging", "Markdown", "REPL", "Test", "Unicode"]
+git-tree-sha1 = "885467cebde4639a3d81953652cc53ff5a73cb87"
 uuid = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
-version = "0.22.5"
+version = "0.24.3"
 
 [[ExponentialUtilities]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]
-git-tree-sha1 = "85e1ce16aa9b98793df704e17e7a0ceadefe404f"
+git-tree-sha1 = "1672dedeacaab85345fd359ad56dde8fb5d48a45"
 uuid = "d4d017d3-3776-5f7e-afef-a10c40355c18"
-version = "1.5.1"
-
-[[FileIO]]
-deps = ["Pkg"]
-git-tree-sha1 = "351f001a78aa1b7ad2696e386e110b5abd071c71"
-uuid = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
-version = "1.0.7"
+version = "1.6.0"
 
 [[FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[FixedPointNumbers]]
-git-tree-sha1 = "d14a6fa5890ea3a7e5dcab6811114f132fec2b4b"
+git-tree-sha1 = "bd1386f890e172ef38e1c735cda58cbf004a7c9a"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
-version = "0.6.1"
+version = "0.7.0"
 
 [[ForwardDiff]]
-deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "InteractiveUtils", "LinearAlgebra", "NaNMath", "Random", "SparseArrays", "SpecialFunctions", "StaticArrays", "Test"]
-git-tree-sha1 = "4c4d727f1b7e0092134fabfab6396b8945c1ea5b"
+deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "NaNMath", "Random", "SpecialFunctions", "StaticArrays"]
+git-tree-sha1 = "840700059391d36e2498d89c2e82c08f261f2a2a"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.3"
+version = "0.10.8"
 
 [[FunctionWrappers]]
 deps = ["Compat"]
@@ -203,22 +207,22 @@ uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca"
 version = "0.5.0"
 
 [[GenericSVD]]
-deps = ["LinearAlgebra", "Random", "Test"]
-git-tree-sha1 = "8aa93c3f3d81562a8962047eafcc5712af0a0f59"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "c59a30ef95fa4b5e0567c1911652e0c70a5d055c"
 uuid = "01680d73-4ee2-5a08-a1aa-533608c188bb"
-version = "0.2.1"
+version = "0.2.2"
 
 [[GeometryTypes]]
 deps = ["ColorTypes", "FixedPointNumbers", "IterTools", "LinearAlgebra", "StaticArrays"]
-git-tree-sha1 = "2b0bfb379a54bdfcd2942f388f7d045f8952373d"
+git-tree-sha1 = "4bf5706f3b9a2c5adbbc473c8c91582c1fa816a3"
 uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb"
-version = "0.7.5"
+version = "0.7.6"
 
 [[HTTP]]
 deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"]
-git-tree-sha1 = "03ddc88af7f2d963fac5aa9f3ac8e11914d68a78"
+git-tree-sha1 = "5c49dab19938b119fe204fd7d7e8e174f4e9c68b"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "0.8.4"
+version = "0.8.8"
 
 [[Hiccup]]
 deps = ["MacroTools", "Test"]
@@ -226,6 +230,12 @@ git-tree-sha1 = "6187bb2d5fcbb2007c39e7ac53308b0d371124bd"
 uuid = "9fb69e20-1954-56bb-a84f-559cc56a8ff7"
 version = "0.2.2"
 
+[[Inflate]]
+deps = ["Pkg", "Printf", "Random", "Test"]
+git-tree-sha1 = "b7ec91c153cf8bff9aff58b39497925d133ef7fd"
+uuid = "d25df0c9-e2be-5dd7-82c8-3ad0b3e990b9"
+version = "0.1.1"
+
 [[IniFile]]
 deps = ["Test"]
 git-tree-sha1 = "098e4d2c533924c921f9f9847274f2ad89e018b8"
@@ -234,9 +244,9 @@ version = "0.5.0"
 
 [[InteractBase]]
 deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"]
-git-tree-sha1 = "752e330aef74a8a01968cce0a361a4525b944471"
+git-tree-sha1 = "4528a536425453c9658ad00cf097c979cc0fa03f"
 uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009"
-version = "0.10.2"
+version = "0.10.3"
 
 [[InteractiveUtils]]
 deps = ["Markdown"]
@@ -244,14 +254,14 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
 [[Interpolations]]
 deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"]
-git-tree-sha1 = "e1bac96b5ef3ea23b50e801b4a988ec21861a47f"
+git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1"
 uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
-version = "0.12.2"
+version = "0.12.5"
 
 [[IterTools]]
-git-tree-sha1 = "2ebe60d7343962966d1779a74a760f13217a6901"
+git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.2.0"
+version = "1.3.0"
 
 [[IterativeSolvers]]
 deps = ["LinearAlgebra", "Printf", "Random", "RecipesBase", "SparseArrays", "Test"]
@@ -265,22 +275,22 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[JSExpr]]
-deps = ["JSON", "MacroTools", "Observables", "Test", "WebIO"]
-git-tree-sha1 = "013bc2143a2e84ea489365cf30db3407deb540c2"
+deps = ["JSON", "MacroTools", "Observables", "WebIO"]
+git-tree-sha1 = "ca99c457d67f7950e405f26044f4e38658a75e8a"
 uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660"
-version = "0.5.0"
+version = "0.5.1"
 
 [[JSON]]
-deps = ["Dates", "Distributed", "Mmap", "Sockets", "Test", "Unicode"]
-git-tree-sha1 = "1f7a25b53ec67f5e9422f1f551ee216503f4a0fa"
+deps = ["Dates", "Mmap", "Parsers", "Unicode"]
+git-tree-sha1 = "b34d7cef7b337321e97d22242c3c2b91f476748e"
 uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
-version = "0.20.0"
+version = "0.21.0"
 
 [[Knockout]]
-deps = ["JSExpr", "JSON", "Observables", "Pkg", "Test", "WebIO"]
-git-tree-sha1 = "5cca7f070f85392cd0f42220c8ea5f7be96dacf4"
+deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"]
+git-tree-sha1 = "53533b51d4b6964eca3065b0834e9f61ed2f7515"
 uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
-version = "0.2.2"
+version = "0.2.3"
 
 [[Lazy]]
 deps = ["Compat", "MacroTools", "Test"]
@@ -294,11 +304,17 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
+[[LightGraphs]]
+deps = ["ArnoldiMethod", "DataStructures", "Distributed", "Inflate", "LinearAlgebra", "Random", "SharedArrays", "SimpleTraits", "SparseArrays", "Statistics"]
+git-tree-sha1 = "a0d4bcea4b9c056da143a5ded3c2b7f7740c2d41"
+uuid = "093fc24a-ae57-5d10-9952-331d41423f4d"
+version = "1.3.0"
+
 [[LightXML]]
-deps = ["BinaryProvider", "Libdl", "Test"]
-git-tree-sha1 = "aeec7a341652d47bc773475a42952fa78eccd7cc"
+deps = ["BinaryProvider", "Libdl"]
+git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.8.0"
+version = "0.8.1"
 
 [[LineSearches]]
 deps = ["LinearAlgebra", "NLSolversBase", "NaNMath", "Parameters", "Printf", "Test"]
@@ -320,59 +336,52 @@ uuid = "39f5be34-8529-5463-bac7-bf6867c840a3"
 version = "0.1.0"
 
 [[MacroTools]]
-deps = ["CSTParser", "Compat", "DataStructures", "Test"]
-git-tree-sha1 = "daecd9e452f38297c686eba90dba2a6d5da52162"
+deps = ["DataStructures", "Markdown", "Random"]
+git-tree-sha1 = "e2fc7a55bb2224e203bbd8b59f72b91323233458"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.0"
+version = "0.5.3"
 
 [[Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
 [[MbedTLS]]
-deps = ["BinaryProvider", "Dates", "Distributed", "Libdl", "Random", "Sockets", "Test"]
-git-tree-sha1 = "2d94286a9c2f52c63a16146bb86fd6cdfbf677c6"
+deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"]
+git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181"
 uuid = "739be429-bea8-5141-9913-cc70e7f3736d"
-version = "0.6.8"
+version = "0.7.0"
 
 [[Measures]]
-deps = ["Test"]
-git-tree-sha1 = "ddfd6d13e330beacdde2c80de27c1c671945e7d9"
+git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f"
 uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e"
-version = "0.3.0"
+version = "0.3.1"
 
 [[MechanismGeometries]]
-deps = ["ColorTypes", "CoordinateTransformations", "FileIO", "GeometryTypes", "LightXML", "LinearAlgebra", "MeshIO", "RigidBodyDynamics", "Rotations", "StaticArrays"]
-git-tree-sha1 = "43106733e3915d071fd1567e1b19d4b1b2394da0"
+deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"]
+git-tree-sha1 = "3d3b4d13b42e542543a6c7f6f27b08fbe9b9aa00"
 uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
-version = "0.3.0"
+version = "0.4.1"
 
 [[MeshCat]]
-deps = ["AssetRegistry", "Base64", "BinDeps", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
-git-tree-sha1 = "e83e4c9d3c881990b5d41cbfd79c9e731f80d95b"
+deps = ["AssetRegistry", "Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
+git-tree-sha1 = "7b722a2bb456913dc6bdd02382060e95f3986af4"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.7.0"
+version = "0.8.0"
 
 [[MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
-git-tree-sha1 = "efab8e156448f388bd5ff02c60308179dd8b753c"
+git-tree-sha1 = "c85ed4b323036620295a70fa165678f8b0fc6f0c"
 uuid = "6ad125db-dd91-5488-b820-c1df6aab299d"
-version = "0.4.0"
-
-[[MeshIO]]
-deps = ["ColorTypes", "FileIO", "GeometryTypes", "Printf", "Test"]
-git-tree-sha1 = "3e01e12c4c626578a9d47fac0d15c9fe8dad5139"
-uuid = "7269a6da-0436-5bbc-96c2-40638cbb6118"
-version = "0.3.1"
+version = "0.5.0"
 
 [[Mmap]]
 uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
 [[MsgPack]]
-deps = ["Compat", "Random", "Test"]
-git-tree-sha1 = "c44b3470fa98705f9c12cb44ec9504de3af027ad"
+deps = ["Serialization"]
+git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "0.2.0"
+version = "1.1.0"
 
 [[MuladdMacro]]
 deps = ["MacroTools", "Test"]
@@ -382,9 +391,9 @@ version = "0.2.1"
 
 [[Mustache]]
 deps = ["Printf", "Tables"]
-git-tree-sha1 = "d27b8b8b99c052ea1fdd40c678bfb2dfaec4e96e"
+git-tree-sha1 = "e06eef2abee113c49695f5347668e15d4c02978a"
 uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70"
-version = "0.5.12"
+version = "1.0.0"
 
 [[Mux]]
 deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "Test", "WebSockets"]
@@ -393,22 +402,21 @@ uuid = "a975b10e-0019-58db-a62f-e48ff68538c9"
 version = "0.7.0"
 
 [[NLSolversBase]]
-deps = ["Calculus", "DiffEqDiffTools", "DiffResults", "Distributed", "ForwardDiff", "LinearAlgebra", "Random", "SparseArrays", "Test"]
-git-tree-sha1 = "0c6f0e7f2178f78239cfb75310359eed10f2cacb"
+deps = ["Calculus", "DiffEqDiffTools", "DiffResults", "Distributed", "ForwardDiff"]
+git-tree-sha1 = "f1b8ed89fa332f410cfc7c937682eb4d0b361521"
 uuid = "d41bc354-129a-5804-8e4c-c37616107c6c"
-version = "7.3.1"
+version = "7.5.0"
 
 [[NLsolve]]
-deps = ["DiffEqDiffTools", "Distances", "ForwardDiff", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Random", "Reexport", "SparseArrays", "Test"]
-git-tree-sha1 = "413e54f04a4cbe9804089794eec6b06b2a43bc47"
+deps = ["DiffEqDiffTools", "Distances", "ForwardDiff", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Reexport"]
+git-tree-sha1 = "be25a8486c7be4b075165315e201fa5d199073f1"
 uuid = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
-version = "4.0.0"
+version = "4.2.0"
 
 [[NaNMath]]
-deps = ["Compat"]
-git-tree-sha1 = "ce3b85e484a5d4c71dd5316215069311135fa9f2"
+git-tree-sha1 = "928b8ca9b2791081dc71a51c55347c27c618760f"
 uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
-version = "0.3.2"
+version = "0.3.3"
 
 [[Observables]]
 deps = ["Test"]
@@ -417,9 +425,9 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
 version = "0.2.3"
 
 [[OffsetArrays]]
-git-tree-sha1 = "1af2f79c7eaac3e019a0de41ef63335ff26a0a57"
+git-tree-sha1 = "87d0a91efe29352d5caaa271ae3927083c096e33"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "0.11.1"
+version = "0.11.4"
 
 [[OrderedCollections]]
 deps = ["Random", "Serialization", "Test"]
@@ -428,16 +436,22 @@ uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 version = "1.1.0"
 
 [[OrdinaryDiffEq]]
-deps = ["DataStructures", "DiffEqBase", "DiffEqDiffTools", "DiffEqOperators", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MuladdMacro", "NLsolve", "Parameters", "RecursiveArrayTools", "Reexport", "StaticArrays"]
-git-tree-sha1 = "77b2e1d2a7e172ee671acc827ff44060ef8d65c2"
+deps = ["ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqDiffTools", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Parameters", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays"]
+git-tree-sha1 = "8c5607731bb0300b0a07e40ef2f7a953c7ce4d2f"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "5.11.1"
+version = "5.26.6"
 
 [[Parameters]]
-deps = ["Markdown", "OrderedCollections", "REPL", "Test"]
-git-tree-sha1 = "70bdbfb2bceabb15345c0b54be4544813b3444e4"
+deps = ["OrderedCollections"]
+git-tree-sha1 = "b62b2558efb1eef1fa44e4be5ff58a515c287e38"
 uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a"
-version = "0.10.3"
+version = "0.12.0"
+
+[[Parsers]]
+deps = ["Dates", "Test"]
+git-tree-sha1 = "0139ba59ce9bc680e2925aec5b7db79065d60556"
+uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
+version = "0.3.10"
 
 [[Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -473,16 +487,16 @@ uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 version = "0.7.0"
 
 [[RecursiveArrayTools]]
-deps = ["ArrayInterface", "RecipesBase", "Requires", "StaticArrays", "Statistics", "Test"]
-git-tree-sha1 = "187ea7dd541955102c7035a6668613bdf52022ca"
+deps = ["ArrayInterface", "RecipesBase", "Requires", "StaticArrays", "Statistics"]
+git-tree-sha1 = "cb0fcf68e2e19e76b84c892b22887f02f10f3d9a"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "0.20.0"
+version = "1.2.0"
 
 [[RecursiveFactorization]]
-deps = ["LinearAlgebra", "Random", "Test"]
-git-tree-sha1 = "54410ebd72cbb84d7b7678eb3da643f8e71181fc"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "6761a5d1f9646affb2a369ff932841fff77934a3"
 uuid = "f2c3362d-daeb-58d1-803e-2bc74f2840b4"
-version = "0.0.1"
+version = "0.1.0"
 
 [[Reexport]]
 deps = ["Pkg"]
@@ -498,9 +512,9 @@ version = "0.5.2"
 
 [[RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "8280c2e617f1872ab13bb9d077b83fa32b9659d4"
+git-tree-sha1 = "56e985f99b5d0f62ea7167d7e4f7001714ba34f6"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.1.0"
+version = "2.2.0"
 
 [[RigidBodySim]]
 deps = ["Blink", "DataStructures", "DiffEqBase", "DiffEqCallbacks", "DocStringExtensions", "InteractBase", "MeshCat", "MeshCatMechanisms", "Observables", "OrdinaryDiffEq", "Printf", "RigidBodyDynamics", "WebIO"]
@@ -509,16 +523,16 @@ uuid = "e61f16d8-a6b7-5689-8d03-627c2b27ebce"
 version = "1.3.0"
 
 [[Roots]]
-deps = ["Printf", "Statistics", "Test"]
-git-tree-sha1 = "7228278e31d6d0e22a1ae0b41ea9a0df2859f33d"
+deps = ["Printf"]
+git-tree-sha1 = "dcc013908465ca1019b34b4bf547b6a187d195f9"
 uuid = "f2b01f46-fcfa-551c-844a-d8ac1e96c665"
-version = "0.8.1"
+version = "0.8.4"
 
 [[Rotations]]
-deps = ["LinearAlgebra", "Random", "StaticArrays", "Statistics", "Test"]
-git-tree-sha1 = "dfb3ceb177a59f25fee4e2f26c1aeb92b73d3a0e"
+deps = ["LinearAlgebra", "StaticArrays", "Statistics"]
+git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "0.11.1"
+version = "0.13.0"
 
 [[SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -530,6 +544,12 @@ uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
 deps = ["Distributed", "Mmap", "Random", "Serialization"]
 uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
+[[SimpleTraits]]
+deps = ["InteractiveUtils", "MacroTools"]
+git-tree-sha1 = "2bdf3b6300a9d66fe29ee8bb51ba100c4df9ecbc"
+uuid = "699a6c99-e7fa-54fc-8d76-47d257e15c1d"
+version = "0.9.1"
+
 [[Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 
@@ -537,24 +557,30 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 deps = ["LinearAlgebra", "Random"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
+[[SparseDiffTools]]
+deps = ["Adapt", "ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "ForwardDiff", "InteractiveUtils", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "VertexSafeGraphs"]
+git-tree-sha1 = "237cc8096814623d019587027d1bbc091ee40daf"
+uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
+version = "1.1.1"
+
 [[SpecialFunctions]]
-deps = ["BinDeps", "BinaryProvider", "Libdl", "Test"]
-git-tree-sha1 = "0b45dc2e45ed77f445617b99ff2adf0f5b0f23ea"
+deps = ["BinDeps", "BinaryProvider", "Libdl"]
+git-tree-sha1 = "3bdd374b6fd78faf0119b8c5d538788dbf910c6e"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "0.7.2"
+version = "0.8.0"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "db23bbf50064c582b6f2b9b043c8e7e98ea8c0c6"
+git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "0.11.0"
+version = "0.12.1"
 
 [[Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
 uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[SuiteSparse]]
-deps = ["Libdl", "LinearAlgebra", "SparseArrays"]
+deps = ["Libdl", "LinearAlgebra", "Serialization", "SparseArrays"]
 uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9"
 
 [[TableTraits]]
@@ -564,20 +590,15 @@ uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c"
 version = "1.0.0"
 
 [[Tables]]
-deps = ["DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "Requires", "TableTraits", "Test"]
-git-tree-sha1 = "b983930602b75a14007c9c72e945b4a7c878c538"
+deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"]
+git-tree-sha1 = "aaed7b3b00248ff6a794375ad6adf30f30ca5591"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "0.2.8"
+version = "0.2.11"
 
 [[Test]]
 deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
-[[Tokenize]]
-git-tree-sha1 = "0de343efc07da00cd449d5b04e959ebaeeb3305d"
-uuid = "0796e94c-ce3b-5d07-9a54-7f471281c624"
-version = "0.5.4"
-
 [[TreeViews]]
 deps = ["Test"]
 git-tree-sha1 = "8d0d7a3fe2f30d6a7f833a5f19f7c7a5b396eae6"
@@ -603,15 +624,21 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[UnsafeArrays]]
-git-tree-sha1 = "417100df8567333bff1b851008b1441a2be08da0"
+git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "0.4.0"
+version = "1.0.0"
+
+[[VertexSafeGraphs]]
+deps = ["LightGraphs"]
+git-tree-sha1 = "08137053c117afb92f59497160ac2d12abec66d8"
+uuid = "19fa3120-7c27-5ec5-8db8-b0b0aa330d6f"
+version = "0.1.0"
 
 [[WebIO]]
-deps = ["AssetRegistry", "Base64", "Compat", "FunctionalCollections", "JSON", "Logging", "Observables", "Random", "Requires", "Sockets", "Test", "UUIDs", "Widgets"]
-git-tree-sha1 = "c1f259d4c23f12262f4fa69263a4e54fbea77450"
+deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
+git-tree-sha1 = "b8eb800251c06efd635bcdc4ec7f83643f0b9a61"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.7.0"
+version = "0.8.13"
 
 [[WebSockets]]
 deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"]
@@ -620,13 +647,19 @@ uuid = "104b5d7c-a370-577a-8038-80a2059c5097"
 version = "1.5.2"
 
 [[Widgets]]
-deps = ["Colors", "Dates", "Observables", "OrderedCollections", "Test"]
-git-tree-sha1 = "c53befc70c6b91eaa2a9888c2f6ac2d92720a81b"
+deps = ["Colors", "Dates", "Observables", "OrderedCollections"]
+git-tree-sha1 = "fc0feda91b3fef7fe6948ee09bb628f882b49ca4"
 uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62"
-version = "0.6.1"
+version = "0.6.2"
 
 [[WoodburyMatrices]]
 deps = ["LinearAlgebra", "Random", "SparseArrays", "Test"]
 git-tree-sha1 = "21772c33b447757ec7d3e61fcdfb9ea5c47eedcf"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
 version = "0.4.1"
+
+[[ZygoteRules]]
+deps = ["MacroTools"]
+git-tree-sha1 = "b3b4882cc9accf6731a08cc39543fbc6b669dca8"
+uuid = "700de1a5-db45-46bc-99cf-38207098b444"
+version = "0.2.0"
diff --git a/notebooks/Quick start guide/Manifest.toml b/notebooks/Quick start guide/Manifest.toml
index 98ba2c6..9f2ef6a 100644
--- a/notebooks/Quick start guide/Manifest.toml	
+++ b/notebooks/Quick start guide/Manifest.toml	
@@ -14,9 +14,9 @@ version = "0.0.4"
 
 [[ArrayInterface]]
 deps = ["LinearAlgebra", "Requires", "SparseArrays"]
-git-tree-sha1 = "981354dab938901c2b607a213e62d9defa50b698"
+git-tree-sha1 = "7b26f0015d9459082a16ebe3fe934c4abb8f1327"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "1.2.1"
+version = "2.2.0"
 
 [[AssetRegistry]]
 deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"]
@@ -30,44 +30,26 @@ git-tree-sha1 = "a4d07a1c313392a77042855df46c5f534076fab9"
 uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950"
 version = "1.0.0"
 
-[[BandedMatrices]]
-deps = ["FillArrays", "LazyArrays", "LinearAlgebra", "MatrixFactorizations", "Random", "SparseArrays"]
-git-tree-sha1 = "16ed431f921ff6f6d0db7b56b315c5b4c92e7ea7"
-uuid = "aae01518-5342-5314-be14-df237901396f"
-version = "0.12.2"
-
 [[Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[BinDeps]]
-deps = ["Compat", "Libdl", "SHA", "URIParser"]
-git-tree-sha1 = "12093ca6cdd0ee547c39b1870e0c9c3f154d9ca9"
+deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"]
+git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764"
 uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee"
-version = "0.8.10"
+version = "1.0.0"
 
 [[BinaryProvider]]
-deps = ["Libdl", "Logging", "SHA"]
-git-tree-sha1 = "c7361ce8a2129f20b0e05a89f7070820cfed6648"
+deps = ["Libdl", "SHA"]
+git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c"
 uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
-version = "0.5.6"
+version = "0.5.8"
 
 [[Blink]]
-deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Libdl", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "Test", "WebIO", "WebSockets"]
-git-tree-sha1 = "5b0ca771f6e59bbba820888af8a6edbcc62bc86a"
+deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"]
+git-tree-sha1 = "cbce79ce8bfa1a576bb0a166ce75e7b92a575098"
 uuid = "ad839575-38b3-5650-b840-f874b8c74a25"
-version = "0.10.1"
-
-[[BlockArrays]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "87b72cb71d7306b767d175ece832bf8a7f3b6dc8"
-uuid = "8e7c35d0-a365-5155-bbbb-fb81a777f24e"
-version = "0.10.0"
-
-[[BlockBandedMatrices]]
-deps = ["BandedMatrices", "BlockArrays", "Distributed", "FillArrays", "LazyArrays", "LinearAlgebra", "MatrixFactorizations", "Pkg", "Profile", "Random", "SharedArrays", "SparseArrays", "Statistics", "Test"]
-git-tree-sha1 = "160fc541f01304ab823d1aff1959e84f28a63faf"
-uuid = "ffab5731-97b5-5995-9138-79e8c1846df0"
-version = "0.5.1"
+version = "0.12.0"
 
 [[CSSUtil]]
 deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"]
@@ -75,29 +57,28 @@ git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2"
 uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.0"
 
-[[CSTParser]]
-deps = ["Tokenize"]
-git-tree-sha1 = "c69698c3d4a7255bc1b4bc2afc09f59db910243b"
-uuid = "00ebfdb7-1f24-5e51-bd34-a7502290713f"
-version = "0.6.2"
-
 [[Calculus]]
-deps = ["Compat"]
-git-tree-sha1 = "bd8bbd105ba583a42385bd6dc4a20dad8ab3dc11"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad"
 uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
-version = "0.5.0"
+version = "0.5.1"
+
+[[Cassette]]
+git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673"
+uuid = "7057c7e9-c182-5462-911a-8362d720325c"
+version = "0.2.6"
 
 [[ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "10050a24b09e8e41b951e9976b109871ce98d965"
+git-tree-sha1 = "b41d0f666d46ba128c6a0fc632d6e33fbfc03604"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.8.0"
+version = "0.9.0"
 
 [[Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"]
-git-tree-sha1 = "c9c1845d6bf22e34738bee65c357a69f416ed5d1"
+git-tree-sha1 = "b9c284790747cf072af85f35acfe958845cfe9a9"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.9.6"
+version = "0.11.0"
 
 [[CommonSubexpressions]]
 deps = ["Test"]
@@ -107,9 +88,9 @@ version = "0.2.0"
 
 [[Compat]]
 deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
-git-tree-sha1 = "84aa74986c5b9b898b0d1acaf3258741ee64754f"
+git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "2.1.0"
+version = "2.2.0"
 
 [[CoordinateTransformations]]
 deps = ["Compat", "Rotations", "StaticArrays"]
@@ -124,9 +105,9 @@ version = "1.1.0"
 
 [[DataStructures]]
 deps = ["InteractiveUtils", "OrderedCollections"]
-git-tree-sha1 = "517ce30aa57cdfae1ab444a7c0aef8bb86345bc2"
+git-tree-sha1 = "a1b652fb77ae8ca7ea328fa7ba5aa151036e5c10"
 uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
-version = "0.17.1"
+version = "0.17.6"
 
 [[DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -142,34 +123,34 @@ deps = ["Mmap"]
 uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
 
 [[DiffEqBase]]
-deps = ["ArrayInterface", "Compat", "DiffEqDiffTools", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "Printf", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews"]
-git-tree-sha1 = "72b6ffef7720c669606b282984b3efd9bd7973d9"
+deps = ["ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "Printf", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews", "ZygoteRules"]
+git-tree-sha1 = "c2a3d3b1f44240feee1e5052d77afc7ac4d5b953"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.3.4"
+version = "6.10.0"
 
 [[DiffEqCallbacks]]
-deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
-git-tree-sha1 = "307eda7b109cf1f236fbbb19976562146af386e1"
+deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "LinearAlgebra", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
+git-tree-sha1 = "f85da2bade6eb9bee58f06540a8c00d071e9f432"
 uuid = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-version = "2.8.0"
+version = "2.10.0"
 
 [[DiffEqDiffTools]]
 deps = ["ArrayInterface", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays"]
-git-tree-sha1 = "21b855cb29ec4594f9651e0e9bdc0cdcfdcd52c1"
+git-tree-sha1 = "951600cc05d9626c3282e2ed125492931596e430"
 uuid = "01453d9d-ee7c-5054-8395-0335cb756afa"
-version = "1.3.0"
+version = "1.6.0"
 
 [[DiffResults]]
-deps = ["Compat", "StaticArrays"]
-git-tree-sha1 = "34a4a1e8be7bc99bc9c611b895b5baf37a80584c"
+deps = ["StaticArrays"]
+git-tree-sha1 = "da24935df8e0c6cf28de340b958f6aac88eaa0cc"
 uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5"
-version = "0.0.4"
+version = "1.0.2"
 
 [[DiffRules]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "dc0869fb2f5b23466b32ea799bd82c76480167f7"
+deps = ["NaNMath", "Random", "SpecialFunctions"]
+git-tree-sha1 = "10dca52cf6d4a62d82528262921daf63b99704a2"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "0.0.10"
+version = "1.0.0"
 
 [[Distances]]
 deps = ["LinearAlgebra", "Statistics"]
@@ -183,35 +164,29 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
 [[DocStringExtensions]]
 deps = ["LibGit2", "Markdown", "Pkg", "Test"]
-git-tree-sha1 = "0513f1a8991e9d83255e0140aace0d0fc4486600"
+git-tree-sha1 = "88bb0edb352b16608036faadcc071adda068582a"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.0"
+version = "0.8.1"
 
 [[ExponentialUtilities]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]
-git-tree-sha1 = "85e1ce16aa9b98793df704e17e7a0ceadefe404f"
+git-tree-sha1 = "1672dedeacaab85345fd359ad56dde8fb5d48a45"
 uuid = "d4d017d3-3776-5f7e-afef-a10c40355c18"
-version = "1.5.1"
+version = "1.6.0"
 
 [[FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
-[[FillArrays]]
-deps = ["LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "16974065d5bfa867446d3228bc63f05a440e910b"
-uuid = "1a297f60-69ca-5386-bcde-b61e274b549b"
-version = "0.7.2"
-
 [[FixedPointNumbers]]
-git-tree-sha1 = "d14a6fa5890ea3a7e5dcab6811114f132fec2b4b"
+git-tree-sha1 = "bd1386f890e172ef38e1c735cda58cbf004a7c9a"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
-version = "0.6.1"
+version = "0.7.0"
 
 [[ForwardDiff]]
-deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "InteractiveUtils", "LinearAlgebra", "NaNMath", "Random", "SparseArrays", "SpecialFunctions", "StaticArrays", "Test"]
-git-tree-sha1 = "4c4d727f1b7e0092134fabfab6396b8945c1ea5b"
+deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "NaNMath", "Random", "SpecialFunctions", "StaticArrays"]
+git-tree-sha1 = "840700059391d36e2498d89c2e82c08f261f2a2a"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.3"
+version = "0.10.8"
 
 [[FunctionWrappers]]
 deps = ["Compat"]
@@ -239,9 +214,9 @@ version = "0.7.6"
 
 [[HTTP]]
 deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"]
-git-tree-sha1 = "f1e1b417a34cf73a70cbed919915bf8f8bad1806"
+git-tree-sha1 = "5c49dab19938b119fe204fd7d7e8e174f4e9c68b"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "0.8.6"
+version = "0.8.8"
 
 [[Hiccup]]
 deps = ["MacroTools", "Test"]
@@ -273,14 +248,14 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
 [[Interpolations]]
 deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"]
-git-tree-sha1 = "e1bac96b5ef3ea23b50e801b4a988ec21861a47f"
+git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1"
 uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
-version = "0.12.2"
+version = "0.12.5"
 
 [[IterTools]]
-git-tree-sha1 = "2ebe60d7343962966d1779a74a760f13217a6901"
+git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.2.0"
+version = "1.3.0"
 
 [[IterativeSolvers]]
 deps = ["LinearAlgebra", "Printf", "Random", "RecipesBase", "SparseArrays", "Test"]
@@ -294,10 +269,10 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[JSExpr]]
-deps = ["JSON", "MacroTools", "Observables", "Test", "WebIO"]
-git-tree-sha1 = "013bc2143a2e84ea489365cf30db3407deb540c2"
+deps = ["JSON", "MacroTools", "Observables", "WebIO"]
+git-tree-sha1 = "ca99c457d67f7950e405f26044f4e38658a75e8a"
 uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660"
-version = "0.5.0"
+version = "0.5.1"
 
 [[JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
@@ -306,22 +281,16 @@ uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 version = "0.21.0"
 
 [[Knockout]]
-deps = ["JSExpr", "JSON", "Observables", "Pkg", "Test", "WebIO"]
-git-tree-sha1 = "5cca7f070f85392cd0f42220c8ea5f7be96dacf4"
+deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"]
+git-tree-sha1 = "53533b51d4b6964eca3065b0834e9f61ed2f7515"
 uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
-version = "0.2.2"
+version = "0.2.3"
 
 [[Lazy]]
-deps = ["MacroTools"]
-git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0"
+deps = ["Compat", "MacroTools", "Test"]
+git-tree-sha1 = "aec38c7e7f255a678af22651c74100e3cd39ea20"
 uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0"
-version = "0.14.0"
-
-[[LazyArrays]]
-deps = ["FillArrays", "LinearAlgebra", "MacroTools", "StaticArrays"]
-git-tree-sha1 = "0e8448cc1774a8d067ce6dc576fcfa61f44adb2f"
-uuid = "5078a376-72f3-5289-bfd5-ec5146d43c02"
-version = "0.12.1"
+version = "0.13.2"
 
 [[LibGit2]]
 uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
@@ -361,21 +330,15 @@ uuid = "39f5be34-8529-5463-bac7-bf6867c840a3"
 version = "0.1.0"
 
 [[MacroTools]]
-deps = ["CSTParser", "Compat", "DataStructures", "Test", "Tokenize"]
-git-tree-sha1 = "d6e9dedb8c92c3465575442da456aec15a89ff76"
+deps = ["DataStructures", "Markdown", "Random"]
+git-tree-sha1 = "e2fc7a55bb2224e203bbd8b59f72b91323233458"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.1"
+version = "0.5.3"
 
 [[Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
-[[MatrixFactorizations]]
-deps = ["LinearAlgebra", "Random", "Test"]
-git-tree-sha1 = "42f7931fac4068709a8412d3766e9a2bfc91e451"
-uuid = "a3b82374-2e81-5b9e-98ce-41277c0e4c87"
-version = "0.2.0"
-
 [[MbedTLS]]
 deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"]
 git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181"
@@ -383,10 +346,9 @@ uuid = "739be429-bea8-5141-9913-cc70e7f3736d"
 version = "0.7.0"
 
 [[Measures]]
-deps = ["Test"]
-git-tree-sha1 = "ddfd6d13e330beacdde2c80de27c1c671945e7d9"
+git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f"
 uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e"
-version = "0.3.0"
+version = "0.3.1"
 
 [[MechanismGeometries]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"]
@@ -395,10 +357,10 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
 version = "0.4.1"
 
 [[MeshCat]]
-deps = ["AssetRegistry", "Base64", "BinDeps", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
-git-tree-sha1 = "e83e4c9d3c881990b5d41cbfd79c9e731f80d95b"
+deps = ["AssetRegistry", "Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
+git-tree-sha1 = "7b722a2bb456913dc6bdd02382060e95f3986af4"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.7.0"
+version = "0.8.0"
 
 [[MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
@@ -411,9 +373,9 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
 [[MsgPack]]
 deps = ["Serialization"]
-git-tree-sha1 = "990b541075e17b5f8521881f50b06348b535ddf7"
+git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "1.0.1"
+version = "1.1.0"
 
 [[MuladdMacro]]
 deps = ["MacroTools", "Test"]
@@ -423,9 +385,9 @@ version = "0.2.1"
 
 [[Mustache]]
 deps = ["Printf", "Tables"]
-git-tree-sha1 = "f39de3a12232eb47bd0629b3a661054287780276"
+git-tree-sha1 = "e06eef2abee113c49695f5347668e15d4c02978a"
 uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70"
-version = "0.5.13"
+version = "1.0.0"
 
 [[Mux]]
 deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "Test", "WebSockets"]
@@ -441,15 +403,14 @@ version = "7.5.0"
 
 [[NLsolve]]
 deps = ["DiffEqDiffTools", "Distances", "ForwardDiff", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Reexport"]
-git-tree-sha1 = "c9578878f56f425a2160f5b436c7f79a154d154c"
+git-tree-sha1 = "be25a8486c7be4b075165315e201fa5d199073f1"
 uuid = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
-version = "4.1.0"
+version = "4.2.0"
 
 [[NaNMath]]
-deps = ["Compat"]
-git-tree-sha1 = "ce3b85e484a5d4c71dd5316215069311135fa9f2"
+git-tree-sha1 = "928b8ca9b2791081dc71a51c55347c27c618760f"
 uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
-version = "0.3.2"
+version = "0.3.3"
 
 [[Observables]]
 deps = ["Test"]
@@ -458,9 +419,9 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
 version = "0.2.3"
 
 [[OffsetArrays]]
-git-tree-sha1 = "1af2f79c7eaac3e019a0de41ef63335ff26a0a57"
+git-tree-sha1 = "87d0a91efe29352d5caaa271ae3927083c096e33"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "0.11.1"
+version = "0.11.4"
 
 [[OrderedCollections]]
 deps = ["Random", "Serialization", "Test"]
@@ -469,10 +430,10 @@ uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 version = "1.1.0"
 
 [[OrdinaryDiffEq]]
-deps = ["ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqDiffTools", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "NLsolve", "Parameters", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays"]
-git-tree-sha1 = "edba563991b482ecd962cfe8a7c9b5a4fcf9b71a"
+deps = ["ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqDiffTools", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Parameters", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays"]
+git-tree-sha1 = "8c5607731bb0300b0a07e40ef2f7a953c7ce4d2f"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "5.17.2"
+version = "5.26.6"
 
 [[Parameters]]
 deps = ["OrderedCollections"]
@@ -482,9 +443,9 @@ version = "0.12.0"
 
 [[Parsers]]
 deps = ["Dates", "Test"]
-git-tree-sha1 = "ef0af6c8601db18c282d092ccbd2f01f3f0cd70b"
+git-tree-sha1 = "0139ba59ce9bc680e2925aec5b7db79065d60556"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "0.3.7"
+version = "0.3.10"
 
 [[Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -500,10 +461,6 @@ uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
-[[Profile]]
-deps = ["Printf"]
-uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
-
 [[REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets"]
 uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
@@ -525,9 +482,9 @@ version = "0.7.0"
 
 [[RecursiveArrayTools]]
 deps = ["ArrayInterface", "RecipesBase", "Requires", "StaticArrays", "Statistics"]
-git-tree-sha1 = "ca98c030a187586521fb72d396e14482365ef77f"
+git-tree-sha1 = "cb0fcf68e2e19e76b84c892b22887f02f10f3d9a"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "1.0.2"
+version = "1.2.0"
 
 [[RecursiveFactorization]]
 deps = ["LinearAlgebra"]
@@ -549,9 +506,9 @@ version = "0.5.2"
 
 [[RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "67954193516e8d77baa5fdf174da2a9e146103c2"
+git-tree-sha1 = "56e985f99b5d0f62ea7167d7e4f7001714ba34f6"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.1.1"
+version = "2.2.0"
 
 [[RigidBodySim]]
 deps = ["Blink", "DataStructures", "DiffEqBase", "DiffEqCallbacks", "DocStringExtensions", "InteractBase", "MeshCat", "MeshCatMechanisms", "Observables", "OrdinaryDiffEq", "Printf", "RigidBodyDynamics", "WebIO"]
@@ -561,15 +518,15 @@ version = "1.3.0"
 
 [[Roots]]
 deps = ["Printf"]
-git-tree-sha1 = "9cc4b586c71f9aea25312b94be8c195f119b0ec3"
+git-tree-sha1 = "dcc013908465ca1019b34b4bf547b6a187d195f9"
 uuid = "f2b01f46-fcfa-551c-844a-d8ac1e96c665"
-version = "0.8.3"
+version = "0.8.4"
 
 [[Rotations]]
 deps = ["LinearAlgebra", "StaticArrays", "Statistics"]
-git-tree-sha1 = "4fa94411637e4f4ca4d9b5bfa64d7042541d67b3"
+git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "0.12.0"
+version = "0.13.0"
 
 [[SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -595,10 +552,10 @@ deps = ["LinearAlgebra", "Random"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[SparseDiffTools]]
-deps = ["Adapt", "ArrayInterface", "BandedMatrices", "BlockBandedMatrices", "DataStructures", "DiffEqDiffTools", "ForwardDiff", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "VertexSafeGraphs"]
-git-tree-sha1 = "c1c5fee07ff2d640aa132c777e89d0fdd6c9e777"
+deps = ["Adapt", "ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "ForwardDiff", "InteractiveUtils", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "VertexSafeGraphs"]
+git-tree-sha1 = "237cc8096814623d019587027d1bbc091ee40daf"
 uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
-version = "0.9.1"
+version = "1.1.1"
 
 [[SpecialFunctions]]
 deps = ["BinDeps", "BinaryProvider", "Libdl"]
@@ -608,9 +565,9 @@ version = "0.8.0"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "db23bbf50064c582b6f2b9b043c8e7e98ea8c0c6"
+git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "0.11.0"
+version = "0.12.1"
 
 [[Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -636,11 +593,6 @@ version = "0.2.11"
 deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
-[[Tokenize]]
-git-tree-sha1 = "dfcdbbfb2d0370716c815cbd6f8a364efb6f42cf"
-uuid = "0796e94c-ce3b-5d07-9a54-7f471281c624"
-version = "0.5.6"
-
 [[TreeViews]]
 deps = ["Test"]
 git-tree-sha1 = "8d0d7a3fe2f30d6a7f833a5f19f7c7a5b396eae6"
@@ -666,9 +618,9 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[UnsafeArrays]]
-git-tree-sha1 = "417100df8567333bff1b851008b1441a2be08da0"
+git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "0.4.0"
+version = "1.0.0"
 
 [[VertexSafeGraphs]]
 deps = ["LightGraphs"]
@@ -677,10 +629,10 @@ uuid = "19fa3120-7c27-5ec5-8db8-b0b0aa330d6f"
 version = "0.1.0"
 
 [[WebIO]]
-deps = ["AssetRegistry", "Base64", "Compat", "FunctionalCollections", "JSON", "Logging", "Observables", "Random", "Requires", "Sockets", "Test", "UUIDs", "Widgets"]
-git-tree-sha1 = "c1f259d4c23f12262f4fa69263a4e54fbea77450"
+deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
+git-tree-sha1 = "b8eb800251c06efd635bcdc4ec7f83643f0b9a61"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.7.0"
+version = "0.8.13"
 
 [[WebSockets]]
 deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"]
@@ -699,3 +651,9 @@ deps = ["LinearAlgebra", "Random", "SparseArrays", "Test"]
 git-tree-sha1 = "21772c33b447757ec7d3e61fcdfb9ea5c47eedcf"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
 version = "0.4.1"
+
+[[ZygoteRules]]
+deps = ["MacroTools"]
+git-tree-sha1 = "b3b4882cc9accf6731a08cc39543fbc6b669dca8"
+uuid = "700de1a5-db45-46bc-99cf-38207098b444"
+version = "0.2.0"
diff --git a/notebooks/Uncertainty propagation using Measurements.jl/Manifest.toml b/notebooks/Uncertainty propagation using Measurements.jl/Manifest.toml
index bf24985..5e85ac6 100644
--- a/notebooks/Uncertainty propagation using Measurements.jl/Manifest.toml	
+++ b/notebooks/Uncertainty propagation using Measurements.jl/Manifest.toml	
@@ -14,9 +14,9 @@ version = "0.0.4"
 
 [[ArrayInterface]]
 deps = ["LinearAlgebra", "Requires", "SparseArrays"]
-git-tree-sha1 = "981354dab938901c2b607a213e62d9defa50b698"
+git-tree-sha1 = "7b26f0015d9459082a16ebe3fe934c4abb8f1327"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "1.2.1"
+version = "2.2.0"
 
 [[AssetRegistry]]
 deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"]
@@ -30,44 +30,26 @@ git-tree-sha1 = "a4d07a1c313392a77042855df46c5f534076fab9"
 uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950"
 version = "1.0.0"
 
-[[BandedMatrices]]
-deps = ["FillArrays", "LazyArrays", "LinearAlgebra", "MatrixFactorizations", "Random", "SparseArrays"]
-git-tree-sha1 = "16ed431f921ff6f6d0db7b56b315c5b4c92e7ea7"
-uuid = "aae01518-5342-5314-be14-df237901396f"
-version = "0.12.2"
-
 [[Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[BinDeps]]
-deps = ["Compat", "Libdl", "SHA", "URIParser"]
-git-tree-sha1 = "12093ca6cdd0ee547c39b1870e0c9c3f154d9ca9"
+deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"]
+git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764"
 uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee"
-version = "0.8.10"
+version = "1.0.0"
 
 [[BinaryProvider]]
-deps = ["Libdl", "Logging", "SHA"]
-git-tree-sha1 = "c7361ce8a2129f20b0e05a89f7070820cfed6648"
+deps = ["Libdl", "SHA"]
+git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c"
 uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232"
-version = "0.5.6"
+version = "0.5.8"
 
 [[Blink]]
-deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Libdl", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "Test", "WebIO", "WebSockets"]
-git-tree-sha1 = "5b0ca771f6e59bbba820888af8a6edbcc62bc86a"
+deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"]
+git-tree-sha1 = "cbce79ce8bfa1a576bb0a166ce75e7b92a575098"
 uuid = "ad839575-38b3-5650-b840-f874b8c74a25"
-version = "0.10.1"
-
-[[BlockArrays]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "87b72cb71d7306b767d175ece832bf8a7f3b6dc8"
-uuid = "8e7c35d0-a365-5155-bbbb-fb81a777f24e"
-version = "0.10.0"
-
-[[BlockBandedMatrices]]
-deps = ["BandedMatrices", "BlockArrays", "Distributed", "FillArrays", "LazyArrays", "LinearAlgebra", "MatrixFactorizations", "Pkg", "Profile", "Random", "SharedArrays", "SparseArrays", "Statistics", "Test"]
-git-tree-sha1 = "160fc541f01304ab823d1aff1959e84f28a63faf"
-uuid = "ffab5731-97b5-5995-9138-79e8c1846df0"
-version = "0.5.1"
+version = "0.12.0"
 
 [[CSSUtil]]
 deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"]
@@ -75,29 +57,28 @@ git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2"
 uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.0"
 
-[[CSTParser]]
-deps = ["Tokenize"]
-git-tree-sha1 = "c69698c3d4a7255bc1b4bc2afc09f59db910243b"
-uuid = "00ebfdb7-1f24-5e51-bd34-a7502290713f"
-version = "0.6.2"
-
 [[Calculus]]
-deps = ["Compat"]
-git-tree-sha1 = "bd8bbd105ba583a42385bd6dc4a20dad8ab3dc11"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad"
 uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
-version = "0.5.0"
+version = "0.5.1"
+
+[[Cassette]]
+git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673"
+uuid = "7057c7e9-c182-5462-911a-8362d720325c"
+version = "0.2.6"
 
 [[ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "10050a24b09e8e41b951e9976b109871ce98d965"
+git-tree-sha1 = "b41d0f666d46ba128c6a0fc632d6e33fbfc03604"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.8.0"
+version = "0.9.0"
 
 [[Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"]
-git-tree-sha1 = "c9c1845d6bf22e34738bee65c357a69f416ed5d1"
+git-tree-sha1 = "b9c284790747cf072af85f35acfe958845cfe9a9"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.9.6"
+version = "0.11.0"
 
 [[CommonSubexpressions]]
 deps = ["Test"]
@@ -107,9 +88,9 @@ version = "0.2.0"
 
 [[Compat]]
 deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"]
-git-tree-sha1 = "84aa74986c5b9b898b0d1acaf3258741ee64754f"
+git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "2.1.0"
+version = "2.2.0"
 
 [[Contour]]
 deps = ["LinearAlgebra", "StaticArrays", "Test"]
@@ -130,9 +111,9 @@ version = "1.1.0"
 
 [[DataStructures]]
 deps = ["InteractiveUtils", "OrderedCollections"]
-git-tree-sha1 = "517ce30aa57cdfae1ab444a7c0aef8bb86345bc2"
+git-tree-sha1 = "a1b652fb77ae8ca7ea328fa7ba5aa151036e5c10"
 uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
-version = "0.17.1"
+version = "0.17.6"
 
 [[DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -148,34 +129,34 @@ deps = ["Mmap"]
 uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
 
 [[DiffEqBase]]
-deps = ["ArrayInterface", "Compat", "DiffEqDiffTools", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "Printf", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews"]
-git-tree-sha1 = "72b6ffef7720c669606b282984b3efd9bd7973d9"
+deps = ["ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "Distributed", "DocStringExtensions", "FunctionWrappers", "IterativeSolvers", "IteratorInterfaceExtensions", "LinearAlgebra", "MuladdMacro", "Parameters", "Printf", "RecipesBase", "RecursiveArrayTools", "RecursiveFactorization", "Requires", "Roots", "SparseArrays", "StaticArrays", "Statistics", "SuiteSparse", "TableTraits", "TreeViews", "ZygoteRules"]
+git-tree-sha1 = "c2a3d3b1f44240feee1e5052d77afc7ac4d5b953"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.3.4"
+version = "6.10.0"
 
 [[DiffEqCallbacks]]
-deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
-git-tree-sha1 = "307eda7b109cf1f236fbbb19976562146af386e1"
+deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "LinearAlgebra", "NLsolve", "OrdinaryDiffEq", "RecipesBase", "RecursiveArrayTools", "StaticArrays"]
+git-tree-sha1 = "f85da2bade6eb9bee58f06540a8c00d071e9f432"
 uuid = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-version = "2.8.0"
+version = "2.10.0"
 
 [[DiffEqDiffTools]]
 deps = ["ArrayInterface", "LinearAlgebra", "Requires", "SparseArrays", "StaticArrays"]
-git-tree-sha1 = "21b855cb29ec4594f9651e0e9bdc0cdcfdcd52c1"
+git-tree-sha1 = "951600cc05d9626c3282e2ed125492931596e430"
 uuid = "01453d9d-ee7c-5054-8395-0335cb756afa"
-version = "1.3.0"
+version = "1.6.0"
 
 [[DiffResults]]
-deps = ["Compat", "StaticArrays"]
-git-tree-sha1 = "34a4a1e8be7bc99bc9c611b895b5baf37a80584c"
+deps = ["StaticArrays"]
+git-tree-sha1 = "da24935df8e0c6cf28de340b958f6aac88eaa0cc"
 uuid = "163ba53b-c6d8-5494-b064-1a9d43ac40c5"
-version = "0.0.4"
+version = "1.0.2"
 
 [[DiffRules]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "dc0869fb2f5b23466b32ea799bd82c76480167f7"
+deps = ["NaNMath", "Random", "SpecialFunctions"]
+git-tree-sha1 = "10dca52cf6d4a62d82528262921daf63b99704a2"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "0.0.10"
+version = "1.0.0"
 
 [[Distances]]
 deps = ["LinearAlgebra", "Statistics"]
@@ -189,41 +170,35 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
 [[DocStringExtensions]]
 deps = ["LibGit2", "Markdown", "Pkg", "Test"]
-git-tree-sha1 = "0513f1a8991e9d83255e0140aace0d0fc4486600"
+git-tree-sha1 = "88bb0edb352b16608036faadcc071adda068582a"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.0"
+version = "0.8.1"
 
 [[ExponentialUtilities]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]
-git-tree-sha1 = "85e1ce16aa9b98793df704e17e7a0ceadefe404f"
+git-tree-sha1 = "1672dedeacaab85345fd359ad56dde8fb5d48a45"
 uuid = "d4d017d3-3776-5f7e-afef-a10c40355c18"
-version = "1.5.1"
+version = "1.6.0"
 
 [[FFMPEG]]
 deps = ["BinaryProvider", "Libdl"]
-git-tree-sha1 = "f65cf703281fb7917beca5ead1c67e6d60ef9597"
+git-tree-sha1 = "9143266ba77d3313a4cf61d8333a1970e8c5d8b6"
 uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-version = "0.2.3"
+version = "0.2.4"
 
 [[FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
-[[FillArrays]]
-deps = ["LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "16974065d5bfa867446d3228bc63f05a440e910b"
-uuid = "1a297f60-69ca-5386-bcde-b61e274b549b"
-version = "0.7.2"
-
 [[FixedPointNumbers]]
 git-tree-sha1 = "d14a6fa5890ea3a7e5dcab6811114f132fec2b4b"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
 version = "0.6.1"
 
 [[ForwardDiff]]
-deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "InteractiveUtils", "LinearAlgebra", "NaNMath", "Random", "SparseArrays", "SpecialFunctions", "StaticArrays", "Test"]
-git-tree-sha1 = "4c4d727f1b7e0092134fabfab6396b8945c1ea5b"
+deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "NaNMath", "Random", "SpecialFunctions", "StaticArrays"]
+git-tree-sha1 = "840700059391d36e2498d89c2e82c08f261f2a2a"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.3"
+version = "0.10.8"
 
 [[FunctionWrappers]]
 deps = ["Compat"]
@@ -238,10 +213,10 @@ uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca"
 version = "0.5.0"
 
 [[GR]]
-deps = ["Base64", "DelimitedFiles", "LinearAlgebra", "Pkg", "Printf", "Random", "Serialization", "Sockets", "Test"]
-git-tree-sha1 = "b4c31b6377b6d51b6c69a3a9737d10c34d43974e"
+deps = ["Base64", "DelimitedFiles", "LinearAlgebra", "Printf", "Random", "Serialization", "Sockets", "Test"]
+git-tree-sha1 = "c690c2ab22ac9ee323d9966deae61a089362b25c"
 uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
-version = "0.41.0"
+version = "0.44.0"
 
 [[GenericSVD]]
 deps = ["LinearAlgebra"]
@@ -257,9 +232,9 @@ version = "0.7.6"
 
 [[HTTP]]
 deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"]
-git-tree-sha1 = "f1e1b417a34cf73a70cbed919915bf8f8bad1806"
+git-tree-sha1 = "5c49dab19938b119fe204fd7d7e8e174f4e9c68b"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "0.8.6"
+version = "0.8.8"
 
 [[Hiccup]]
 deps = ["MacroTools", "Test"]
@@ -291,14 +266,14 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
 [[Interpolations]]
 deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"]
-git-tree-sha1 = "e1bac96b5ef3ea23b50e801b4a988ec21861a47f"
+git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1"
 uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
-version = "0.12.2"
+version = "0.12.5"
 
 [[IterTools]]
-git-tree-sha1 = "2ebe60d7343962966d1779a74a760f13217a6901"
+git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.2.0"
+version = "1.3.0"
 
 [[IterativeSolvers]]
 deps = ["LinearAlgebra", "Printf", "Random", "RecipesBase", "SparseArrays", "Test"]
@@ -312,10 +287,10 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[JSExpr]]
-deps = ["JSON", "MacroTools", "Observables", "Test", "WebIO"]
-git-tree-sha1 = "013bc2143a2e84ea489365cf30db3407deb540c2"
+deps = ["JSON", "MacroTools", "Observables", "WebIO"]
+git-tree-sha1 = "ca99c457d67f7950e405f26044f4e38658a75e8a"
 uuid = "97c1335a-c9c5-57fe-bc5d-ec35cebe8660"
-version = "0.5.0"
+version = "0.5.1"
 
 [[JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
@@ -324,22 +299,16 @@ uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 version = "0.21.0"
 
 [[Knockout]]
-deps = ["JSExpr", "JSON", "Observables", "Pkg", "Test", "WebIO"]
-git-tree-sha1 = "5cca7f070f85392cd0f42220c8ea5f7be96dacf4"
+deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"]
+git-tree-sha1 = "53533b51d4b6964eca3065b0834e9f61ed2f7515"
 uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
-version = "0.2.2"
+version = "0.2.3"
 
 [[Lazy]]
-deps = ["MacroTools"]
-git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0"
+deps = ["Compat", "MacroTools", "Test"]
+git-tree-sha1 = "aec38c7e7f255a678af22651c74100e3cd39ea20"
 uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0"
-version = "0.14.0"
-
-[[LazyArrays]]
-deps = ["FillArrays", "LinearAlgebra", "MacroTools", "StaticArrays"]
-git-tree-sha1 = "0e8448cc1774a8d067ce6dc576fcfa61f44adb2f"
-uuid = "5078a376-72f3-5289-bfd5-ec5146d43c02"
-version = "0.12.1"
+version = "0.13.2"
 
 [[LibGit2]]
 uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
@@ -379,21 +348,15 @@ uuid = "39f5be34-8529-5463-bac7-bf6867c840a3"
 version = "0.1.0"
 
 [[MacroTools]]
-deps = ["CSTParser", "Compat", "DataStructures", "Test", "Tokenize"]
-git-tree-sha1 = "d6e9dedb8c92c3465575442da456aec15a89ff76"
+deps = ["DataStructures", "Markdown", "Random"]
+git-tree-sha1 = "e2fc7a55bb2224e203bbd8b59f72b91323233458"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.1"
+version = "0.5.3"
 
 [[Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
-[[MatrixFactorizations]]
-deps = ["LinearAlgebra", "Random", "Test"]
-git-tree-sha1 = "42f7931fac4068709a8412d3766e9a2bfc91e451"
-uuid = "a3b82374-2e81-5b9e-98ce-41277c0e4c87"
-version = "0.2.0"
-
 [[MbedTLS]]
 deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"]
 git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181"
@@ -407,10 +370,9 @@ uuid = "eff96d63-e80a-5855-80a2-b1b0885c5ab7"
 version = "2.1.1"
 
 [[Measures]]
-deps = ["Test"]
-git-tree-sha1 = "ddfd6d13e330beacdde2c80de27c1c671945e7d9"
+git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f"
 uuid = "442fdcdd-2543-5da2-b0f3-8c86c306513e"
-version = "0.3.0"
+version = "0.3.1"
 
 [[MechanismGeometries]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"]
@@ -419,10 +381,10 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
 version = "0.4.1"
 
 [[MeshCat]]
-deps = ["AssetRegistry", "Base64", "BinDeps", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
-git-tree-sha1 = "e83e4c9d3c881990b5d41cbfd79c9e731f80d95b"
+deps = ["AssetRegistry", "Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "GeometryTypes", "JSExpr", "LinearAlgebra", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebIO"]
+git-tree-sha1 = "7b722a2bb456913dc6bdd02382060e95f3986af4"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.7.0"
+version = "0.8.0"
 
 [[MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
@@ -441,9 +403,9 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
 [[MsgPack]]
 deps = ["Serialization"]
-git-tree-sha1 = "990b541075e17b5f8521881f50b06348b535ddf7"
+git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "1.0.1"
+version = "1.1.0"
 
 [[MuladdMacro]]
 deps = ["MacroTools", "Test"]
@@ -453,9 +415,9 @@ version = "0.2.1"
 
 [[Mustache]]
 deps = ["Printf", "Tables"]
-git-tree-sha1 = "f39de3a12232eb47bd0629b3a661054287780276"
+git-tree-sha1 = "e06eef2abee113c49695f5347668e15d4c02978a"
 uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70"
-version = "0.5.13"
+version = "1.0.0"
 
 [[Mux]]
 deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "Test", "WebSockets"]
@@ -471,15 +433,14 @@ version = "7.5.0"
 
 [[NLsolve]]
 deps = ["DiffEqDiffTools", "Distances", "ForwardDiff", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Reexport"]
-git-tree-sha1 = "c9578878f56f425a2160f5b436c7f79a154d154c"
+git-tree-sha1 = "be25a8486c7be4b075165315e201fa5d199073f1"
 uuid = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
-version = "4.1.0"
+version = "4.2.0"
 
 [[NaNMath]]
-deps = ["Compat"]
-git-tree-sha1 = "ce3b85e484a5d4c71dd5316215069311135fa9f2"
+git-tree-sha1 = "928b8ca9b2791081dc71a51c55347c27c618760f"
 uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
-version = "0.3.2"
+version = "0.3.3"
 
 [[Observables]]
 deps = ["Test"]
@@ -488,9 +449,9 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
 version = "0.2.3"
 
 [[OffsetArrays]]
-git-tree-sha1 = "1af2f79c7eaac3e019a0de41ef63335ff26a0a57"
+git-tree-sha1 = "87d0a91efe29352d5caaa271ae3927083c096e33"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "0.11.1"
+version = "0.11.4"
 
 [[OrderedCollections]]
 deps = ["Random", "Serialization", "Test"]
@@ -499,10 +460,10 @@ uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 version = "1.1.0"
 
 [[OrdinaryDiffEq]]
-deps = ["ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqDiffTools", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "NLsolve", "Parameters", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays"]
-git-tree-sha1 = "edba563991b482ecd962cfe8a7c9b5a4fcf9b71a"
+deps = ["ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqDiffTools", "ExponentialUtilities", "ForwardDiff", "GenericSVD", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Parameters", "RecursiveArrayTools", "Reexport", "SparseArrays", "SparseDiffTools", "StaticArrays"]
+git-tree-sha1 = "8c5607731bb0300b0a07e40ef2f7a953c7ce4d2f"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "5.17.2"
+version = "5.26.6"
 
 [[Parameters]]
 deps = ["OrderedCollections"]
@@ -512,9 +473,9 @@ version = "0.12.0"
 
 [[Parsers]]
 deps = ["Dates", "Test"]
-git-tree-sha1 = "ef0af6c8601db18c282d092ccbd2f01f3f0cd70b"
+git-tree-sha1 = "0139ba59ce9bc680e2925aec5b7db79065d60556"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "0.3.7"
+version = "0.3.10"
 
 [[Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -527,31 +488,27 @@ deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUID
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 
 [[PlotThemes]]
-deps = ["PlotUtils", "Requires", "Test"]
-git-tree-sha1 = "f3afd2d58e1f6ac9be2cea46e4a9083ccc1d990b"
+deps = ["PlotUtils", "Requires", "Statistics"]
+git-tree-sha1 = "df772cc7c78862da96af1ee85cd0111c6640e44e"
 uuid = "ccf2f8ad-2431-5c83-bf29-c5338b663b6a"
-version = "0.3.0"
+version = "1.0.1"
 
 [[PlotUtils]]
-deps = ["Colors", "Dates", "Printf", "Random", "Reexport", "Test"]
-git-tree-sha1 = "8e87bbb778c26f575fbe47fd7a49c7b5ca37c0c6"
+deps = ["Colors", "Dates", "Printf", "Random", "Reexport"]
+git-tree-sha1 = "7622cbde3200a9876a14ba85d66f25d7f4e7a6ca"
 uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043"
-version = "0.5.8"
+version = "0.6.1"
 
 [[Plots]]
 deps = ["Base64", "Contour", "Dates", "FFMPEG", "FixedPointNumbers", "GR", "GeometryTypes", "JSON", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "Reexport", "Requires", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"]
-git-tree-sha1 = "59bcea95a16912abb229209c9f6e9e218df44b7c"
+git-tree-sha1 = "efbe466a790d7e8a5c4b5ee1601c0c8edc99780b"
 uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-version = "0.26.3"
+version = "0.28.4"
 
 [[Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
-[[Profile]]
-deps = ["Printf"]
-uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
-
 [[REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets"]
 uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
@@ -573,9 +530,9 @@ version = "0.7.0"
 
 [[RecursiveArrayTools]]
 deps = ["ArrayInterface", "RecipesBase", "Requires", "StaticArrays", "Statistics"]
-git-tree-sha1 = "ca98c030a187586521fb72d396e14482365ef77f"
+git-tree-sha1 = "cb0fcf68e2e19e76b84c892b22887f02f10f3d9a"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "1.0.2"
+version = "1.2.0"
 
 [[RecursiveFactorization]]
 deps = ["LinearAlgebra"]
@@ -597,9 +554,9 @@ version = "0.5.2"
 
 [[RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "67954193516e8d77baa5fdf174da2a9e146103c2"
+git-tree-sha1 = "56e985f99b5d0f62ea7167d7e4f7001714ba34f6"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.1.1"
+version = "2.2.0"
 
 [[RigidBodySim]]
 deps = ["Blink", "DataStructures", "DiffEqBase", "DiffEqCallbacks", "DocStringExtensions", "InteractBase", "MeshCat", "MeshCatMechanisms", "Observables", "OrdinaryDiffEq", "Printf", "RigidBodyDynamics", "WebIO"]
@@ -609,15 +566,15 @@ version = "1.3.0"
 
 [[Roots]]
 deps = ["Printf"]
-git-tree-sha1 = "9cc4b586c71f9aea25312b94be8c195f119b0ec3"
+git-tree-sha1 = "dcc013908465ca1019b34b4bf547b6a187d195f9"
 uuid = "f2b01f46-fcfa-551c-844a-d8ac1e96c665"
-version = "0.8.3"
+version = "0.8.4"
 
 [[Rotations]]
 deps = ["LinearAlgebra", "StaticArrays", "Statistics"]
-git-tree-sha1 = "4fa94411637e4f4ca4d9b5bfa64d7042541d67b3"
+git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "0.12.0"
+version = "0.13.0"
 
 [[SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -655,10 +612,10 @@ deps = ["LinearAlgebra", "Random"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[SparseDiffTools]]
-deps = ["Adapt", "ArrayInterface", "BandedMatrices", "BlockBandedMatrices", "DataStructures", "DiffEqDiffTools", "ForwardDiff", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "VertexSafeGraphs"]
-git-tree-sha1 = "c1c5fee07ff2d640aa132c777e89d0fdd6c9e777"
+deps = ["Adapt", "ArrayInterface", "Compat", "DataStructures", "DiffEqDiffTools", "ForwardDiff", "InteractiveUtils", "LightGraphs", "LinearAlgebra", "Requires", "SparseArrays", "VertexSafeGraphs"]
+git-tree-sha1 = "237cc8096814623d019587027d1bbc091ee40daf"
 uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
-version = "0.9.1"
+version = "1.1.1"
 
 [[SpecialFunctions]]
 deps = ["BinDeps", "BinaryProvider", "Libdl"]
@@ -668,9 +625,9 @@ version = "0.8.0"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "db23bbf50064c582b6f2b9b043c8e7e98ea8c0c6"
+git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "0.11.0"
+version = "0.12.1"
 
 [[Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -702,11 +659,6 @@ version = "0.2.11"
 deps = ["Distributed", "InteractiveUtils", "Logging", "Random"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
-[[Tokenize]]
-git-tree-sha1 = "dfcdbbfb2d0370716c815cbd6f8a364efb6f42cf"
-uuid = "0796e94c-ce3b-5d07-9a54-7f471281c624"
-version = "0.5.6"
-
 [[TreeViews]]
 deps = ["Test"]
 git-tree-sha1 = "8d0d7a3fe2f30d6a7f833a5f19f7c7a5b396eae6"
@@ -732,9 +684,9 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[UnsafeArrays]]
-git-tree-sha1 = "417100df8567333bff1b851008b1441a2be08da0"
+git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "0.4.0"
+version = "1.0.0"
 
 [[VertexSafeGraphs]]
 deps = ["LightGraphs"]
@@ -743,10 +695,10 @@ uuid = "19fa3120-7c27-5ec5-8db8-b0b0aa330d6f"
 version = "0.1.0"
 
 [[WebIO]]
-deps = ["AssetRegistry", "Base64", "Compat", "FunctionalCollections", "JSON", "Logging", "Observables", "Random", "Requires", "Sockets", "Test", "UUIDs", "Widgets"]
-git-tree-sha1 = "c1f259d4c23f12262f4fa69263a4e54fbea77450"
+deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
+git-tree-sha1 = "b8eb800251c06efd635bcdc4ec7f83643f0b9a61"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.7.0"
+version = "0.8.13"
 
 [[WebSockets]]
 deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"]
@@ -765,3 +717,9 @@ deps = ["LinearAlgebra", "Random", "SparseArrays", "Test"]
 git-tree-sha1 = "21772c33b447757ec7d3e61fcdfb9ea5c47eedcf"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
 version = "0.4.1"
+
+[[ZygoteRules]]
+deps = ["MacroTools"]
+git-tree-sha1 = "b3b4882cc9accf6731a08cc39543fbc6b669dca8"
+uuid = "700de1a5-db45-46bc-99cf-38207098b444"
+version = "0.2.0"