diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8e53237e..ac3514b7 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,6 @@
 name: CI
+
+# Run on master, tags, or any pull request
 on:
   push:
     branches:
@@ -15,21 +17,31 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.6'
-          - '1'
+          - 'lts'
+          - '1.9'  # Temporary for notebooks
+          - '1.11'
         os:
           - ubuntu-latest
-          - macOS-latest
-          - windows-latest
         arch:
           - x64
+        include:
+          - os: macOS-latest
+            version: 1.11
+            arch: arm64
+          - os: macOS-latest
+            version: 1.11
+            arch: x64
+          - os: windows-latest
+            version: 1.11
+            arch: x64
+
     steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v1
+      - uses: actions/checkout@v4
+      - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
+      - uses: actions/cache@v3
         env:
           cache-name: cache-artifacts
           CI: true
@@ -40,15 +52,15 @@ jobs:
             ${{ runner.os }}-test-${{ env.cache-name }}-
             ${{ runner.os }}-test-
             ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-buildpkg@latest
       - uses: julia-actions/julia-runtest@v1
-        env:
-          PYTHON: ""
-          JULIA_NUM_THREADS: "2"
+        with:
+          prefix: ${{ matrix.prefix }}
       - uses: julia-actions/julia-processcoverage@v1
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v2
         with:
           file: lcov.info
+
   docs:
     name: Documentation
     runs-on: ubuntu-latest
diff --git a/.gitignore b/.gitignore
index fed71a52..be126296 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,10 +1,27 @@
+# Files generated by invoking Julia with --code-coverage
 *.jl.cov
 *.jl.*.cov
+
+# Files generated by invoking Julia with --track-allocation
 *.jl.mem
+
+# System-specific files and directories generated by the BinaryProvider and BinDeps packages
+# They contain absolute paths specific to the host computer, and so should not be committed
 deps/deps.jl
-*.ipynb_checkpoints
+deps/build.log
+deps/downloads/
+deps/usr/
+deps/src/
+
+# Build artifacts for creating documentation generated by the Documenter package
 docs/build/
 docs/site/
-perf/benchmarkparams.jld
-/Manifest.toml
 
+# File generated by Pkg, the package manager, based on a corresponding Project.toml
+# It records a fixed state of all packages used by the project. As such, it should not be
+# committed for packages, but should be committed for applications that require a static
+# environment.
+Manifest.toml
+
+# Jupyter
+.ipynb_checkpoints/
diff --git a/Project.toml b/Project.toml
index 7df60106..80beb851 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,6 +1,6 @@
 name = "RigidBodyDynamics"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.4.0"
+version = "2.5.0"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -19,8 +19,8 @@ UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 DocStringExtensions = "0.4.1, 0.5, 0.6, 0.7, 0.8, 0.9"
 LightXML = "0.8, 0.9"
 LoopThrottle = "0.1"
-Reexport = "0.2, 1.0"
-Rotations = "1.1 - 1.2"
+Reexport = "0.2, 1"
+Rotations = "1"
 StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12, 1"
 TypeSortedCollections = "1"
 UnsafeArrays = "1"
diff --git a/docs/src/benchmarks.md b/docs/src/benchmarks.md
index 6a238113..0b93ecc6 100644
--- a/docs/src/benchmarks.md
+++ b/docs/src/benchmarks.md
@@ -1,6 +1,14 @@
 # Benchmarks
 
-To attain maximal performance, it is recommended to pass `-O3`, `--check-bounds=no` as command line flags to `julia`. As of Julia 1.1, maximizing performance for the `dynamics!` algorithm requires either setting the number of BLAS threads to 1 (`using LinearAlgebra; BLAS.set_num_threads(1)`) if using OpenBLAS (the default), or compiling Julia with MKL. See [this issue](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500) for more information.
+To attain maximal performance, it is recommended to pass `-O3` and `--check-bounds=no` as command line flags to `julia`:
+
+```bash
+cd RigidBodyDynamics.jl
+julia -O3 --check-bounds=no perf/runbenchmarks.jl
+```
+
+> **Warning**
+> For Julia versions previous to `v1.8`, maximizing performance for the `dynamics!` algorithm requires either setting the number of BLAS threads to 1 (`using LinearAlgebra; BLAS.set_num_threads(1)`) if using OpenBLAS (the default), or compiling Julia with MKL. See [this issue](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500) for more information.
 
 Run `perf/runbenchmarks.jl` to see benchmark results for the Atlas robot (v5). Results below are for the following scenarios:
 
@@ -9,69 +17,62 @@ Run `perf/runbenchmarks.jl` to see benchmark results for the Atlas robot (v5). R
 3. Do inverse dynamics.
 4. Do forward dynamics.
 
-Note that results on CI builds are **not at all** representative because of code coverage. Results on a reasonably fast laptop at commit [870bea6](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/870bea668d5b11ce0555fa0552592d2c3cb15c54):
+> **Note**
+> Results on CI builds are **not at all** representative because of code coverage.
 
-Output of `versioninfo()`:
+Below are the results for **RBD.jl 2.5.0** (commit [`93a5ea`](https://github.com/JuliaRobotics/RigidBodyDynamics.jl/commit/93a5eaf15a5f6714b1ec1ce621b053542dcb721d)) using **Julia 1.11.1** on an **Apple MacBook Air (M2, 2023)** (16GB RAM, 512GB SSD):
 
+Output of `versioninfo()`:
 ```
-Julia Version 1.5.3
-Commit 788b2c77c1 (2020-11-09 13:37 UTC)
+Julia Version 1.11.1
+Commit 8f5b7ca12ad (2024-10-16 10:53 UTC)
+Build Info:
+  Official https://julialang.org/ release
 Platform Info:
-  OS: macOS (x86_64-apple-darwin18.7.0)
-  CPU: Intel(R) Core(TM) i7-8850H CPU @ 2.60GHz
+  OS: macOS (arm64-apple-darwin22.4.0)
+  CPU: 8 × Apple M2
   WORD_SIZE: 64
-  LIBM: libopenlibm
-  LLVM: libLLVM-9.0.1 (ORCJIT, skylake)
+  LLVM: libLLVM-16.0.6 (ORCJIT, apple-m2)
+Threads: 1 default, 0 interactive, 1 GC (on 4 virtual cores)
 ```
 
-Note that this is a different machine than the one that was used for earlier benchmarks.
-
-Mass matrix:
+> **Note**
+> This is a different machine than the one that was used for earlier benchmarks.
 
+Mass matrix ([`mass_matrix!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.415 μs (0.00% GC)
-  median time:      4.579 μs (0.00% GC)
-  mean time:        4.916 μs (0.00% GC)
-  maximum time:     19.794 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  3.728 μs …  10.024 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     3.874 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   3.903 μs ± 180.208 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
-Mass matrix and Jacobian from left hand to right foot:
-
+Mass matrix ([`mass_matrix!`](@ref)) and Jacobian ([`geometric_jacobian!`](@ref)) from left hand to right foot:
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.860 μs (0.00% GC)
-  median time:      4.982 μs (0.00% GC)
-  mean time:        5.399 μs (0.00% GC)
-  maximum time:     24.712 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  3.941 μs …   9.020 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     4.103 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   4.135 μs ± 196.842 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
 Note the low additional cost of computing a Jacobian when the mass matrix is already computed. This is because RigidBodyDynamics.jl caches intermediate computation results.
 
-Inverse dynamics:
-
+Inverse dynamics ([`inverse_dynamics!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     4.256 μs (0.00% GC)
-  median time:      4.541 μs (0.00% GC)
-  mean time:        4.831 μs (0.00% GC)
-  maximum time:     21.625 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  2.736 μs …   5.666 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     2.866 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   2.882 μs ± 119.781 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
 
-Forward dynamics:
-
+Forward dynamics ([`dynamics!`](@ref)):
 ```
-  memory estimate:  0 bytes
-  allocs estimate:  0
-  --------------
-  minimum time:     13.600 μs (0.00% GC)
-  median time:      14.419 μs (0.00% GC)
-  mean time:        16.071 μs (0.00% GC)
-  maximum time:     55.328 μs (0.00% GC)
+BenchmarkTools.Trial: 10000 samples with 10 evaluations.
+ Range (min … max):  9.791 μs …  13.899 μs  ┊ GC (min … max): 0.00% … 0.00%
+ Time  (median):     9.874 μs               ┊ GC (median):    0.00%
+ Time  (mean ± σ):   9.942 μs ± 292.126 ns  ┊ GC (mean ± σ):  0.00% ± 0.00%
+ Memory estimate: 0 bytes, allocs estimate: 0.
 ```
diff --git a/examples/.gitignore b/examples/.gitignore
index df2383f8..debd73d3 100644
--- a/examples/.gitignore
+++ b/examples/.gitignore
@@ -1,3 +1,2 @@
 **/*.ipynb
 **/*.md
-
diff --git a/examples/1. Quickstart - double pendulum/Manifest.toml b/examples/1. Quickstart - double pendulum/Manifest.toml
index d6adfac8..ba103054 100644
--- a/examples/1. Quickstart - double pendulum/Manifest.toml	
+++ b/examples/1. Quickstart - double pendulum/Manifest.toml	
@@ -1,6 +1,6 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "8f7cc3388be6494a7cb012dfb39416bbbb94df82"
 
@@ -14,10 +14,16 @@ uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 [[deps.Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
+[[deps.Calculus]]
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430"
+uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
+version = "0.5.2"
+
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.Dates]]
 deps = ["Printf"]
@@ -25,15 +31,21 @@ uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
 
 [[deps.DocStringExtensions]]
 deps = ["LibGit2"]
-git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b"
+git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.6"
+version = "0.9.3"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
 uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 version = "1.6.0"
 
+[[deps.DualNumbers]]
+deps = ["Calculus", "NaNMath", "SpecialFunctions"]
+git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566"
+uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74"
+version = "0.6.8"
+
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
@@ -41,21 +53,26 @@ uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
+[[deps.IrrationalConstants]]
+git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2"
+uuid = "92d709cd-6900-40b7-9082-c6be49f344b6"
+version = "0.2.2"
+
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -64,27 +81,43 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
 uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
+[[deps.LogExpFunctions]]
+deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
+uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
+version = "0.3.28"
+
+    [deps.LogExpFunctions.extensions]
+    LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
+    LogExpFunctionsChangesOfVariablesExt = "ChangesOfVariables"
+    LogExpFunctionsInverseFunctionsExt = "InverseFunctions"
+
+    [deps.LogExpFunctions.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    ChangesOfVariables = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0"
+    InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112"
+
 [[deps.Logging]]
 uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
@@ -107,6 +140,12 @@ version = "2.28.2+0"
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
 version = "2022.10.11"
 
+[[deps.NaNMath]]
+deps = ["OpenLibm_jll"]
+git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4"
+uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
+version = "1.0.2"
+
 [[deps.NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
@@ -116,26 +155,43 @@ deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
 uuid = "4536629a-c528-5b80-bd46-f80d51c5b363"
 version = "0.3.21+4"
 
+[[deps.OpenLibm_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "05823500-19ac-5b8b-9628-191a04bc5112"
+version = "0.8.1+0"
+
+[[deps.OpenSpecFun_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
+uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
+version = "0.5.5+0"
+
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
+
+[[deps.PrecompileTools]]
+deps = ["Preferences"]
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
+uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
 [[deps.Quaternions]]
-deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+deps = ["DualNumbers", "LinearAlgebra", "Random"]
+git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.4.9"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -145,12 +201,6 @@ uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
 deps = ["SHA", "Serialization"]
 uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
-[[deps.RealDot]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9"
-uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9"
-version = "0.1.0"
-
 [[deps.Reexport]]
 git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b"
 uuid = "189a3867-3050-52da-a836-e630ba90ab69"
@@ -158,15 +208,15 @@ version = "1.2.2"
 
 [[deps.RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b"
+git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.2"
+version = "2.4.0"
 
 [[deps.Rotations]]
-deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"]
+git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.2.0"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -182,16 +232,36 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
+[[deps.SpecialFunctions]]
+deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
+git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
+uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
+version = "2.4.0"
+
+    [deps.SpecialFunctions.extensions]
+    SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
+
+    [deps.SpecialFunctions.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
+
+    [deps.StaticArrays.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -230,15 +300,15 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -248,12 +318,12 @@ version = "1.2.13+0"
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/2. Closed-loop simulation and visualization/Manifest.toml b/examples/2. Closed-loop simulation and visualization/Manifest.toml
index ef389510..18fc6f7f 100644
--- a/examples/2. Closed-loop simulation and visualization/Manifest.toml	
+++ b/examples/2. Closed-loop simulation and visualization/Manifest.toml	
@@ -1,14 +1,14 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "3f88f80c58c2ca0eb8b6a454d11120e410982bda"
 
 [[deps.Adapt]]
 deps = ["LinearAlgebra", "Requires"]
-git-tree-sha1 = "76289dc51920fdc6e0013c872ba9551d54961c24"
+git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608"
 uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
-version = "3.6.2"
+version = "3.7.2"
 weakdeps = ["StaticArrays"]
 
     [deps.Adapt.extensions]
@@ -37,15 +37,15 @@ version = "1.0.1"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.BitFlags]]
-git-tree-sha1 = "43b1a4a8f797c1cddadf60499a8a077d4af2cd2d"
+git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d"
 uuid = "d1d4a3ce-64b1-5f1a-9ba4-7e7e69966f35"
-version = "0.1.7"
+version = "0.1.9"
 
 [[deps.Bzip2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "19a35467a82e236ff51bc17a3a44b69ef35185a2"
+git-tree-sha1 = "8873e196c2eb87962a2048b3b8e08946535864a1"
 uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0"
-version = "1.0.8+0"
+version = "1.0.8+2"
 
 [[deps.CSSUtil]]
 deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"]
@@ -54,45 +54,49 @@ uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.1"
 
 [[deps.Cairo_jll]]
-deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
-git-tree-sha1 = "4b859a208b2397a7a623a03449e4636bdb17bcf2"
+deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
+git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642"
 uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a"
-version = "1.16.1+1"
+version = "1.18.2+1"
 
 [[deps.Cassette]]
-git-tree-sha1 = "a70f220ea09ec61401745ff338f8fb340420165c"
+git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8"
 uuid = "7057c7e9-c182-5462-911a-8362d720325c"
-version = "0.3.11"
+version = "0.3.14"
 
 [[deps.ChainRulesCore]]
-deps = ["Compat", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "e30f2f4e20f7f186dc36529910beaedc60cfa644"
+deps = ["Compat", "LinearAlgebra"]
+git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "1.16.0"
+version = "1.25.0"
+weakdeps = ["SparseArrays"]
+
+    [deps.ChainRulesCore.extensions]
+    ChainRulesCoreSparseArraysExt = "SparseArrays"
 
 [[deps.CodecZlib]]
 deps = ["TranscodingStreams", "Zlib_jll"]
-git-tree-sha1 = "9c209fb7536406834aa938fb149964b985de6c83"
+git-tree-sha1 = "bce6804e5e6044c6daab27bb533d1295e4a2e759"
 uuid = "944b1d66-785c-5afd-91f1-9de20f533193"
-version = "0.7.1"
+version = "0.7.6"
 
 [[deps.ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "eb7f0f8307f71fac7c606984ea5fb2817275d6e4"
+git-tree-sha1 = "b10d0b65641d57b8b4d5e234446582de5047050d"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.11.4"
+version = "0.11.5"
 
 [[deps.Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "Reexport"]
-git-tree-sha1 = "fc08e5930ee9a4e03f84bfb5211cb54e7769758a"
+git-tree-sha1 = "362a287c3aa50601b0bc359053d5c2468f0e7ce0"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.12.10"
+version = "0.12.11"
 
 [[deps.Compat]]
-deps = ["UUIDs"]
-git-tree-sha1 = "7a60c856b9fa189eb34f5f8a6f6b5529b7942957"
+deps = ["TOML", "UUIDs"]
+git-tree-sha1 = "8ae8d32e09f0dcf42a36b90d4e17f5dd2e4c4215"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "4.6.1"
+version = "4.16.0"
 weakdeps = ["Dates", "LinearAlgebra"]
 
     [deps.Compat.extensions]
@@ -101,13 +105,28 @@ weakdeps = ["Dates", "LinearAlgebra"]
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.ConcurrentUtilities]]
 deps = ["Serialization", "Sockets"]
-git-tree-sha1 = "96d823b94ba8d187a6d8f0826e731195a74b90e9"
+git-tree-sha1 = "ea32b83ca4fefa1768dc84e504cc0a94fb1ab8d1"
 uuid = "f0e56b4a-5159-44fe-b623-3e5288b988bb"
-version = "2.2.0"
+version = "2.4.2"
+
+[[deps.ConstructionBase]]
+git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157"
+uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
+version = "1.5.8"
+
+    [deps.ConstructionBase.extensions]
+    ConstructionBaseIntervalSetsExt = "IntervalSets"
+    ConstructionBaseLinearAlgebraExt = "LinearAlgebra"
+    ConstructionBaseStaticArraysExt = "StaticArrays"
+
+    [deps.ConstructionBase.weakdeps]
+    IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.CoordinateTransformations]]
 deps = ["LinearAlgebra", "StaticArrays"]
@@ -116,9 +135,9 @@ uuid = "150eb455-5306-5404-9cee-2592286d6298"
 version = "0.6.3"
 
 [[deps.DataAPI]]
-git-tree-sha1 = "8da84edb865b0b5b0100c0666a9bc9a0b71c553c"
+git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
-version = "1.15.0"
+version = "1.16.0"
 
 [[deps.DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -150,55 +169,61 @@ git-tree-sha1 = "e3290f2d49e661fbd94046d7e3726ffcb2d41053"
 uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5"
 version = "2.2.4+0"
 
+[[deps.ExceptionUnwrapping]]
+deps = ["Test"]
+git-tree-sha1 = "dcb08a0d93ec0b1cdc4af184b26b591e9695423a"
+uuid = "460bff9d-24e4-43bc-9d9f-a8973cb893f4"
+version = "0.1.10"
+
 [[deps.Expat_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "bad72f730e9e91c08d9427d5e8db95478a3c323d"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1c6317308b9dc757616f0b5cb379db10494443a7"
 uuid = "2e619515-83b5-522b-bb60-26c02a35a201"
-version = "2.4.8+0"
+version = "2.6.2+0"
 
 [[deps.Extents]]
-git-tree-sha1 = "5e1e4c53fa39afe63a7d356e30452249365fba99"
+git-tree-sha1 = "81023caa0021a41712685887db1fc03db26f41f5"
 uuid = "411431e0-e8b7-467b-b5e0-f676ba4f2910"
-version = "0.1.1"
+version = "0.1.4"
 
 [[deps.FFMPEG]]
 deps = ["FFMPEG_jll"]
-git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8"
+git-tree-sha1 = "53ebe7511fa11d33bec688a9178fac4e49eeee00"
 uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-version = "0.4.1"
+version = "0.4.2"
 
 [[deps.FFMPEG_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Pkg", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
-git-tree-sha1 = "74faea50c1d007c85837327f6775bea60b5492dd"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
+git-tree-sha1 = "466d45dc38e15794ec7d5d63ec03d776a9aff36e"
 uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5"
-version = "4.4.2+2"
+version = "4.4.4+1"
 
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.FixedPointNumbers]]
 deps = ["Statistics"]
-git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc"
+git-tree-sha1 = "05882d6995ae5c12bb5f36dd2ed3f61c98cbb172"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
-version = "0.8.4"
+version = "0.8.5"
 
 [[deps.Fontconfig_jll]]
-deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "21efd19106a55620a188615da6d3d06cd7f6ee03"
+deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Zlib_jll"]
+git-tree-sha1 = "db16beca600632c95fc8aca29890d83788dd8b23"
 uuid = "a3f928ae-7b40-5064-980b-68af3947d34b"
-version = "2.13.93+0"
+version = "2.13.96+0"
 
 [[deps.FreeType2_jll]]
-deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "87eb71354d8ec1a96d4a7636bd57a7347dde3ef9"
+deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "5c1d8ae0efc6c2e7b1fc502cbe25def8f661b7bc"
 uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7"
-version = "2.10.4+0"
+version = "2.13.2+0"
 
 [[deps.FriBidi_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "aa31987c2ba8704e23c6c8ba8a4f769d5d7e4f91"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1ed150b39aebcc805c26b93a8d0122c940f64ce2"
 uuid = "559328eb-81f9-559d-9380-de523a88c83c"
-version = "1.0.10+0"
+version = "1.0.14+0"
 
 [[deps.FunctionalCollections]]
 deps = ["Test"]
@@ -206,23 +231,22 @@ git-tree-sha1 = "04cb9cfaa6ba5311973994fe3496ddec19b6292a"
 uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca"
 version = "0.5.0"
 
-[[deps.GPUArraysCore]]
-deps = ["Adapt"]
-git-tree-sha1 = "1cd7f0af1aa58abc02ea1d872953a97359cb87fa"
-uuid = "46192b85-c4d5-4398-a991-12ede77f4527"
-version = "0.1.4"
+[[deps.GeoFormatTypes]]
+git-tree-sha1 = "59107c179a586f0fe667024c5eb7033e81333271"
+uuid = "68eda718-8dee-11e9-39e7-89f7f65f511f"
+version = "0.4.2"
 
 [[deps.GeoInterface]]
-deps = ["Extents"]
-git-tree-sha1 = "bb198ff907228523f3dee1070ceee63b9359b6ab"
+deps = ["Extents", "GeoFormatTypes"]
+git-tree-sha1 = "826b4fd69438d9ce4d2b19de6bc2f970f45f0f88"
 uuid = "cf35fbd7-0cd7-5166-be24-54bfbe79505f"
-version = "1.3.1"
+version = "1.3.8"
 
 [[deps.GeometryBasics]]
-deps = ["EarCut_jll", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
-git-tree-sha1 = "659140c9375afa2f685e37c1a0b9c9a60ef56b40"
+deps = ["EarCut_jll", "Extents", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
+git-tree-sha1 = "b62f2b2d76cee0d61a2ef2b3118cd2a3215d3134"
 uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
-version = "0.4.7"
+version = "0.4.11"
 
 [[deps.Gettext_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "XML2_jll"]
@@ -231,10 +255,10 @@ uuid = "78b55507-aeef-58d4-861c-77aaff3498b1"
 version = "0.21.0+0"
 
 [[deps.Glib_jll]]
-deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "d3b3624125c1474292d0d8ed0f65554ac37ddb23"
+deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"]
+git-tree-sha1 = "674ff0db93fffcd11a3573986e550d66cd4fd71f"
 uuid = "7746bdde-850d-59dc-9ae8-88ece973131d"
-version = "2.74.0+2"
+version = "2.80.5+0"
 
 [[deps.Graphite2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -243,22 +267,22 @@ uuid = "3b182d85-2403-5c21-9c21-1e1f0cc25472"
 version = "1.3.14+0"
 
 [[deps.HTTP]]
-deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
-git-tree-sha1 = "ba9eca9f8bdb787c6f3cf52cb4a404c0e349a0d1"
+deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
+git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "1.9.5"
+version = "1.10.9"
 
 [[deps.HarfBuzz_jll]]
-deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg"]
-git-tree-sha1 = "129acf094d168394e80ee1dc4bc06ec835e510a3"
+deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"]
+git-tree-sha1 = "401e4f3f30f43af2c8478fc008da50096ea5240f"
 uuid = "2e76f6c2-a576-52d4-95c1-20adfe4de566"
-version = "2.8.1+1"
+version = "8.3.1+0"
 
 [[deps.InteractBase]]
 deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"]
-git-tree-sha1 = "dc5a846040f1607740e29e582b6e66251b9ecf9d"
+git-tree-sha1 = "aa5daeff326db0a9126a225b58ca04ae12f57259"
 uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009"
-version = "0.10.9"
+version = "0.10.10"
 
 [[deps.InteractiveUtils]]
 deps = ["Markdown"]
@@ -271,9 +295,9 @@ uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 version = "0.14.7"
 
 [[deps.IterTools]]
-git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5"
+git-tree-sha1 = "42d5f897009e7ff2cf88db414a389e5ed1bdd023"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.4.0"
+version = "1.10.0"
 
 [[deps.IteratorInterfaceExtensions]]
 git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856"
@@ -281,10 +305,10 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.JSExpr]]
 deps = ["JSON", "MacroTools", "Observables", "WebIO"]
@@ -305,26 +329,32 @@ uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
 version = "0.2.6"
 
 [[deps.LAME_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "f6250b16881adf048549549fba48b1161acdac8c"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "170b660facf5df5de098d866564877e119141cbd"
 uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d"
-version = "3.100.1+0"
+version = "3.100.2+0"
+
+[[deps.LLVMOpenMP_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "78211fb6cbc872f77cad3fc0b6cf647d923f4929"
+uuid = "1d63c593-3942-5779-bab2-d838dc0a180e"
+version = "18.1.7+0"
 
 [[deps.LZO_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "e5b909bcf985c5e2605737d2ce278ed791b89be6"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "854a9c268c43b77b0a27f22d7fab8d33cdb3a731"
 uuid = "dd4b983a-f0e5-5f8d-a1b7-129d4a5fb1ac"
-version = "2.10.1+0"
+version = "2.10.2+1"
 
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -333,7 +363,7 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
@@ -345,40 +375,40 @@ uuid = "e9f186c6-92d2-5b65-8a66-fee21dc1b490"
 version = "3.2.2+1"
 
 [[deps.Libgcrypt_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll", "Pkg"]
-git-tree-sha1 = "64613c82a59c120435c067c2b809fc61cf5166ae"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll"]
+git-tree-sha1 = "8be878062e0ffa2c3f67bb58a595375eda5de80b"
 uuid = "d4300ac3-e22c-5743-9152-c294e39db1e4"
-version = "1.8.7+0"
+version = "1.11.0+0"
 
 [[deps.Libgpg_error_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c333716e46366857753e273ce6a69ee0945a6db9"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "c6ce1e19f3aec9b59186bdf06cdf3c4fc5f5f3e6"
 uuid = "7add5ba3-2f88-524e-9cd5-f83b8a55f7b8"
-version = "1.42.0+0"
+version = "1.50.0+0"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.Libmount_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9c30530bf0effd46e15e0fdcf2b8636e78cbbd73"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "0c4f9c4f1a50d8f35048fa0532dabbadf702f81e"
 uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9"
-version = "2.35.0+0"
+version = "2.40.1+0"
 
 [[deps.Libuuid_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "7f3efec06033682db852f8b3bc3c1d2b0a0ab066"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "5ee6203157c120d79034c748a2acba45b82b8807"
 uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700"
-version = "2.36.0+0"
+version = "2.40.1+0"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -389,9 +419,9 @@ uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
 [[deps.LoggingExtras]]
 deps = ["Dates", "Logging"]
-git-tree-sha1 = "cedb76b37bc5a6c702ade66be44f831fa23c681e"
+git-tree-sha1 = "f02b56007b064fbfddb4c9cd60161b6dd0f40df3"
 uuid = "e6f89c97-d47a-5376-807f-9c37f3926c36"
-version = "1.0.0"
+version = "1.1.0"
 
 [[deps.LoopThrottle]]
 deps = ["Test"]
@@ -401,19 +431,19 @@ version = "0.1.0"
 
 [[deps.MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "42324d08725e200c23d4dfb549e0d5d89dede2d2"
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.10"
+version = "0.5.13"
 
 [[deps.Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
 [[deps.MbedTLS]]
-deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "Random", "Sockets"]
-git-tree-sha1 = "03a9b9718f5682ecb107ac9f7308991db4ce395b"
+deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"]
+git-tree-sha1 = "c067a280ddc25f196b5e7df3877c6b226d390aaf"
 uuid = "739be429-bea8-5141-9913-cc70e7f3736d"
-version = "1.1.7"
+version = "1.1.9"
 
 [[deps.MbedTLS_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -432,10 +462,10 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
 version = "0.7.1"
 
 [[deps.MeshCat]]
-deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
-git-tree-sha1 = "36d71bbe7a4279641d84df1fa98bfa29561edd14"
+deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
+git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.16.0"
+version = "0.16.2"
 
 [[deps.MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
@@ -452,24 +482,27 @@ version = "2022.10.11"
 
 [[deps.MsgPack]]
 deps = ["Serialization"]
-git-tree-sha1 = "fc8c15ca848b902015bd4a745d350f02cf791c2a"
+git-tree-sha1 = "f5db02ae992c260e4826fe78c942954b48e1d9c2"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "1.2.0"
+version = "1.2.1"
 
 [[deps.NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
 
 [[deps.Observables]]
-git-tree-sha1 = "6862738f9796b3edc1c09d0890afce4eca9e7e93"
+git-tree-sha1 = "7438a59546cf62428fc9d1bc94729146d37a7225"
 uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
-version = "0.5.4"
+version = "0.5.5"
 
 [[deps.OffsetArrays]]
-deps = ["Adapt"]
-git-tree-sha1 = "82d7c9e310fe55aa54996e6f7f94674e2a38fcb4"
+git-tree-sha1 = "1a27764e945a152f7ca7efa04de513d473e9542e"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "1.12.9"
+version = "1.14.1"
+weakdeps = ["Adapt"]
+
+    [deps.OffsetArrays.extensions]
+    OffsetArraysAdaptExt = "Adapt"
 
 [[deps.Ogg_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -484,26 +517,26 @@ version = "0.3.21+4"
 
 [[deps.OpenSSL]]
 deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"]
-git-tree-sha1 = "51901a49222b09e3743c65b8847687ae5fc78eb2"
+git-tree-sha1 = "38cb508d080d21dc1128f7fb04f20387ed4c0af4"
 uuid = "4d8831e6-92b7-49fb-bdf8-b643e874388c"
-version = "1.4.1"
+version = "1.4.3"
 
 [[deps.OpenSSL_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9ff31d101d987eb9d66bd8b176ac7c277beccd09"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "7493f61f55a6cce7325f197443aa80d32554ba10"
 uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95"
-version = "1.1.20+0"
+version = "3.0.15+1"
 
 [[deps.Opus_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "51a08fb14ec28da2ec7a927c4337e4332c2a4720"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6703a85cb3781bd5909d48730a67205f3f31a575"
 uuid = "91d4177d-7536-5919-b921-800302f37372"
-version = "1.3.2+0"
+version = "1.3.3+0"
 
 [[deps.OrderedCollections]]
-git-tree-sha1 = "d321bf2de576bf25ec4d3e4360faca399afca282"
+git-tree-sha1 = "dfdf5519f235516220579f949664f1bf44e741c5"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.6.0"
+version = "1.6.3"
 
 [[deps.PCRE2_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -518,9 +551,9 @@ version = "0.12.3"
 
 [[deps.Parsers]]
 deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "a5aef8d4a6e8d81f171b2bd4be5265b01384c74c"
+git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.10"
+version = "2.8.1"
 
 [[deps.Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -529,27 +562,27 @@ uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307"
 version = "1.3.0"
 
 [[deps.Pixman_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "b4f5d02549a10e20780a24fce72bea96b6329e29"
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "LLVMOpenMP_jll", "Libdl"]
+git-tree-sha1 = "35621f10a7531bc8fa58f74610b1bfb70a3cfc6b"
 uuid = "30392449-352a-5448-841d-b1acce4e97dc"
-version = "0.40.1+0"
+version = "0.43.4+0"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
@@ -557,9 +590,9 @@ uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
 [[deps.Quaternions]]
 deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.7.6"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -571,9 +604,9 @@ uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [[deps.Ratios]]
 deps = ["Requires"]
-git-tree-sha1 = "6d7bb727e76147ba18eed998700998e17b8e4911"
+git-tree-sha1 = "1342a47bf3260ee108163042310d26f2be5ec90b"
 uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439"
-version = "0.4.4"
+version = "0.4.5"
 weakdeps = ["FixedPointNumbers"]
 
     [deps.Ratios.extensions]
@@ -604,9 +637,15 @@ version = "2.3.2"
 
 [[deps.Rotations]]
 deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.7.1"
+
+    [deps.Rotations.extensions]
+    RotationsRecipesBaseExt = "RecipesBase"
+
+    [deps.Rotations.weakdeps]
+    RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -620,9 +659,9 @@ deps = ["Distributed", "Mmap", "Random", "Serialization"]
 uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
 [[deps.SimpleBufferStream]]
-git-tree-sha1 = "874e8867b33a00e784c8a7e4b60afe9e037b74e1"
+git-tree-sha1 = "f305871d2f381d21527c770d4788c06c097c9bc1"
 uuid = "777ac1f9-54b0-4bf8-805c-2214025038e7"
-version = "1.1.0"
+version = "1.2.0"
 
 [[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
@@ -632,15 +671,20 @@ deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+weakdeps = ["ChainRulesCore", "Statistics"]
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -648,10 +692,22 @@ uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 version = "1.9.0"
 
 [[deps.StructArrays]]
-deps = ["Adapt", "DataAPI", "GPUArraysCore", "StaticArraysCore", "Tables"]
-git-tree-sha1 = "521a0e828e98bb69042fec1809c1b5a680eb7389"
+deps = ["ConstructionBase", "DataAPI", "Tables"]
+git-tree-sha1 = "f4dc295e983502292c4c3f951dbb4e985e35b3be"
 uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
-version = "0.6.15"
+version = "0.6.18"
+
+    [deps.StructArrays.extensions]
+    StructArraysAdaptExt = "Adapt"
+    StructArraysGPUArraysCoreExt = "GPUArraysCore"
+    StructArraysSparseArraysExt = "SparseArrays"
+    StructArraysStaticArraysExt = "StaticArrays"
+
+    [deps.StructArrays.weakdeps]
+    Adapt = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
+    GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.SuiteSparse_jll]]
 deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"]
@@ -670,10 +726,10 @@ uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c"
 version = "1.0.1"
 
 [[deps.Tables]]
-deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "OrderedCollections", "TableTraits", "Test"]
-git-tree-sha1 = "1544b926975372da01227b382066ab70e574a3ec"
+deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "OrderedCollections", "TableTraits"]
+git-tree-sha1 = "598cd7c1f68d1e205689b1c2fe65a9f85846f297"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.10.1"
+version = "1.12.0"
 
 [[deps.Tar]]
 deps = ["ArgTools", "SHA"]
@@ -685,10 +741,9 @@ deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [[deps.TranscodingStreams]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "9a6ae7ed916312b41236fcef7e0af564ef934769"
+git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742"
 uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa"
-version = "0.9.13"
+version = "0.11.3"
 
 [[deps.TypeSortedCollections]]
 git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2"
@@ -696,9 +751,9 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf"
 version = "1.1.0"
 
 [[deps.URIs]]
-git-tree-sha1 = "074f993b0ca030848b897beff716d93aca60f06a"
+git-tree-sha1 = "67db6cc7b3821e19ebe75791a9dd19c9b1188f2b"
 uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4"
-version = "1.4.2"
+version = "1.5.1"
 
 [[deps.UUIDs]]
 deps = ["Random", "SHA"]
@@ -713,15 +768,15 @@ version = "1.0.2"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.WebIO]]
 deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
-git-tree-sha1 = "976d0738247f155d0dcd77607edea644f069e1e9"
+git-tree-sha1 = "0eef0765186f7452e52236fa42ca8c9b3c11c6e3"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.8.20"
+version = "0.8.21"
 
 [[deps.WebSockets]]
 deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"]
@@ -737,69 +792,69 @@ version = "0.6.6"
 
 [[deps.WoodburyMatrices]]
 deps = ["LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3"
+git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
-version = "0.5.5"
+version = "0.5.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.XSLT_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "Pkg", "XML2_jll", "Zlib_jll"]
-git-tree-sha1 = "91844873c4085240b95e795f692c4cec4d805f8a"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "XML2_jll", "Zlib_jll"]
+git-tree-sha1 = "a54ee957f4c86b526460a720dbc882fa5edcbefc"
 uuid = "aed1982a-8fda-507f-9586-7b0439959a61"
-version = "1.1.34+0"
+version = "1.1.41+0"
 
 [[deps.Xorg_libX11_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
-git-tree-sha1 = "5be649d550f3f4b95308bf0183b82e2582876527"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
+git-tree-sha1 = "afead5aba5aa507ad5a3bf01f58f82c8d1403495"
 uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc"
-version = "1.6.9+4"
+version = "1.8.6+0"
 
 [[deps.Xorg_libXau_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4e490d5c960c314f33885790ed410ff3a94ce67e"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6035850dcc70518ca32f012e46015b9beeda49d8"
 uuid = "0c0b7dd1-d40b-584c-a123-a41640f87eec"
-version = "1.0.9+4"
+version = "1.0.11+0"
 
 [[deps.Xorg_libXdmcp_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4fe47bd2247248125c428978740e18a681372dd4"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "34d526d318358a859d7de23da945578e8e8727b7"
 uuid = "a3789734-cfe1-5b06-b2d0-1dd0d9d62d05"
-version = "1.1.3+4"
+version = "1.1.4+0"
 
 [[deps.Xorg_libXext_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "b7c0aa8c376b31e4852b360222848637f481f8c3"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "d2d1a5c49fae4ba39983f63de6afcbea47194e85"
 uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3"
-version = "1.3.4+4"
+version = "1.3.6+0"
 
 [[deps.Xorg_libXrender_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "19560f30fd49f4d4efbe7002a1037f8c43d43b96"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "47e45cd78224c53109495b3e324df0c37bb61fbe"
 uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa"
-version = "0.9.10+4"
+version = "0.9.11+0"
 
 [[deps.Xorg_libpthread_stubs_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "6783737e45d3c59a4a4c4091f5f88cdcf0908cbb"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8fdda4c692503d44d04a0603d9ac0982054635f9"
 uuid = "14d82f49-176c-5ed1-bb49-ad3f5cbd8c74"
-version = "0.1.0+3"
+version = "0.1.1+0"
 
 [[deps.Xorg_libxcb_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
-git-tree-sha1 = "daf17f441228e7a3833846cd048892861cff16d6"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
+git-tree-sha1 = "bcd466676fef0878338c61e655629fa7bbc69d8e"
 uuid = "c7cfdc94-dc32-55de-ac96-5a1b8d977c5b"
-version = "1.13.0+3"
+version = "1.17.0+0"
 
 [[deps.Xorg_xtrans_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "79c31e7844f6ecf779705fbc12146eb190b7d845"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "e92a1a012a10506618f10b7047e478403a046c77"
 uuid = "c5fb5394-a638-5e4d-96e5-b29de1b5cf10"
-version = "1.4.0+3"
+version = "1.5.0+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -807,44 +862,44 @@ uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
 version = "1.2.13+0"
 
 [[deps.libaom_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "3a2ea60308f0996d26f1e5354e10c24e9ef905d4"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1827acba325fdcdf1d2647fc8d5301dd9ba43a9d"
 uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
-version = "3.4.0+0"
+version = "3.9.0+0"
 
 [[deps.libass_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "e17c115d55c5fbb7e52ebedb427a0dca79d4484e"
 uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
-version = "0.15.1+0"
+version = "0.15.2+0"
 
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.libfdk_aac_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8a22cf860a7d27e4f3498a0fe0811a7957badb38"
 uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
-version = "2.0.2+0"
+version = "2.0.3+0"
 
 [[deps.libpng_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "94d180a6d2b5e55e447e2d27a29ed04fe79eb30c"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "b70c870239dc3d7bc094eb2d6be9b73d27bef280"
 uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
-version = "1.6.38+0"
+version = "1.6.44+0"
 
 [[deps.libvorbis_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
-git-tree-sha1 = "b910cb81ef3fe6e78bf6acee440bda86fd6ae00c"
+git-tree-sha1 = "490376214c4721cdaca654041f635213c6165cb3"
 uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
-version = "1.3.7+1"
+version = "1.3.7+2"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/3. Four-bar linkage/Manifest.toml b/examples/3. Four-bar linkage/Manifest.toml
index a44d1e14..8f943999 100644
--- a/examples/3. Four-bar linkage/Manifest.toml	
+++ b/examples/3. Four-bar linkage/Manifest.toml	
@@ -1,14 +1,14 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "7a77bdb04ffe215b26280152602ca7aaf8d3a3e0"
 
 [[deps.Adapt]]
 deps = ["LinearAlgebra", "Requires"]
-git-tree-sha1 = "76289dc51920fdc6e0013c872ba9551d54961c24"
+git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608"
 uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
-version = "3.6.2"
+version = "3.7.2"
 weakdeps = ["StaticArrays"]
 
     [deps.Adapt.extensions]
@@ -37,15 +37,15 @@ version = "1.0.1"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.BitFlags]]
-git-tree-sha1 = "43b1a4a8f797c1cddadf60499a8a077d4af2cd2d"
+git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d"
 uuid = "d1d4a3ce-64b1-5f1a-9ba4-7e7e69966f35"
-version = "0.1.7"
+version = "0.1.9"
 
 [[deps.Bzip2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "19a35467a82e236ff51bc17a3a44b69ef35185a2"
+git-tree-sha1 = "8873e196c2eb87962a2048b3b8e08946535864a1"
 uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0"
-version = "1.0.8+0"
+version = "1.0.8+2"
 
 [[deps.CSSUtil]]
 deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"]
@@ -54,45 +54,49 @@ uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.1"
 
 [[deps.Cairo_jll]]
-deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
-git-tree-sha1 = "4b859a208b2397a7a623a03449e4636bdb17bcf2"
+deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
+git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642"
 uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a"
-version = "1.16.1+1"
+version = "1.18.2+1"
 
 [[deps.Cassette]]
-git-tree-sha1 = "a70f220ea09ec61401745ff338f8fb340420165c"
+git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8"
 uuid = "7057c7e9-c182-5462-911a-8362d720325c"
-version = "0.3.11"
+version = "0.3.14"
 
 [[deps.ChainRulesCore]]
-deps = ["Compat", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "e30f2f4e20f7f186dc36529910beaedc60cfa644"
+deps = ["Compat", "LinearAlgebra"]
+git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "1.16.0"
+version = "1.25.0"
+weakdeps = ["SparseArrays"]
+
+    [deps.ChainRulesCore.extensions]
+    ChainRulesCoreSparseArraysExt = "SparseArrays"
 
 [[deps.CodecZlib]]
 deps = ["TranscodingStreams", "Zlib_jll"]
-git-tree-sha1 = "9c209fb7536406834aa938fb149964b985de6c83"
+git-tree-sha1 = "bce6804e5e6044c6daab27bb533d1295e4a2e759"
 uuid = "944b1d66-785c-5afd-91f1-9de20f533193"
-version = "0.7.1"
+version = "0.7.6"
 
 [[deps.ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "eb7f0f8307f71fac7c606984ea5fb2817275d6e4"
+git-tree-sha1 = "b10d0b65641d57b8b4d5e234446582de5047050d"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.11.4"
+version = "0.11.5"
 
 [[deps.Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "Reexport"]
-git-tree-sha1 = "fc08e5930ee9a4e03f84bfb5211cb54e7769758a"
+git-tree-sha1 = "362a287c3aa50601b0bc359053d5c2468f0e7ce0"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.12.10"
+version = "0.12.11"
 
 [[deps.Compat]]
-deps = ["UUIDs"]
-git-tree-sha1 = "7a60c856b9fa189eb34f5f8a6f6b5529b7942957"
+deps = ["TOML", "UUIDs"]
+git-tree-sha1 = "8ae8d32e09f0dcf42a36b90d4e17f5dd2e4c4215"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "4.6.1"
+version = "4.16.0"
 weakdeps = ["Dates", "LinearAlgebra"]
 
     [deps.Compat.extensions]
@@ -101,13 +105,28 @@ weakdeps = ["Dates", "LinearAlgebra"]
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.ConcurrentUtilities]]
 deps = ["Serialization", "Sockets"]
-git-tree-sha1 = "96d823b94ba8d187a6d8f0826e731195a74b90e9"
+git-tree-sha1 = "ea32b83ca4fefa1768dc84e504cc0a94fb1ab8d1"
 uuid = "f0e56b4a-5159-44fe-b623-3e5288b988bb"
-version = "2.2.0"
+version = "2.4.2"
+
+[[deps.ConstructionBase]]
+git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157"
+uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
+version = "1.5.8"
+
+    [deps.ConstructionBase.extensions]
+    ConstructionBaseIntervalSetsExt = "IntervalSets"
+    ConstructionBaseLinearAlgebraExt = "LinearAlgebra"
+    ConstructionBaseStaticArraysExt = "StaticArrays"
+
+    [deps.ConstructionBase.weakdeps]
+    IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.CoordinateTransformations]]
 deps = ["LinearAlgebra", "StaticArrays"]
@@ -116,9 +135,9 @@ uuid = "150eb455-5306-5404-9cee-2592286d6298"
 version = "0.6.3"
 
 [[deps.DataAPI]]
-git-tree-sha1 = "8da84edb865b0b5b0100c0666a9bc9a0b71c553c"
+git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
-version = "1.15.0"
+version = "1.16.0"
 
 [[deps.DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -150,55 +169,61 @@ git-tree-sha1 = "e3290f2d49e661fbd94046d7e3726ffcb2d41053"
 uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5"
 version = "2.2.4+0"
 
+[[deps.ExceptionUnwrapping]]
+deps = ["Test"]
+git-tree-sha1 = "dcb08a0d93ec0b1cdc4af184b26b591e9695423a"
+uuid = "460bff9d-24e4-43bc-9d9f-a8973cb893f4"
+version = "0.1.10"
+
 [[deps.Expat_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "bad72f730e9e91c08d9427d5e8db95478a3c323d"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1c6317308b9dc757616f0b5cb379db10494443a7"
 uuid = "2e619515-83b5-522b-bb60-26c02a35a201"
-version = "2.4.8+0"
+version = "2.6.2+0"
 
 [[deps.Extents]]
-git-tree-sha1 = "5e1e4c53fa39afe63a7d356e30452249365fba99"
+git-tree-sha1 = "81023caa0021a41712685887db1fc03db26f41f5"
 uuid = "411431e0-e8b7-467b-b5e0-f676ba4f2910"
-version = "0.1.1"
+version = "0.1.4"
 
 [[deps.FFMPEG]]
 deps = ["FFMPEG_jll"]
-git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8"
+git-tree-sha1 = "53ebe7511fa11d33bec688a9178fac4e49eeee00"
 uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-version = "0.4.1"
+version = "0.4.2"
 
 [[deps.FFMPEG_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Pkg", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
-git-tree-sha1 = "74faea50c1d007c85837327f6775bea60b5492dd"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
+git-tree-sha1 = "466d45dc38e15794ec7d5d63ec03d776a9aff36e"
 uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5"
-version = "4.4.2+2"
+version = "4.4.4+1"
 
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.FixedPointNumbers]]
 deps = ["Statistics"]
-git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc"
+git-tree-sha1 = "05882d6995ae5c12bb5f36dd2ed3f61c98cbb172"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
-version = "0.8.4"
+version = "0.8.5"
 
 [[deps.Fontconfig_jll]]
-deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "21efd19106a55620a188615da6d3d06cd7f6ee03"
+deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Zlib_jll"]
+git-tree-sha1 = "db16beca600632c95fc8aca29890d83788dd8b23"
 uuid = "a3f928ae-7b40-5064-980b-68af3947d34b"
-version = "2.13.93+0"
+version = "2.13.96+0"
 
 [[deps.FreeType2_jll]]
-deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "87eb71354d8ec1a96d4a7636bd57a7347dde3ef9"
+deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "5c1d8ae0efc6c2e7b1fc502cbe25def8f661b7bc"
 uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7"
-version = "2.10.4+0"
+version = "2.13.2+0"
 
 [[deps.FriBidi_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "aa31987c2ba8704e23c6c8ba8a4f769d5d7e4f91"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1ed150b39aebcc805c26b93a8d0122c940f64ce2"
 uuid = "559328eb-81f9-559d-9380-de523a88c83c"
-version = "1.0.10+0"
+version = "1.0.14+0"
 
 [[deps.FunctionalCollections]]
 deps = ["Test"]
@@ -206,23 +231,22 @@ git-tree-sha1 = "04cb9cfaa6ba5311973994fe3496ddec19b6292a"
 uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca"
 version = "0.5.0"
 
-[[deps.GPUArraysCore]]
-deps = ["Adapt"]
-git-tree-sha1 = "1cd7f0af1aa58abc02ea1d872953a97359cb87fa"
-uuid = "46192b85-c4d5-4398-a991-12ede77f4527"
-version = "0.1.4"
+[[deps.GeoFormatTypes]]
+git-tree-sha1 = "59107c179a586f0fe667024c5eb7033e81333271"
+uuid = "68eda718-8dee-11e9-39e7-89f7f65f511f"
+version = "0.4.2"
 
 [[deps.GeoInterface]]
-deps = ["Extents"]
-git-tree-sha1 = "bb198ff907228523f3dee1070ceee63b9359b6ab"
+deps = ["Extents", "GeoFormatTypes"]
+git-tree-sha1 = "826b4fd69438d9ce4d2b19de6bc2f970f45f0f88"
 uuid = "cf35fbd7-0cd7-5166-be24-54bfbe79505f"
-version = "1.3.1"
+version = "1.3.8"
 
 [[deps.GeometryBasics]]
-deps = ["EarCut_jll", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
-git-tree-sha1 = "659140c9375afa2f685e37c1a0b9c9a60ef56b40"
+deps = ["EarCut_jll", "Extents", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
+git-tree-sha1 = "b62f2b2d76cee0d61a2ef2b3118cd2a3215d3134"
 uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
-version = "0.4.7"
+version = "0.4.11"
 
 [[deps.Gettext_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "XML2_jll"]
@@ -231,10 +255,10 @@ uuid = "78b55507-aeef-58d4-861c-77aaff3498b1"
 version = "0.21.0+0"
 
 [[deps.Glib_jll]]
-deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "d3b3624125c1474292d0d8ed0f65554ac37ddb23"
+deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"]
+git-tree-sha1 = "674ff0db93fffcd11a3573986e550d66cd4fd71f"
 uuid = "7746bdde-850d-59dc-9ae8-88ece973131d"
-version = "2.74.0+2"
+version = "2.80.5+0"
 
 [[deps.Graphite2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -243,22 +267,22 @@ uuid = "3b182d85-2403-5c21-9c21-1e1f0cc25472"
 version = "1.3.14+0"
 
 [[deps.HTTP]]
-deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
-git-tree-sha1 = "ba9eca9f8bdb787c6f3cf52cb4a404c0e349a0d1"
+deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
+git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "1.9.5"
+version = "1.10.9"
 
 [[deps.HarfBuzz_jll]]
-deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg"]
-git-tree-sha1 = "129acf094d168394e80ee1dc4bc06ec835e510a3"
+deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"]
+git-tree-sha1 = "401e4f3f30f43af2c8478fc008da50096ea5240f"
 uuid = "2e76f6c2-a576-52d4-95c1-20adfe4de566"
-version = "2.8.1+1"
+version = "8.3.1+0"
 
 [[deps.InteractBase]]
 deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"]
-git-tree-sha1 = "dc5a846040f1607740e29e582b6e66251b9ecf9d"
+git-tree-sha1 = "aa5daeff326db0a9126a225b58ca04ae12f57259"
 uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009"
-version = "0.10.9"
+version = "0.10.10"
 
 [[deps.InteractiveUtils]]
 deps = ["Markdown"]
@@ -271,9 +295,9 @@ uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
 version = "0.14.7"
 
 [[deps.IterTools]]
-git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5"
+git-tree-sha1 = "42d5f897009e7ff2cf88db414a389e5ed1bdd023"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.4.0"
+version = "1.10.0"
 
 [[deps.IteratorInterfaceExtensions]]
 git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856"
@@ -281,10 +305,10 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.JSExpr]]
 deps = ["JSON", "MacroTools", "Observables", "WebIO"]
@@ -305,26 +329,32 @@ uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
 version = "0.2.6"
 
 [[deps.LAME_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "f6250b16881adf048549549fba48b1161acdac8c"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "170b660facf5df5de098d866564877e119141cbd"
 uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d"
-version = "3.100.1+0"
+version = "3.100.2+0"
+
+[[deps.LLVMOpenMP_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "78211fb6cbc872f77cad3fc0b6cf647d923f4929"
+uuid = "1d63c593-3942-5779-bab2-d838dc0a180e"
+version = "18.1.7+0"
 
 [[deps.LZO_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "e5b909bcf985c5e2605737d2ce278ed791b89be6"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "854a9c268c43b77b0a27f22d7fab8d33cdb3a731"
 uuid = "dd4b983a-f0e5-5f8d-a1b7-129d4a5fb1ac"
-version = "2.10.1+0"
+version = "2.10.2+1"
 
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -333,7 +363,7 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
@@ -345,40 +375,40 @@ uuid = "e9f186c6-92d2-5b65-8a66-fee21dc1b490"
 version = "3.2.2+1"
 
 [[deps.Libgcrypt_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll", "Pkg"]
-git-tree-sha1 = "64613c82a59c120435c067c2b809fc61cf5166ae"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll"]
+git-tree-sha1 = "8be878062e0ffa2c3f67bb58a595375eda5de80b"
 uuid = "d4300ac3-e22c-5743-9152-c294e39db1e4"
-version = "1.8.7+0"
+version = "1.11.0+0"
 
 [[deps.Libgpg_error_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c333716e46366857753e273ce6a69ee0945a6db9"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "c6ce1e19f3aec9b59186bdf06cdf3c4fc5f5f3e6"
 uuid = "7add5ba3-2f88-524e-9cd5-f83b8a55f7b8"
-version = "1.42.0+0"
+version = "1.50.0+0"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.Libmount_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9c30530bf0effd46e15e0fdcf2b8636e78cbbd73"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "0c4f9c4f1a50d8f35048fa0532dabbadf702f81e"
 uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9"
-version = "2.35.0+0"
+version = "2.40.1+0"
 
 [[deps.Libuuid_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "7f3efec06033682db852f8b3bc3c1d2b0a0ab066"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "5ee6203157c120d79034c748a2acba45b82b8807"
 uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700"
-version = "2.36.0+0"
+version = "2.40.1+0"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -389,9 +419,9 @@ uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
 [[deps.LoggingExtras]]
 deps = ["Dates", "Logging"]
-git-tree-sha1 = "cedb76b37bc5a6c702ade66be44f831fa23c681e"
+git-tree-sha1 = "f02b56007b064fbfddb4c9cd60161b6dd0f40df3"
 uuid = "e6f89c97-d47a-5376-807f-9c37f3926c36"
-version = "1.0.0"
+version = "1.1.0"
 
 [[deps.LoopThrottle]]
 deps = ["Test"]
@@ -401,19 +431,19 @@ version = "0.1.0"
 
 [[deps.MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "42324d08725e200c23d4dfb549e0d5d89dede2d2"
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.10"
+version = "0.5.13"
 
 [[deps.Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
 [[deps.MbedTLS]]
-deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "Random", "Sockets"]
-git-tree-sha1 = "03a9b9718f5682ecb107ac9f7308991db4ce395b"
+deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"]
+git-tree-sha1 = "c067a280ddc25f196b5e7df3877c6b226d390aaf"
 uuid = "739be429-bea8-5141-9913-cc70e7f3736d"
-version = "1.1.7"
+version = "1.1.9"
 
 [[deps.MbedTLS_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -432,10 +462,10 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
 version = "0.7.1"
 
 [[deps.MeshCat]]
-deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
-git-tree-sha1 = "36d71bbe7a4279641d84df1fa98bfa29561edd14"
+deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
+git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.16.0"
+version = "0.16.2"
 
 [[deps.MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
@@ -452,24 +482,27 @@ version = "2022.10.11"
 
 [[deps.MsgPack]]
 deps = ["Serialization"]
-git-tree-sha1 = "fc8c15ca848b902015bd4a745d350f02cf791c2a"
+git-tree-sha1 = "f5db02ae992c260e4826fe78c942954b48e1d9c2"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "1.2.0"
+version = "1.2.1"
 
 [[deps.NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
 
 [[deps.Observables]]
-git-tree-sha1 = "6862738f9796b3edc1c09d0890afce4eca9e7e93"
+git-tree-sha1 = "7438a59546cf62428fc9d1bc94729146d37a7225"
 uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
-version = "0.5.4"
+version = "0.5.5"
 
 [[deps.OffsetArrays]]
-deps = ["Adapt"]
-git-tree-sha1 = "82d7c9e310fe55aa54996e6f7f94674e2a38fcb4"
+git-tree-sha1 = "1a27764e945a152f7ca7efa04de513d473e9542e"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "1.12.9"
+version = "1.14.1"
+weakdeps = ["Adapt"]
+
+    [deps.OffsetArrays.extensions]
+    OffsetArraysAdaptExt = "Adapt"
 
 [[deps.Ogg_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -484,26 +517,26 @@ version = "0.3.21+4"
 
 [[deps.OpenSSL]]
 deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"]
-git-tree-sha1 = "51901a49222b09e3743c65b8847687ae5fc78eb2"
+git-tree-sha1 = "38cb508d080d21dc1128f7fb04f20387ed4c0af4"
 uuid = "4d8831e6-92b7-49fb-bdf8-b643e874388c"
-version = "1.4.1"
+version = "1.4.3"
 
 [[deps.OpenSSL_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9ff31d101d987eb9d66bd8b176ac7c277beccd09"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "7493f61f55a6cce7325f197443aa80d32554ba10"
 uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95"
-version = "1.1.20+0"
+version = "3.0.15+1"
 
 [[deps.Opus_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "51a08fb14ec28da2ec7a927c4337e4332c2a4720"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6703a85cb3781bd5909d48730a67205f3f31a575"
 uuid = "91d4177d-7536-5919-b921-800302f37372"
-version = "1.3.2+0"
+version = "1.3.3+0"
 
 [[deps.OrderedCollections]]
-git-tree-sha1 = "d321bf2de576bf25ec4d3e4360faca399afca282"
+git-tree-sha1 = "dfdf5519f235516220579f949664f1bf44e741c5"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.6.0"
+version = "1.6.3"
 
 [[deps.PCRE2_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -518,9 +551,9 @@ version = "0.12.3"
 
 [[deps.Parsers]]
 deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "a5aef8d4a6e8d81f171b2bd4be5265b01384c74c"
+git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.10"
+version = "2.8.1"
 
 [[deps.Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -529,27 +562,27 @@ uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307"
 version = "1.3.0"
 
 [[deps.Pixman_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "b4f5d02549a10e20780a24fce72bea96b6329e29"
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "LLVMOpenMP_jll", "Libdl"]
+git-tree-sha1 = "35621f10a7531bc8fa58f74610b1bfb70a3cfc6b"
 uuid = "30392449-352a-5448-841d-b1acce4e97dc"
-version = "0.40.1+0"
+version = "0.43.4+0"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
@@ -557,9 +590,9 @@ uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
 [[deps.Quaternions]]
 deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.7.6"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -571,9 +604,9 @@ uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [[deps.Ratios]]
 deps = ["Requires"]
-git-tree-sha1 = "6d7bb727e76147ba18eed998700998e17b8e4911"
+git-tree-sha1 = "1342a47bf3260ee108163042310d26f2be5ec90b"
 uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439"
-version = "0.4.4"
+version = "0.4.5"
 weakdeps = ["FixedPointNumbers"]
 
     [deps.Ratios.extensions]
@@ -604,9 +637,15 @@ version = "2.3.2"
 
 [[deps.Rotations]]
 deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.7.1"
+
+    [deps.Rotations.extensions]
+    RotationsRecipesBaseExt = "RecipesBase"
+
+    [deps.Rotations.weakdeps]
+    RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -620,9 +659,9 @@ deps = ["Distributed", "Mmap", "Random", "Serialization"]
 uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
 [[deps.SimpleBufferStream]]
-git-tree-sha1 = "874e8867b33a00e784c8a7e4b60afe9e037b74e1"
+git-tree-sha1 = "f305871d2f381d21527c770d4788c06c097c9bc1"
 uuid = "777ac1f9-54b0-4bf8-805c-2214025038e7"
-version = "1.1.0"
+version = "1.2.0"
 
 [[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
@@ -632,15 +671,20 @@ deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+weakdeps = ["ChainRulesCore", "Statistics"]
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -648,10 +692,22 @@ uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 version = "1.9.0"
 
 [[deps.StructArrays]]
-deps = ["Adapt", "DataAPI", "GPUArraysCore", "StaticArraysCore", "Tables"]
-git-tree-sha1 = "521a0e828e98bb69042fec1809c1b5a680eb7389"
+deps = ["ConstructionBase", "DataAPI", "Tables"]
+git-tree-sha1 = "f4dc295e983502292c4c3f951dbb4e985e35b3be"
 uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
-version = "0.6.15"
+version = "0.6.18"
+
+    [deps.StructArrays.extensions]
+    StructArraysAdaptExt = "Adapt"
+    StructArraysGPUArraysCoreExt = "GPUArraysCore"
+    StructArraysSparseArraysExt = "SparseArrays"
+    StructArraysStaticArraysExt = "StaticArrays"
+
+    [deps.StructArrays.weakdeps]
+    Adapt = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
+    GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.SuiteSparse_jll]]
 deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"]
@@ -670,10 +726,10 @@ uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c"
 version = "1.0.1"
 
 [[deps.Tables]]
-deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "OrderedCollections", "TableTraits", "Test"]
-git-tree-sha1 = "1544b926975372da01227b382066ab70e574a3ec"
+deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "OrderedCollections", "TableTraits"]
+git-tree-sha1 = "598cd7c1f68d1e205689b1c2fe65a9f85846f297"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.10.1"
+version = "1.12.0"
 
 [[deps.Tar]]
 deps = ["ArgTools", "SHA"]
@@ -685,10 +741,9 @@ deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [[deps.TranscodingStreams]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "9a6ae7ed916312b41236fcef7e0af564ef934769"
+git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742"
 uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa"
-version = "0.9.13"
+version = "0.11.3"
 
 [[deps.TypeSortedCollections]]
 git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2"
@@ -696,9 +751,9 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf"
 version = "1.1.0"
 
 [[deps.URIs]]
-git-tree-sha1 = "074f993b0ca030848b897beff716d93aca60f06a"
+git-tree-sha1 = "67db6cc7b3821e19ebe75791a9dd19c9b1188f2b"
 uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4"
-version = "1.4.2"
+version = "1.5.1"
 
 [[deps.UUIDs]]
 deps = ["Random", "SHA"]
@@ -713,15 +768,15 @@ version = "1.0.2"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.WebIO]]
 deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
-git-tree-sha1 = "976d0738247f155d0dcd77607edea644f069e1e9"
+git-tree-sha1 = "0eef0765186f7452e52236fa42ca8c9b3c11c6e3"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.8.20"
+version = "0.8.21"
 
 [[deps.WebSockets]]
 deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"]
@@ -737,69 +792,69 @@ version = "0.6.6"
 
 [[deps.WoodburyMatrices]]
 deps = ["LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3"
+git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
-version = "0.5.5"
+version = "0.5.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.XSLT_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "Pkg", "XML2_jll", "Zlib_jll"]
-git-tree-sha1 = "91844873c4085240b95e795f692c4cec4d805f8a"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "XML2_jll", "Zlib_jll"]
+git-tree-sha1 = "a54ee957f4c86b526460a720dbc882fa5edcbefc"
 uuid = "aed1982a-8fda-507f-9586-7b0439959a61"
-version = "1.1.34+0"
+version = "1.1.41+0"
 
 [[deps.Xorg_libX11_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
-git-tree-sha1 = "5be649d550f3f4b95308bf0183b82e2582876527"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
+git-tree-sha1 = "afead5aba5aa507ad5a3bf01f58f82c8d1403495"
 uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc"
-version = "1.6.9+4"
+version = "1.8.6+0"
 
 [[deps.Xorg_libXau_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4e490d5c960c314f33885790ed410ff3a94ce67e"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6035850dcc70518ca32f012e46015b9beeda49d8"
 uuid = "0c0b7dd1-d40b-584c-a123-a41640f87eec"
-version = "1.0.9+4"
+version = "1.0.11+0"
 
 [[deps.Xorg_libXdmcp_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4fe47bd2247248125c428978740e18a681372dd4"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "34d526d318358a859d7de23da945578e8e8727b7"
 uuid = "a3789734-cfe1-5b06-b2d0-1dd0d9d62d05"
-version = "1.1.3+4"
+version = "1.1.4+0"
 
 [[deps.Xorg_libXext_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "b7c0aa8c376b31e4852b360222848637f481f8c3"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "d2d1a5c49fae4ba39983f63de6afcbea47194e85"
 uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3"
-version = "1.3.4+4"
+version = "1.3.6+0"
 
 [[deps.Xorg_libXrender_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "19560f30fd49f4d4efbe7002a1037f8c43d43b96"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "47e45cd78224c53109495b3e324df0c37bb61fbe"
 uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa"
-version = "0.9.10+4"
+version = "0.9.11+0"
 
 [[deps.Xorg_libpthread_stubs_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "6783737e45d3c59a4a4c4091f5f88cdcf0908cbb"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8fdda4c692503d44d04a0603d9ac0982054635f9"
 uuid = "14d82f49-176c-5ed1-bb49-ad3f5cbd8c74"
-version = "0.1.0+3"
+version = "0.1.1+0"
 
 [[deps.Xorg_libxcb_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
-git-tree-sha1 = "daf17f441228e7a3833846cd048892861cff16d6"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
+git-tree-sha1 = "bcd466676fef0878338c61e655629fa7bbc69d8e"
 uuid = "c7cfdc94-dc32-55de-ac96-5a1b8d977c5b"
-version = "1.13.0+3"
+version = "1.17.0+0"
 
 [[deps.Xorg_xtrans_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "79c31e7844f6ecf779705fbc12146eb190b7d845"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "e92a1a012a10506618f10b7047e478403a046c77"
 uuid = "c5fb5394-a638-5e4d-96e5-b29de1b5cf10"
-version = "1.4.0+3"
+version = "1.5.0+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -807,44 +862,44 @@ uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
 version = "1.2.13+0"
 
 [[deps.libaom_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "3a2ea60308f0996d26f1e5354e10c24e9ef905d4"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1827acba325fdcdf1d2647fc8d5301dd9ba43a9d"
 uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
-version = "3.4.0+0"
+version = "3.9.0+0"
 
 [[deps.libass_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "e17c115d55c5fbb7e52ebedb427a0dca79d4484e"
 uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
-version = "0.15.1+0"
+version = "0.15.2+0"
 
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.libfdk_aac_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8a22cf860a7d27e4f3498a0fe0811a7957badb38"
 uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
-version = "2.0.2+0"
+version = "2.0.3+0"
 
 [[deps.libpng_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "94d180a6d2b5e55e447e2d27a29ed04fe79eb30c"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "b70c870239dc3d7bc094eb2d6be9b73d27bef280"
 uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
-version = "1.6.38+0"
+version = "1.6.44+0"
 
 [[deps.libvorbis_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
-git-tree-sha1 = "b910cb81ef3fe6e78bf6acee440bda86fd6ae00c"
+git-tree-sha1 = "490376214c4721cdaca654041f635213c6165cb3"
 uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
-version = "1.3.7+1"
+version = "1.3.7+2"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/4. Jacobian IK and Control/Manifest.toml b/examples/4. Jacobian IK and Control/Manifest.toml
index a2e3c0c5..0f72d766 100644
--- a/examples/4. Jacobian IK and Control/Manifest.toml	
+++ b/examples/4. Jacobian IK and Control/Manifest.toml	
@@ -1,14 +1,14 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
-project_hash = "41bf50131458289df41c0f0f4e1f057c1ad2f29d"
+project_hash = "57912b674860b02adbb24c85dcfc1ca99ed81fed"
 
 [[deps.Adapt]]
 deps = ["LinearAlgebra", "Requires"]
-git-tree-sha1 = "76289dc51920fdc6e0013c872ba9551d54961c24"
+git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608"
 uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
-version = "3.6.2"
+version = "3.7.2"
 weakdeps = ["StaticArrays"]
 
     [deps.Adapt.extensions]
@@ -37,15 +37,15 @@ version = "1.0.1"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.BitFlags]]
-git-tree-sha1 = "43b1a4a8f797c1cddadf60499a8a077d4af2cd2d"
+git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d"
 uuid = "d1d4a3ce-64b1-5f1a-9ba4-7e7e69966f35"
-version = "0.1.7"
+version = "0.1.9"
 
 [[deps.Bzip2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "19a35467a82e236ff51bc17a3a44b69ef35185a2"
+git-tree-sha1 = "8873e196c2eb87962a2048b3b8e08946535864a1"
 uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0"
-version = "1.0.8+0"
+version = "1.0.8+2"
 
 [[deps.CSSUtil]]
 deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"]
@@ -54,57 +54,67 @@ uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8"
 version = "0.1.1"
 
 [[deps.Cairo_jll]]
-deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
-git-tree-sha1 = "4b859a208b2397a7a623a03449e4636bdb17bcf2"
+deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
+git-tree-sha1 = "009060c9a6168704143100f36ab08f06c2af4642"
 uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a"
-version = "1.16.1+1"
+version = "1.18.2+1"
 
 [[deps.Cassette]]
-git-tree-sha1 = "a70f220ea09ec61401745ff338f8fb340420165c"
+git-tree-sha1 = "f8764df8d9d2aec2812f009a1ac39e46c33354b8"
 uuid = "7057c7e9-c182-5462-911a-8362d720325c"
-version = "0.3.11"
+version = "0.3.14"
 
 [[deps.ChainRulesCore]]
-deps = ["Compat", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "e30f2f4e20f7f186dc36529910beaedc60cfa644"
+deps = ["Compat", "LinearAlgebra"]
+git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "1.16.0"
+version = "1.25.0"
+weakdeps = ["SparseArrays"]
+
+    [deps.ChainRulesCore.extensions]
+    ChainRulesCoreSparseArraysExt = "SparseArrays"
 
 [[deps.CodecZlib]]
 deps = ["TranscodingStreams", "Zlib_jll"]
-git-tree-sha1 = "9c209fb7536406834aa938fb149964b985de6c83"
+git-tree-sha1 = "bce6804e5e6044c6daab27bb533d1295e4a2e759"
 uuid = "944b1d66-785c-5afd-91f1-9de20f533193"
-version = "0.7.1"
+version = "0.7.6"
 
 [[deps.ColorSchemes]]
 deps = ["ColorTypes", "ColorVectorSpace", "Colors", "FixedPointNumbers", "PrecompileTools", "Random"]
-git-tree-sha1 = "be6ab11021cd29f0344d5c4357b163af05a48cba"
+git-tree-sha1 = "13951eb68769ad1cd460cdb2e64e5e95f1bf123d"
 uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4"
-version = "3.21.0"
+version = "3.27.0"
 
 [[deps.ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
-git-tree-sha1 = "eb7f0f8307f71fac7c606984ea5fb2817275d6e4"
+git-tree-sha1 = "b10d0b65641d57b8b4d5e234446582de5047050d"
 uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f"
-version = "0.11.4"
+version = "0.11.5"
 
 [[deps.ColorVectorSpace]]
-deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "SpecialFunctions", "Statistics", "TensorCore"]
-git-tree-sha1 = "600cc5508d66b78aae350f7accdb58763ac18589"
+deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "Requires", "Statistics", "TensorCore"]
+git-tree-sha1 = "a1f44953f2382ebb937d60dafbe2deea4bd23249"
 uuid = "c3611d14-8923-5661-9e6a-0046d554d3a4"
-version = "0.9.10"
+version = "0.10.0"
+
+    [deps.ColorVectorSpace.extensions]
+    SpecialFunctionsExt = "SpecialFunctions"
+
+    [deps.ColorVectorSpace.weakdeps]
+    SpecialFunctions = "276daf66-3868-5448-9aa4-cd146d93841b"
 
 [[deps.Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "Reexport"]
-git-tree-sha1 = "fc08e5930ee9a4e03f84bfb5211cb54e7769758a"
+git-tree-sha1 = "362a287c3aa50601b0bc359053d5c2468f0e7ce0"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.12.10"
+version = "0.12.11"
 
 [[deps.Compat]]
-deps = ["UUIDs"]
-git-tree-sha1 = "7a60c856b9fa189eb34f5f8a6f6b5529b7942957"
+deps = ["TOML", "UUIDs"]
+git-tree-sha1 = "8ae8d32e09f0dcf42a36b90d4e17f5dd2e4c4215"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "4.6.1"
+version = "4.16.0"
 weakdeps = ["Dates", "LinearAlgebra"]
 
     [deps.Compat.extensions]
@@ -113,24 +123,33 @@ weakdeps = ["Dates", "LinearAlgebra"]
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.ConcurrentUtilities]]
 deps = ["Serialization", "Sockets"]
-git-tree-sha1 = "96d823b94ba8d187a6d8f0826e731195a74b90e9"
+git-tree-sha1 = "ea32b83ca4fefa1768dc84e504cc0a94fb1ab8d1"
 uuid = "f0e56b4a-5159-44fe-b623-3e5288b988bb"
-version = "2.2.0"
+version = "2.4.2"
+
+[[deps.ConstructionBase]]
+git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157"
+uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
+version = "1.5.8"
 
-[[deps.Conda]]
-deps = ["Downloads", "JSON", "VersionParsing"]
-git-tree-sha1 = "e32a90da027ca45d84678b826fffd3110bb3fc90"
-uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d"
-version = "1.8.0"
+    [deps.ConstructionBase.extensions]
+    ConstructionBaseIntervalSetsExt = "IntervalSets"
+    ConstructionBaseLinearAlgebraExt = "LinearAlgebra"
+    ConstructionBaseStaticArraysExt = "StaticArrays"
+
+    [deps.ConstructionBase.weakdeps]
+    IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.Contour]]
-git-tree-sha1 = "d05d9e7b7aedff4e5b51a029dced05cfb6125781"
+git-tree-sha1 = "439e35b0b36e2e5881738abc8857bd92ad6ff9a8"
 uuid = "d38c429a-6771-53c6-b99e-75d170b6e991"
-version = "0.6.2"
+version = "0.6.3"
 
 [[deps.CoordinateTransformations]]
 deps = ["LinearAlgebra", "StaticArrays"]
@@ -139,15 +158,15 @@ uuid = "150eb455-5306-5404-9cee-2592286d6298"
 version = "0.6.3"
 
 [[deps.DataAPI]]
-git-tree-sha1 = "8da84edb865b0b5b0100c0666a9bc9a0b71c553c"
+git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
-version = "1.15.0"
+version = "1.16.0"
 
 [[deps.DataStructures]]
 deps = ["Compat", "InteractiveUtils", "OrderedCollections"]
-git-tree-sha1 = "d1fff3a548102f48987a52a2e0d114fa97d730f0"
+git-tree-sha1 = "1d0a14036acb104d9e89698bd408f63ab58cdc82"
 uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
-version = "0.18.13"
+version = "0.18.20"
 
 [[deps.DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -158,6 +177,12 @@ version = "1.0.0"
 deps = ["Printf"]
 uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
 
+[[deps.Dbus_jll]]
+deps = ["Artifacts", "Expat_jll", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "fc173b380865f70627d7dd1190dc2fce6cc105af"
+uuid = "ee1fde0b-3d02-5ea6-8484-8dfef6360eab"
+version = "1.14.10+0"
+
 [[deps.DelimitedFiles]]
 deps = ["Mmap"]
 git-tree-sha1 = "9e2f36d3c96a820c678f2f1f1782582fcf685bae"
@@ -186,33 +211,45 @@ uuid = "5ae413db-bbd1-5e63-b57d-d24a61df00f5"
 version = "2.2.4+0"
 
 [[deps.Electron]]
-deps = ["Base64", "FilePaths", "JSON", "Pkg", "Sockets", "URIs", "UUIDs"]
-git-tree-sha1 = "df5b0596947b0e1baac5bd37ee425774a75509fa"
+deps = ["Base64", "FilePaths", "JSON", "Pkg", "RelocatableFolders", "Sockets", "URIs", "UUIDs"]
+git-tree-sha1 = "41b57cf5400bb79b13893278445306da1e1d5711"
 uuid = "a1bb12fb-d4d1-54b4-b10a-ee7951ef7ad3"
-version = "4.1.1"
+version = "5.1.0"
+
+[[deps.EpollShim_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8e9441ee83492030ace98f9789a654a6d0b1f643"
+uuid = "2702e6a9-849d-5ed8-8c21-79e8b8f9ee43"
+version = "0.0.20230411+0"
+
+[[deps.ExceptionUnwrapping]]
+deps = ["Test"]
+git-tree-sha1 = "dcb08a0d93ec0b1cdc4af184b26b591e9695423a"
+uuid = "460bff9d-24e4-43bc-9d9f-a8973cb893f4"
+version = "0.1.10"
 
 [[deps.Expat_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "bad72f730e9e91c08d9427d5e8db95478a3c323d"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1c6317308b9dc757616f0b5cb379db10494443a7"
 uuid = "2e619515-83b5-522b-bb60-26c02a35a201"
-version = "2.4.8+0"
+version = "2.6.2+0"
 
 [[deps.Extents]]
-git-tree-sha1 = "5e1e4c53fa39afe63a7d356e30452249365fba99"
+git-tree-sha1 = "81023caa0021a41712685887db1fc03db26f41f5"
 uuid = "411431e0-e8b7-467b-b5e0-f676ba4f2910"
-version = "0.1.1"
+version = "0.1.4"
 
 [[deps.FFMPEG]]
 deps = ["FFMPEG_jll"]
-git-tree-sha1 = "b57e3acbe22f8484b4b5ff66a7499717fe1a9cc8"
+git-tree-sha1 = "53ebe7511fa11d33bec688a9178fac4e49eeee00"
 uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a"
-version = "0.4.1"
+version = "0.4.2"
 
 [[deps.FFMPEG_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Pkg", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
-git-tree-sha1 = "74faea50c1d007c85837327f6775bea60b5492dd"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"]
+git-tree-sha1 = "466d45dc38e15794ec7d5d63ec03d776a9aff36e"
 uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5"
-version = "4.4.2+2"
+version = "4.4.4+1"
 
 [[deps.FilePaths]]
 deps = ["FilePathsBase", "MacroTools", "Reexport", "Requires"]
@@ -221,43 +258,47 @@ uuid = "8fc22ac5-c921-52a6-82fd-178b2807b824"
 version = "0.8.3"
 
 [[deps.FilePathsBase]]
-deps = ["Compat", "Dates", "Mmap", "Printf", "Test", "UUIDs"]
-git-tree-sha1 = "e27c4ebe80e8699540f2d6c805cc12203b614f12"
+deps = ["Compat", "Dates"]
+git-tree-sha1 = "7878ff7172a8e6beedd1dea14bd27c3c6340d361"
 uuid = "48062228-2e41-5def-b9a4-89aafe57970f"
-version = "0.9.20"
+version = "0.9.22"
+weakdeps = ["Mmap", "Test"]
+
+    [deps.FilePathsBase.extensions]
+    FilePathsBaseMmapExt = "Mmap"
+    FilePathsBaseTestExt = "Test"
 
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.FixedPointNumbers]]
 deps = ["Statistics"]
-git-tree-sha1 = "335bfdceacc84c5cdf16aadc768aa5ddfc5383cc"
+git-tree-sha1 = "05882d6995ae5c12bb5f36dd2ed3f61c98cbb172"
 uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
-version = "0.8.4"
+version = "0.8.5"
 
 [[deps.Fontconfig_jll]]
-deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "21efd19106a55620a188615da6d3d06cd7f6ee03"
+deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Zlib_jll"]
+git-tree-sha1 = "db16beca600632c95fc8aca29890d83788dd8b23"
 uuid = "a3f928ae-7b40-5064-980b-68af3947d34b"
-version = "2.13.93+0"
+version = "2.13.96+0"
 
-[[deps.Formatting]]
-deps = ["Printf"]
-git-tree-sha1 = "8339d61043228fdd3eb658d86c926cb282ae72a8"
-uuid = "59287772-0a20-5a39-b81b-1366585eb4c0"
-version = "0.4.2"
+[[deps.Format]]
+git-tree-sha1 = "9c68794ef81b08086aeb32eeaf33531668d5f5fc"
+uuid = "1fa38f19-a742-5d3f-a2b9-30dd87b9d5f8"
+version = "1.3.7"
 
 [[deps.FreeType2_jll]]
-deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "87eb71354d8ec1a96d4a7636bd57a7347dde3ef9"
+deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "5c1d8ae0efc6c2e7b1fc502cbe25def8f661b7bc"
 uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7"
-version = "2.10.4+0"
+version = "2.13.2+0"
 
 [[deps.FriBidi_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "aa31987c2ba8704e23c6c8ba8a4f769d5d7e4f91"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1ed150b39aebcc805c26b93a8d0122c940f64ce2"
 uuid = "559328eb-81f9-559d-9380-de523a88c83c"
-version = "1.0.10+0"
+version = "1.0.14+0"
 
 [[deps.FunctionalCollections]]
 deps = ["Test"]
@@ -266,40 +307,39 @@ uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca"
 version = "0.5.0"
 
 [[deps.GLFW_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libglvnd_jll", "Pkg", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll"]
-git-tree-sha1 = "d972031d28c8c8d9d7b41a536ad7bb0c2579caca"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libglvnd_jll", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll", "libdecor_jll", "xkbcommon_jll"]
+git-tree-sha1 = "532f9126ad901533af1d4f5c198867227a7bb077"
 uuid = "0656b61e-2033-5cc2-a64a-77c0f6c09b89"
-version = "3.3.8+0"
-
-[[deps.GPUArraysCore]]
-deps = ["Adapt"]
-git-tree-sha1 = "1cd7f0af1aa58abc02ea1d872953a97359cb87fa"
-uuid = "46192b85-c4d5-4398-a991-12ede77f4527"
-version = "0.1.4"
+version = "3.4.0+1"
 
 [[deps.GR]]
-deps = ["Artifacts", "Base64", "DelimitedFiles", "Downloads", "GR_jll", "HTTP", "JSON", "Libdl", "LinearAlgebra", "Pkg", "Preferences", "Printf", "Random", "Serialization", "Sockets", "TOML", "Tar", "Test", "UUIDs", "p7zip_jll"]
-git-tree-sha1 = "d014972cd6f5afb1f8cd7adf000b7a966d62c304"
+deps = ["Artifacts", "Base64", "DelimitedFiles", "Downloads", "GR_jll", "HTTP", "JSON", "Libdl", "LinearAlgebra", "Preferences", "Printf", "Qt6Wayland_jll", "Random", "Serialization", "Sockets", "TOML", "Tar", "Test", "p7zip_jll"]
+git-tree-sha1 = "ee28ddcd5517d54e417182fec3886e7412d3926f"
 uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71"
-version = "0.72.5"
+version = "0.73.8"
 
 [[deps.GR_jll]]
-deps = ["Artifacts", "Bzip2_jll", "Cairo_jll", "FFMPEG_jll", "Fontconfig_jll", "GLFW_jll", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Libtiff_jll", "Pixman_jll", "Qt5Base_jll", "Zlib_jll", "libpng_jll"]
-git-tree-sha1 = "f670f269909a9114df1380cc0fcaa316fff655fb"
+deps = ["Artifacts", "Bzip2_jll", "Cairo_jll", "FFMPEG_jll", "Fontconfig_jll", "FreeType2_jll", "GLFW_jll", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Libtiff_jll", "Pixman_jll", "Qt6Base_jll", "Zlib_jll", "libpng_jll"]
+git-tree-sha1 = "f31929b9e67066bee48eec8b03c0df47d31a74b3"
 uuid = "d2c73de3-f751-5644-a686-071e5b155ba9"
-version = "0.72.5+0"
+version = "0.73.8+0"
+
+[[deps.GeoFormatTypes]]
+git-tree-sha1 = "59107c179a586f0fe667024c5eb7033e81333271"
+uuid = "68eda718-8dee-11e9-39e7-89f7f65f511f"
+version = "0.4.2"
 
 [[deps.GeoInterface]]
-deps = ["Extents"]
-git-tree-sha1 = "bb198ff907228523f3dee1070ceee63b9359b6ab"
+deps = ["Extents", "GeoFormatTypes"]
+git-tree-sha1 = "826b4fd69438d9ce4d2b19de6bc2f970f45f0f88"
 uuid = "cf35fbd7-0cd7-5166-be24-54bfbe79505f"
-version = "1.3.1"
+version = "1.3.8"
 
 [[deps.GeometryBasics]]
-deps = ["EarCut_jll", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
-git-tree-sha1 = "659140c9375afa2f685e37c1a0b9c9a60ef56b40"
+deps = ["EarCut_jll", "Extents", "GeoInterface", "IterTools", "LinearAlgebra", "StaticArrays", "StructArrays", "Tables"]
+git-tree-sha1 = "b62f2b2d76cee0d61a2ef2b3118cd2a3215d3134"
 uuid = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
-version = "0.4.7"
+version = "0.4.11"
 
 [[deps.GeometryTypes]]
 deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"]
@@ -314,10 +354,10 @@ uuid = "78b55507-aeef-58d4-861c-77aaff3498b1"
 version = "0.21.0+0"
 
 [[deps.Glib_jll]]
-deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "d3b3624125c1474292d0d8ed0f65554ac37ddb23"
+deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"]
+git-tree-sha1 = "674ff0db93fffcd11a3573986e550d66cd4fd71f"
 uuid = "7746bdde-850d-59dc-9ae8-88ece973131d"
-version = "2.74.0+2"
+version = "2.80.5+0"
 
 [[deps.Graphite2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -331,22 +371,22 @@ uuid = "42e2da0e-8278-4e71-bc24-59509adca0fe"
 version = "1.0.2"
 
 [[deps.HTTP]]
-deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
-git-tree-sha1 = "ba9eca9f8bdb787c6f3cf52cb4a404c0e349a0d1"
+deps = ["Base64", "CodecZlib", "ConcurrentUtilities", "Dates", "ExceptionUnwrapping", "Logging", "LoggingExtras", "MbedTLS", "NetworkOptions", "OpenSSL", "Random", "SimpleBufferStream", "Sockets", "URIs", "UUIDs"]
+git-tree-sha1 = "bc3f416a965ae61968c20d0ad867556367f2817d"
 uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-version = "1.9.5"
+version = "1.10.9"
 
 [[deps.HarfBuzz_jll]]
-deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg"]
-git-tree-sha1 = "129acf094d168394e80ee1dc4bc06ec835e510a3"
+deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"]
+git-tree-sha1 = "401e4f3f30f43af2c8478fc008da50096ea5240f"
 uuid = "2e76f6c2-a576-52d4-95c1-20adfe4de566"
-version = "2.8.1+1"
+version = "8.3.1+0"
 
 [[deps.InteractBase]]
 deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"]
-git-tree-sha1 = "dc5a846040f1607740e29e582b6e66251b9ecf9d"
+git-tree-sha1 = "aa5daeff326db0a9126a225b58ca04ae12f57259"
 uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009"
-version = "0.10.9"
+version = "0.10.10"
 
 [[deps.InteractiveUtils]]
 deps = ["Markdown"]
@@ -364,9 +404,9 @@ uuid = "92d709cd-6900-40b7-9082-c6be49f344b6"
 version = "0.2.2"
 
 [[deps.IterTools]]
-git-tree-sha1 = "fa6287a4469f5e048d763df38279ee729fbd44e5"
+git-tree-sha1 = "42d5f897009e7ff2cf88db414a389e5ed1bdd023"
 uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e"
-version = "1.4.0"
+version = "1.10.0"
 
 [[deps.IteratorInterfaceExtensions]]
 git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856"
@@ -375,15 +415,15 @@ version = "1.0.0"
 
 [[deps.JLFzf]]
 deps = ["Pipe", "REPL", "Random", "fzf_jll"]
-git-tree-sha1 = "f377670cda23b6b7c1c0b3893e37451c5c1a2185"
+git-tree-sha1 = "39d64b09147620f5ffbf6b2d3255be3c901bec63"
 uuid = "1019f520-868f-41f5-a6de-eb00f4b6a39c"
-version = "0.1.5"
+version = "0.1.8"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.JSExpr]]
 deps = ["JSON", "MacroTools", "Observables", "WebIO"]
@@ -399,9 +439,9 @@ version = "0.21.4"
 
 [[deps.JpegTurbo_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "6f2675ef130a300a112286de91973805fcc5ffbc"
+git-tree-sha1 = "25ee0be4d43d0269027024d75a24c24d6c6e590c"
 uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8"
-version = "2.1.91+0"
+version = "3.0.4+0"
 
 [[deps.Knockout]]
 deps = ["JSExpr", "JSON", "Observables", "Test", "WebIO"]
@@ -410,51 +450,59 @@ uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc"
 version = "0.2.6"
 
 [[deps.LAME_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "f6250b16881adf048549549fba48b1161acdac8c"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "170b660facf5df5de098d866564877e119141cbd"
 uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d"
-version = "3.100.1+0"
+version = "3.100.2+0"
 
 [[deps.LERC_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "bf36f528eec6634efc60d7ec062008f171071434"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "36bdbc52f13a7d1dcb0f3cd694e01677a515655b"
 uuid = "88015f11-f218-50d7-93a8-a6af411a945d"
-version = "3.0.0+1"
+version = "4.0.0+0"
+
+[[deps.LLVMOpenMP_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "78211fb6cbc872f77cad3fc0b6cf647d923f4929"
+uuid = "1d63c593-3942-5779-bab2-d838dc0a180e"
+version = "18.1.7+0"
 
 [[deps.LZO_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "e5b909bcf985c5e2605737d2ce278ed791b89be6"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "854a9c268c43b77b0a27f22d7fab8d33cdb3a731"
 uuid = "dd4b983a-f0e5-5f8d-a1b7-129d4a5fb1ac"
-version = "2.10.1+0"
+version = "2.10.2+1"
 
 [[deps.LaTeXStrings]]
-git-tree-sha1 = "f2355693d6778a178ade15952b7ac47a4ff97996"
+git-tree-sha1 = "dda21b8cbd6a6c40d9d02a73230f9d70fed6918c"
 uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
-version = "1.3.0"
+version = "1.4.0"
 
 [[deps.Latexify]]
-deps = ["Formatting", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Printf", "Requires"]
-git-tree-sha1 = "099e356f267354f46ba65087981a77da23a279b7"
+deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"]
+git-tree-sha1 = "ce5f5621cac23a86011836badfedf664a612cee4"
 uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
-version = "0.16.0"
+version = "0.16.5"
 
     [deps.Latexify.extensions]
     DataFramesExt = "DataFrames"
+    SparseArraysExt = "SparseArrays"
     SymEngineExt = "SymEngine"
 
     [deps.Latexify.weakdeps]
     DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
     SymEngine = "123dc426-2d89-5057-bbad-38513e3affd8"
 
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -463,7 +511,7 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
@@ -475,10 +523,10 @@ uuid = "e9f186c6-92d2-5b65-8a66-fee21dc1b490"
 version = "3.2.2+1"
 
 [[deps.Libgcrypt_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll", "Pkg"]
-git-tree-sha1 = "64613c82a59c120435c067c2b809fc61cf5166ae"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgpg_error_jll"]
+git-tree-sha1 = "8be878062e0ffa2c3f67bb58a595375eda5de80b"
 uuid = "d4300ac3-e22c-5743-9152-c294e39db1e4"
-version = "1.8.7+0"
+version = "1.11.0+0"
 
 [[deps.Libglvnd_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll", "Xorg_libXext_jll"]
@@ -487,40 +535,40 @@ uuid = "7e76a0d4-f3c7-5321-8279-8d96eeed0f29"
 version = "1.6.0+0"
 
 [[deps.Libgpg_error_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c333716e46366857753e273ce6a69ee0945a6db9"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "c6ce1e19f3aec9b59186bdf06cdf3c4fc5f5f3e6"
 uuid = "7add5ba3-2f88-524e-9cd5-f83b8a55f7b8"
-version = "1.42.0+0"
+version = "1.50.0+0"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.Libmount_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9c30530bf0effd46e15e0fdcf2b8636e78cbbd73"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "0c4f9c4f1a50d8f35048fa0532dabbadf702f81e"
 uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9"
-version = "2.35.0+0"
+version = "2.40.1+0"
 
 [[deps.Libtiff_jll]]
-deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "LERC_jll", "Libdl", "Pkg", "Zlib_jll", "Zstd_jll"]
-git-tree-sha1 = "3eb79b0ca5764d4799c06699573fd8f533259713"
+deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "LERC_jll", "Libdl", "XZ_jll", "Zlib_jll", "Zstd_jll"]
+git-tree-sha1 = "b404131d06f7886402758c9ce2214b636eb4d54a"
 uuid = "89763e89-9b03-5906-acba-b20f662cd828"
-version = "4.4.0+0"
+version = "4.7.0+0"
 
 [[deps.Libuuid_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "7f3efec06033682db852f8b3bc3c1d2b0a0ab066"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "5ee6203157c120d79034c748a2acba45b82b8807"
 uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700"
-version = "2.36.0+0"
+version = "2.40.1+0"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -528,9 +576,9 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [[deps.LogExpFunctions]]
 deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
-git-tree-sha1 = "0a1b7c2863e44523180fdb3146534e265a91870b"
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
 uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
-version = "0.3.23"
+version = "0.3.28"
 
     [deps.LogExpFunctions.extensions]
     LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -547,9 +595,9 @@ uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
 [[deps.LoggingExtras]]
 deps = ["Dates", "Logging"]
-git-tree-sha1 = "cedb76b37bc5a6c702ade66be44f831fa23c681e"
+git-tree-sha1 = "f02b56007b064fbfddb4c9cd60161b6dd0f40df3"
 uuid = "e6f89c97-d47a-5376-807f-9c37f3926c36"
-version = "1.0.0"
+version = "1.1.0"
 
 [[deps.LoopThrottle]]
 deps = ["Test"]
@@ -559,19 +607,19 @@ version = "0.1.0"
 
 [[deps.MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "42324d08725e200c23d4dfb549e0d5d89dede2d2"
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.10"
+version = "0.5.13"
 
 [[deps.Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
 
 [[deps.MbedTLS]]
-deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "Random", "Sockets"]
-git-tree-sha1 = "03a9b9718f5682ecb107ac9f7308991db4ce395b"
+deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"]
+git-tree-sha1 = "c067a280ddc25f196b5e7df3877c6b226d390aaf"
 uuid = "739be429-bea8-5141-9913-cc70e7f3736d"
-version = "1.1.7"
+version = "1.1.9"
 
 [[deps.MbedTLS_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -590,10 +638,10 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca"
 version = "0.7.1"
 
 [[deps.MeshCat]]
-deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
-git-tree-sha1 = "36d71bbe7a4279641d84df1fa98bfa29561edd14"
+deps = ["Base64", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryBasics", "HTTP", "LinearAlgebra", "Logging", "MsgPack", "Parameters", "Pkg", "PrecompileTools", "Requires", "Rotations", "Sockets", "StaticArrays", "Tar", "UUIDs"]
+git-tree-sha1 = "90472d170283eb309e61db47b7d346a99409ca75"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
-version = "0.16.0"
+version = "0.16.2"
 
 [[deps.MeshCatMechanisms]]
 deps = ["ColorTypes", "CoordinateTransformations", "GeometryBasics", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "OrderedCollections", "RigidBodyDynamics"]
@@ -603,9 +651,9 @@ version = "0.9.0"
 
 [[deps.Missings]]
 deps = ["DataAPI"]
-git-tree-sha1 = "f66bdc5de519e8f8ae43bdc598782d35a25b1272"
+git-tree-sha1 = "ec4f7fbeab05d7747bdf98eb74d130a2a2ed298d"
 uuid = "e1d29d7a-bbdc-5cf2-9ac0-f12de2c33e28"
-version = "1.1.0"
+version = "1.2.0"
 
 [[deps.Mmap]]
 uuid = "a63ad114-7e13-5084-954f-fe012c677804"
@@ -616,9 +664,9 @@ version = "2022.10.11"
 
 [[deps.MsgPack]]
 deps = ["Serialization"]
-git-tree-sha1 = "fc8c15ca848b902015bd4a745d350f02cf791c2a"
+git-tree-sha1 = "f5db02ae992c260e4826fe78c942954b48e1d9c2"
 uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671"
-version = "1.2.0"
+version = "1.2.1"
 
 [[deps.NaNMath]]
 deps = ["OpenLibm_jll"]
@@ -631,15 +679,18 @@ uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
 
 [[deps.Observables]]
-git-tree-sha1 = "6862738f9796b3edc1c09d0890afce4eca9e7e93"
+git-tree-sha1 = "7438a59546cf62428fc9d1bc94729146d37a7225"
 uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
-version = "0.5.4"
+version = "0.5.5"
 
 [[deps.OffsetArrays]]
-deps = ["Adapt"]
-git-tree-sha1 = "82d7c9e310fe55aa54996e6f7f94674e2a38fcb4"
+git-tree-sha1 = "1a27764e945a152f7ca7efa04de513d473e9542e"
 uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
-version = "1.12.9"
+version = "1.14.1"
+weakdeps = ["Adapt"]
+
+    [deps.OffsetArrays.extensions]
+    OffsetArraysAdaptExt = "Adapt"
 
 [[deps.Ogg_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -659,38 +710,38 @@ version = "0.8.1+0"
 
 [[deps.OpenSSL]]
 deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"]
-git-tree-sha1 = "51901a49222b09e3743c65b8847687ae5fc78eb2"
+git-tree-sha1 = "38cb508d080d21dc1128f7fb04f20387ed4c0af4"
 uuid = "4d8831e6-92b7-49fb-bdf8-b643e874388c"
-version = "1.4.1"
+version = "1.4.3"
 
 [[deps.OpenSSL_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "9ff31d101d987eb9d66bd8b176ac7c277beccd09"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "7493f61f55a6cce7325f197443aa80d32554ba10"
 uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95"
-version = "1.1.20+0"
-
-[[deps.OpenSpecFun_jll]]
-deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
-uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
-version = "0.5.5+0"
+version = "3.0.15+1"
 
 [[deps.Opus_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "51a08fb14ec28da2ec7a927c4337e4332c2a4720"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6703a85cb3781bd5909d48730a67205f3f31a575"
 uuid = "91d4177d-7536-5919-b921-800302f37372"
-version = "1.3.2+0"
+version = "1.3.3+0"
 
 [[deps.OrderedCollections]]
-git-tree-sha1 = "d321bf2de576bf25ec4d3e4360faca399afca282"
+git-tree-sha1 = "dfdf5519f235516220579f949664f1bf44e741c5"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.6.0"
+version = "1.6.3"
 
 [[deps.PCRE2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "efcefdf7-47ab-520b-bdef-62a2eaa19f15"
 version = "10.42.0+0"
 
+[[deps.Pango_jll]]
+deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "FriBidi_jll", "Glib_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "e127b609fb9ecba6f201ba7ab753d5a605d53801"
+uuid = "36c8627f-9965-5494-a995-c6b170f724f3"
+version = "1.54.1+0"
+
 [[deps.Parameters]]
 deps = ["OrderedCollections", "UnPack"]
 git-tree-sha1 = "34c0e9ad262e5f7fc75b10a9952ca7692cfc5fbe"
@@ -699,9 +750,9 @@ version = "0.12.3"
 
 [[deps.Parsers]]
 deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "a5aef8d4a6e8d81f171b2bd4be5265b01384c74c"
+git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.10"
+version = "2.8.1"
 
 [[deps.Pidfile]]
 deps = ["FileWatching", "Test"]
@@ -715,33 +766,33 @@ uuid = "b98c9c47-44ae-5843-9183-064241ee97a0"
 version = "1.3.0"
 
 [[deps.Pixman_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "b4f5d02549a10e20780a24fce72bea96b6329e29"
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "LLVMOpenMP_jll", "Libdl"]
+git-tree-sha1 = "35621f10a7531bc8fa58f74610b1bfb70a3cfc6b"
 uuid = "30392449-352a-5448-841d-b1acce4e97dc"
-version = "0.40.1+0"
+version = "0.43.4+0"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PlotThemes]]
 deps = ["PlotUtils", "Statistics"]
-git-tree-sha1 = "1f03a2d339f42dca4a4da149c7e15e9b896ad899"
+git-tree-sha1 = "41031ef3a1be6f5bbbf3e8073f210556daeae5ca"
 uuid = "ccf2f8ad-2431-5c83-bf29-c5338b663b6a"
-version = "3.1.0"
+version = "3.3.0"
 
 [[deps.PlotUtils]]
-deps = ["ColorSchemes", "Colors", "Dates", "PrecompileTools", "Printf", "Random", "Reexport", "Statistics"]
-git-tree-sha1 = "f92e1315dadf8c46561fb9396e525f7200cdc227"
+deps = ["ColorSchemes", "Colors", "Dates", "PrecompileTools", "Printf", "Random", "Reexport", "StableRNGs", "Statistics"]
+git-tree-sha1 = "3ca9a356cd2e113c420f2c13bea19f8d3fb1cb18"
 uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043"
-version = "1.3.5"
+version = "1.4.3"
 
 [[deps.Plots]]
-deps = ["Base64", "Contour", "Dates", "Downloads", "FFMPEG", "FixedPointNumbers", "GR", "JLFzf", "JSON", "LaTeXStrings", "Latexify", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "PrecompileTools", "Preferences", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "RelocatableFolders", "Requires", "Scratch", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs", "UnicodeFun", "Unzip"]
-git-tree-sha1 = "d03ef538114b38f89d66776f2d8fdc0280f90621"
+deps = ["Base64", "Contour", "Dates", "Downloads", "FFMPEG", "FixedPointNumbers", "GR", "JLFzf", "JSON", "LaTeXStrings", "Latexify", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "PrecompileTools", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "RelocatableFolders", "Requires", "Scratch", "Showoff", "SparseArrays", "Statistics", "StatsBase", "TOML", "UUIDs", "UnicodeFun", "UnitfulLatexify", "Unzip"]
+git-tree-sha1 = "45470145863035bb124ca51b320ed35d071cc6c2"
 uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-version = "1.38.12"
+version = "1.40.8"
 
     [deps.Plots.extensions]
     FileIOExt = "FileIO"
@@ -759,43 +810,49 @@ version = "1.38.12"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
-[[deps.PyCall]]
-deps = ["Conda", "Dates", "Libdl", "LinearAlgebra", "MacroTools", "Serialization", "VersionParsing"]
-git-tree-sha1 = "62f417f6ad727987c755549e9cd88c46578da562"
-uuid = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0"
-version = "1.95.1"
-
-[[deps.PyPlot]]
-deps = ["Colors", "LaTeXStrings", "PyCall", "Sockets", "Test", "VersionParsing"]
-git-tree-sha1 = "92e7ca803b579b8b817f004e74b205a706d9a974"
-uuid = "d330b81b-6aea-500a-939a-2ce795aea3ee"
-version = "2.11.1"
-
-[[deps.Qt5Base_jll]]
-deps = ["Artifacts", "CompilerSupportLibraries_jll", "Fontconfig_jll", "Glib_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "OpenSSL_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libxcb_jll", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_keysyms_jll", "Xorg_xcb_util_renderutil_jll", "Xorg_xcb_util_wm_jll", "Zlib_jll", "xkbcommon_jll"]
-git-tree-sha1 = "0c03844e2231e12fda4d0086fd7cbe4098ee8dc5"
-uuid = "ea2cea3b-5b76-57ae-a6ef-0a8af62496e1"
-version = "5.15.3+2"
+[[deps.Qt6Base_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "Fontconfig_jll", "Glib_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "OpenSSL_jll", "Vulkan_Loader_jll", "Xorg_libSM_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Xorg_libxcb_jll", "Xorg_xcb_util_cursor_jll", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_keysyms_jll", "Xorg_xcb_util_renderutil_jll", "Xorg_xcb_util_wm_jll", "Zlib_jll", "libinput_jll", "xkbcommon_jll"]
+git-tree-sha1 = "492601870742dcd38f233b23c3ec629628c1d724"
+uuid = "c0090381-4147-56d7-9ebc-da0b1113ec56"
+version = "6.7.1+1"
+
+[[deps.Qt6Declarative_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Qt6Base_jll", "Qt6ShaderTools_jll"]
+git-tree-sha1 = "e5dd466bf2569fe08c91a2cc29c1003f4797ac3b"
+uuid = "629bc702-f1f5-5709-abd5-49b8460ea067"
+version = "6.7.1+2"
+
+[[deps.Qt6ShaderTools_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Qt6Base_jll"]
+git-tree-sha1 = "1a180aeced866700d4bebc3120ea1451201f16bc"
+uuid = "ce943373-25bb-56aa-8eca-768745ed7b5a"
+version = "6.7.1+1"
+
+[[deps.Qt6Wayland_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Qt6Base_jll", "Qt6Declarative_jll"]
+git-tree-sha1 = "729927532d48cf79f49070341e1d918a65aba6b0"
+uuid = "e99dba38-086e-5de3-a5b1-6e4c66e897c3"
+version = "6.7.1+1"
 
 [[deps.Quaternions]]
 deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+git-tree-sha1 = "994cc27cdacca10e68feb291673ec3a76aa2fae9"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.7.6"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -807,9 +864,9 @@ uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [[deps.Ratios]]
 deps = ["Requires"]
-git-tree-sha1 = "6d7bb727e76147ba18eed998700998e17b8e4911"
+git-tree-sha1 = "1342a47bf3260ee108163042310d26f2be5ec90b"
 uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439"
-version = "0.4.4"
+version = "0.4.5"
 weakdeps = ["FixedPointNumbers"]
 
     [deps.Ratios.extensions]
@@ -840,9 +897,9 @@ version = "1.2.2"
 
 [[deps.RelocatableFolders]]
 deps = ["SHA", "Scratch"]
-git-tree-sha1 = "90bc7a7c96410424509e4263e277e43250c05691"
+git-tree-sha1 = "ffdaf70d81cf6ff22c2b6e733c900c3321cab864"
 uuid = "05181044-ff0b-4ac5-8273-598c1e38db00"
-version = "1.0.0"
+version = "1.0.1"
 
 [[deps.Requires]]
 deps = ["UUIDs"]
@@ -858,9 +915,13 @@ version = "2.3.2"
 
 [[deps.Rotations]]
 deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+git-tree-sha1 = "5680a9276685d392c87407df00d57c9924d9f11e"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.7.1"
+weakdeps = ["RecipesBase"]
+
+    [deps.Rotations.extensions]
+    RotationsRecipesBaseExt = "RecipesBase"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -868,9 +929,9 @@ version = "0.7.0"
 
 [[deps.Scratch]]
 deps = ["Dates"]
-git-tree-sha1 = "30449ee12237627992a99d5e30ae63e4d78cd24a"
+git-tree-sha1 = "3bac05bc7e74a75fd9cba4295cde4045d9fe2386"
 uuid = "6c6a2e73-6563-6170-7368-637461726353"
-version = "1.2.0"
+version = "1.2.1"
 
 [[deps.Serialization]]
 uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
@@ -886,43 +947,44 @@ uuid = "992d4aef-0814-514b-bc4d-f2e9a6c4116f"
 version = "1.0.3"
 
 [[deps.SimpleBufferStream]]
-git-tree-sha1 = "874e8867b33a00e784c8a7e4b60afe9e037b74e1"
+git-tree-sha1 = "f305871d2f381d21527c770d4788c06c097c9bc1"
 uuid = "777ac1f9-54b0-4bf8-805c-2214025038e7"
-version = "1.1.0"
+version = "1.2.0"
 
 [[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 
 [[deps.SortingAlgorithms]]
 deps = ["DataStructures"]
-git-tree-sha1 = "a4ada03f999bd01b3a25dcaa30b2d929fe537e00"
+git-tree-sha1 = "66e0a8e672a0bdfca2c3f5937efb8538b9ddc085"
 uuid = "a2af1166-a08f-5f64-846c-94a0d3cef48c"
-version = "1.1.0"
+version = "1.2.1"
 
 [[deps.SparseArrays]]
 deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
-[[deps.SpecialFunctions]]
-deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "ef28127915f4229c971eb43f3fc075dd3fe91880"
-uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.2.0"
-weakdeps = ["ChainRulesCore"]
-
-    [deps.SpecialFunctions.extensions]
-    SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
+[[deps.StableRNGs]]
+deps = ["Random"]
+git-tree-sha1 = "83e6cce8324d49dfaf9ef059227f91ed4441a8e5"
+uuid = "860ef19b-820b-49d6-a774-d7a799459cd3"
+version = "1.0.2"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+weakdeps = ["ChainRulesCore", "Statistics"]
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -931,21 +993,33 @@ version = "1.9.0"
 
 [[deps.StatsAPI]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "45a7769a04a3cf80da1c1c7c60caf932e6f4c9f7"
+git-tree-sha1 = "1ff449ad350c9c4cbc756624d6f8a8c3ef56d3ed"
 uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0"
-version = "1.6.0"
+version = "1.7.0"
 
 [[deps.StatsBase]]
 deps = ["DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
-git-tree-sha1 = "d1bf48bfcc554a3761a133fe3a9bb01488e06916"
+git-tree-sha1 = "5cf7606d6cef84b543b483848d4ae08ad9832b21"
 uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
-version = "0.33.21"
+version = "0.34.3"
 
 [[deps.StructArrays]]
-deps = ["Adapt", "DataAPI", "GPUArraysCore", "StaticArraysCore", "Tables"]
-git-tree-sha1 = "521a0e828e98bb69042fec1809c1b5a680eb7389"
+deps = ["ConstructionBase", "DataAPI", "Tables"]
+git-tree-sha1 = "f4dc295e983502292c4c3f951dbb4e985e35b3be"
 uuid = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
-version = "0.6.15"
+version = "0.6.18"
+
+    [deps.StructArrays.extensions]
+    StructArraysAdaptExt = "Adapt"
+    StructArraysGPUArraysCoreExt = "GPUArraysCore"
+    StructArraysSparseArraysExt = "SparseArrays"
+    StructArraysStaticArraysExt = "StaticArrays"
+
+    [deps.StructArrays.weakdeps]
+    Adapt = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
+    GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [[deps.SuiteSparse_jll]]
 deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"]
@@ -964,10 +1038,10 @@ uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c"
 version = "1.0.1"
 
 [[deps.Tables]]
-deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "OrderedCollections", "TableTraits", "Test"]
-git-tree-sha1 = "1544b926975372da01227b382066ab70e574a3ec"
+deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "OrderedCollections", "TableTraits"]
+git-tree-sha1 = "598cd7c1f68d1e205689b1c2fe65a9f85846f297"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.10.1"
+version = "1.12.0"
 
 [[deps.Tar]]
 deps = ["ArgTools", "SHA"]
@@ -985,10 +1059,9 @@ deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [[deps.TranscodingStreams]]
-deps = ["Random", "Test"]
-git-tree-sha1 = "9a6ae7ed916312b41236fcef7e0af564ef934769"
+git-tree-sha1 = "0c45878dcfdcfa8480052b6ab162cdd138781742"
 uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa"
-version = "0.9.13"
+version = "0.11.3"
 
 [[deps.TypeSortedCollections]]
 git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2"
@@ -996,9 +1069,9 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf"
 version = "1.1.0"
 
 [[deps.URIs]]
-git-tree-sha1 = "074f993b0ca030848b897beff716d93aca60f06a"
+git-tree-sha1 = "67db6cc7b3821e19ebe75791a9dd19c9b1188f2b"
 uuid = "5c2747f8-b7ea-4ff2-ba2e-563bfd36b1d4"
-version = "1.4.2"
+version = "1.5.1"
 
 [[deps.UUIDs]]
 deps = ["Random", "SHA"]
@@ -1018,38 +1091,59 @@ git-tree-sha1 = "53915e50200959667e78a92a418594b428dffddf"
 uuid = "1cfade01-22cf-5700-b092-accc4b62d6e1"
 version = "0.4.1"
 
+[[deps.Unitful]]
+deps = ["Dates", "LinearAlgebra", "Random"]
+git-tree-sha1 = "d95fe458f26209c66a187b1114df96fd70839efd"
+uuid = "1986cc42-f94f-5a68-af5c-568840ba703d"
+version = "1.21.0"
+
+    [deps.Unitful.extensions]
+    ConstructionBaseUnitfulExt = "ConstructionBase"
+    InverseFunctionsUnitfulExt = "InverseFunctions"
+
+    [deps.Unitful.weakdeps]
+    ConstructionBase = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
+    InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112"
+
+[[deps.UnitfulLatexify]]
+deps = ["LaTeXStrings", "Latexify", "Unitful"]
+git-tree-sha1 = "975c354fcd5f7e1ddcc1f1a23e6e091d99e99bc8"
+uuid = "45397f5d-5981-4c77-b2b3-fc36d6e9b728"
+version = "1.6.4"
+
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.Unzip]]
 git-tree-sha1 = "ca0969166a028236229f63514992fc073799bb78"
 uuid = "41fe7b60-77ed-43a1-b4f0-825fd5a5650d"
 version = "0.2.0"
 
-[[deps.VersionParsing]]
-git-tree-sha1 = "58d6e80b4ee071f5efd07fda82cb9fbe17200868"
-uuid = "81def892-9a0e-5fdd-b105-ffc91e053289"
-version = "1.3.0"
+[[deps.Vulkan_Loader_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Wayland_jll", "Xorg_libX11_jll", "Xorg_libXrandr_jll", "xkbcommon_jll"]
+git-tree-sha1 = "2f0486047a07670caad3a81a075d2e518acc5c59"
+uuid = "a44049a8-05dd-5a78-86c9-5fde0876e88c"
+version = "1.3.243+0"
 
 [[deps.Wayland_jll]]
-deps = ["Artifacts", "Expat_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg", "XML2_jll"]
-git-tree-sha1 = "ed8d92d9774b077c53e1da50fd81a36af3744c1c"
+deps = ["Artifacts", "EpollShim_jll", "Expat_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg", "XML2_jll"]
+git-tree-sha1 = "7558e29847e99bc3f04d6569e82d0f5c54460703"
 uuid = "a2964d1f-97da-50d4-b82a-358c7fce9d89"
-version = "1.21.0+0"
+version = "1.21.0+1"
 
 [[deps.Wayland_protocols_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4528479aa01ee1b3b4cd0e6faef0e04cf16466da"
+git-tree-sha1 = "93f43ab61b16ddfb2fd3bb13b3ce241cafb0e6c9"
 uuid = "2381bf8a-dfd0-557d-9999-79630e7b1b91"
-version = "1.25.0+0"
+version = "1.31.0+0"
 
 [[deps.WebIO]]
 deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"]
-git-tree-sha1 = "976d0738247f155d0dcd77607edea644f069e1e9"
+git-tree-sha1 = "0eef0765186f7452e52236fa42ca8c9b3c11c6e3"
 uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29"
-version = "0.8.20"
+version = "0.8.21"
 
 [[deps.WebSockets]]
 deps = ["Base64", "Dates", "HTTP", "Logging", "Sockets"]
@@ -1065,33 +1159,51 @@ version = "0.6.6"
 
 [[deps.WoodburyMatrices]]
 deps = ["LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "de67fa59e33ad156a590055375a30b23c40299d3"
+git-tree-sha1 = "5f24e158cf4cee437052371455fe361f526da062"
 uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6"
-version = "0.5.5"
+version = "0.5.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.XSLT_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "Pkg", "XML2_jll", "Zlib_jll"]
-git-tree-sha1 = "91844873c4085240b95e795f692c4cec4d805f8a"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libgcrypt_jll", "Libgpg_error_jll", "Libiconv_jll", "XML2_jll", "Zlib_jll"]
+git-tree-sha1 = "a54ee957f4c86b526460a720dbc882fa5edcbefc"
 uuid = "aed1982a-8fda-507f-9586-7b0439959a61"
-version = "1.1.34+0"
+version = "1.1.41+0"
+
+[[deps.XZ_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "15e637a697345f6743674f1322beefbc5dcd5cfc"
+uuid = "ffd25f8a-64ca-5728-b0f7-c24cf3aae800"
+version = "5.6.3+0"
+
+[[deps.Xorg_libICE_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "326b4fea307b0b39892b3e85fa451692eda8d46c"
+uuid = "f67eecfb-183a-506d-b269-f58e52b52d7c"
+version = "1.1.1+0"
+
+[[deps.Xorg_libSM_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libICE_jll"]
+git-tree-sha1 = "3796722887072218eabafb494a13c963209754ce"
+uuid = "c834827a-8449-5923-a945-d239c165b7dd"
+version = "1.2.4+0"
 
 [[deps.Xorg_libX11_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
-git-tree-sha1 = "5be649d550f3f4b95308bf0183b82e2582876527"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll", "Xorg_xtrans_jll"]
+git-tree-sha1 = "afead5aba5aa507ad5a3bf01f58f82c8d1403495"
 uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc"
-version = "1.6.9+4"
+version = "1.8.6+0"
 
 [[deps.Xorg_libXau_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4e490d5c960c314f33885790ed410ff3a94ce67e"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "6035850dcc70518ca32f012e46015b9beeda49d8"
 uuid = "0c0b7dd1-d40b-584c-a123-a41640f87eec"
-version = "1.0.9+4"
+version = "1.0.11+0"
 
 [[deps.Xorg_libXcursor_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libXfixes_jll", "Xorg_libXrender_jll"]
@@ -1100,16 +1212,16 @@ uuid = "935fb764-8cf2-53bf-bb30-45bb1f8bf724"
 version = "1.2.0+4"
 
 [[deps.Xorg_libXdmcp_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "4fe47bd2247248125c428978740e18a681372dd4"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "34d526d318358a859d7de23da945578e8e8727b7"
 uuid = "a3789734-cfe1-5b06-b2d0-1dd0d9d62d05"
-version = "1.1.3+4"
+version = "1.1.4+0"
 
 [[deps.Xorg_libXext_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "b7c0aa8c376b31e4852b360222848637f481f8c3"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "d2d1a5c49fae4ba39983f63de6afcbea47194e85"
 uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3"
-version = "1.3.4+4"
+version = "1.3.6+0"
 
 [[deps.Xorg_libXfixes_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
@@ -1136,28 +1248,34 @@ uuid = "ec84b674-ba8e-5d96-8ba1-2a689ba10484"
 version = "1.5.2+4"
 
 [[deps.Xorg_libXrender_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "19560f30fd49f4d4efbe7002a1037f8c43d43b96"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "47e45cd78224c53109495b3e324df0c37bb61fbe"
 uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa"
-version = "0.9.10+4"
+version = "0.9.11+0"
 
 [[deps.Xorg_libpthread_stubs_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "6783737e45d3c59a4a4c4091f5f88cdcf0908cbb"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8fdda4c692503d44d04a0603d9ac0982054635f9"
 uuid = "14d82f49-176c-5ed1-bb49-ad3f5cbd8c74"
-version = "0.1.0+3"
+version = "0.1.1+0"
 
 [[deps.Xorg_libxcb_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
-git-tree-sha1 = "daf17f441228e7a3833846cd048892861cff16d6"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "XSLT_jll", "Xorg_libXau_jll", "Xorg_libXdmcp_jll", "Xorg_libpthread_stubs_jll"]
+git-tree-sha1 = "bcd466676fef0878338c61e655629fa7bbc69d8e"
 uuid = "c7cfdc94-dc32-55de-ac96-5a1b8d977c5b"
-version = "1.13.0+3"
+version = "1.17.0+0"
 
 [[deps.Xorg_libxkbfile_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libX11_jll"]
-git-tree-sha1 = "926af861744212db0eb001d9e40b5d16292080b2"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"]
+git-tree-sha1 = "730eeca102434283c50ccf7d1ecdadf521a765a4"
 uuid = "cc61e674-0454-545c-8b26-ed2c68acab7a"
-version = "1.1.0+4"
+version = "1.1.2+0"
+
+[[deps.Xorg_xcb_util_cursor_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_jll", "Xorg_xcb_util_renderutil_jll"]
+git-tree-sha1 = "04341cb870f29dcd5e39055f895c39d016e18ccd"
+uuid = "e920d4aa-a673-5f3a-b3d7-f755a4d47c43"
+version = "0.1.4+0"
 
 [[deps.Xorg_xcb_util_image_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"]
@@ -1190,22 +1308,22 @@ uuid = "c22f9ab0-d5fe-5066-847c-f4bb1cd4e361"
 version = "0.4.1+1"
 
 [[deps.Xorg_xkbcomp_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxkbfile_jll"]
-git-tree-sha1 = "4bcbf660f6c2e714f87e960a171b119d06ee163b"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxkbfile_jll"]
+git-tree-sha1 = "330f955bc41bb8f5270a369c473fc4a5a4e4d3cb"
 uuid = "35661453-b289-5fab-8a00-3d9160c6a3a4"
-version = "1.4.2+4"
+version = "1.4.6+0"
 
 [[deps.Xorg_xkeyboard_config_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xkbcomp_jll"]
-git-tree-sha1 = "5c8424f8a67c3f2209646d4425f3d415fee5931d"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xkbcomp_jll"]
+git-tree-sha1 = "691634e5453ad362044e2ad653e79f3ee3bb98c3"
 uuid = "33bec58e-1273-512f-9401-5d533626f822"
-version = "2.27.0+4"
+version = "2.39.0+0"
 
 [[deps.Xorg_xtrans_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "79c31e7844f6ecf779705fbc12146eb190b7d845"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "e92a1a012a10506618f10b7047e478403a046c77"
 uuid = "c5fb5394-a638-5e4d-96e5-b29de1b5cf10"
-version = "1.4.0+3"
+version = "1.5.0+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -1214,55 +1332,91 @@ version = "1.2.13+0"
 
 [[deps.Zstd_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "49ce682769cd5de6c72dcf1b94ed7790cd08974c"
+git-tree-sha1 = "555d1076590a6cc2fdee2ef1469451f872d8b41b"
 uuid = "3161d3a3-bdf6-5164-811a-617609db77b4"
-version = "1.5.5+0"
+version = "1.5.6+1"
+
+[[deps.eudev_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "gperf_jll"]
+git-tree-sha1 = "431b678a28ebb559d224c0b6b6d01afce87c51ba"
+uuid = "35ca27e7-8b34-5b7f-bca9-bdc33f59eb06"
+version = "3.2.9+0"
 
 [[deps.fzf_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "868e669ccb12ba16eaf50cb2957ee2ff61261c56"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "936081b536ae4aa65415d869287d43ef3cb576b2"
 uuid = "214eeab7-80f7-51ab-84ad-2988db7cef09"
-version = "0.29.0+0"
+version = "0.53.0+0"
 
-[[deps.libaom_jll]]
+[[deps.gperf_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "3a2ea60308f0996d26f1e5354e10c24e9ef905d4"
+git-tree-sha1 = "3516a5630f741c9eecb3720b1ec9d8edc3ecc033"
+uuid = "1a1c6b14-54f6-533d-8383-74cd7377aa70"
+version = "3.1.1+0"
+
+[[deps.libaom_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1827acba325fdcdf1d2647fc8d5301dd9ba43a9d"
 uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
-version = "3.4.0+0"
+version = "3.9.0+0"
 
 [[deps.libass_jll]]
-deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "e17c115d55c5fbb7e52ebedb427a0dca79d4484e"
 uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
-version = "0.15.1+0"
+version = "0.15.2+0"
 
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
-[[deps.libfdk_aac_jll]]
+[[deps.libdecor_jll]]
+deps = ["Artifacts", "Dbus_jll", "JLLWrappers", "Libdl", "Libglvnd_jll", "Pango_jll", "Wayland_jll", "xkbcommon_jll"]
+git-tree-sha1 = "9bf7903af251d2050b467f76bdbe57ce541f7f4f"
+uuid = "1183f4f0-6f2a-5f1a-908b-139f9cdfea6f"
+version = "0.2.2+0"
+
+[[deps.libevdev_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
+git-tree-sha1 = "141fe65dc3efabb0b1d5ba74e91f6ad26f84cc22"
+uuid = "2db6ffa8-e38f-5e21-84af-90c45d0032cc"
+version = "1.11.0+0"
+
+[[deps.libfdk_aac_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "8a22cf860a7d27e4f3498a0fe0811a7957badb38"
 uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
-version = "2.0.2+0"
+version = "2.0.3+0"
+
+[[deps.libinput_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "eudev_jll", "libevdev_jll", "mtdev_jll"]
+git-tree-sha1 = "ad50e5b90f222cfe78aa3d5183a20a12de1322ce"
+uuid = "36db933b-70db-51c0-b978-0f229ee0e533"
+version = "1.18.0+0"
 
 [[deps.libpng_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "94d180a6d2b5e55e447e2d27a29ed04fe79eb30c"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "b70c870239dc3d7bc094eb2d6be9b73d27bef280"
 uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
-version = "1.6.38+0"
+version = "1.6.44+0"
 
 [[deps.libvorbis_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
-git-tree-sha1 = "b910cb81ef3fe6e78bf6acee440bda86fd6ae00c"
+git-tree-sha1 = "490376214c4721cdaca654041f635213c6165cb3"
 uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
-version = "1.3.7+1"
+version = "1.3.7+2"
+
+[[deps.mtdev_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "814e154bdb7be91d78b6802843f76b6ece642f11"
+uuid = "009596ad-96f7-51b1-9f1b-5ce2d5e8a71e"
+version = "1.1.6+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -1283,6 +1437,6 @@ version = "3.5.0+0"
 
 [[deps.xkbcommon_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Wayland_jll", "Wayland_protocols_jll", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"]
-git-tree-sha1 = "9ebfc140cc56e8c2156a15ceac2f0302e327ac0a"
+git-tree-sha1 = "9c304562909ab2bab0262639bd4f444d7bc2be37"
 uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd"
-version = "1.4.1+0"
+version = "1.4.1+1"
diff --git a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml
index bfec1210..76951ef4 100644
--- a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml	
+++ b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml	
@@ -1,6 +1,6 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "510b48287c09a8847f0a555bda4a640614bff15e"
 
@@ -16,20 +16,26 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.BenchmarkTools]]
 deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"]
-git-tree-sha1 = "d9a9701b899b30332bbcb3e1679c41cce81fb0e8"
+git-tree-sha1 = "f1dff6729bc61f4d49e140da1af55dcd1ac97b2f"
 uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-version = "1.3.2"
+version = "1.5.0"
+
+[[deps.Calculus]]
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430"
+uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
+version = "0.5.2"
 
 [[deps.CommonSubexpressions]]
-deps = ["MacroTools", "Test"]
-git-tree-sha1 = "7b8a93dba8af7e3b42fecabf646260105ac373f7"
+deps = ["MacroTools"]
+git-tree-sha1 = "cda2cfaebb4be89c9084adaca7dd7333369715c5"
 uuid = "bbf7d656-a473-5ed7-a52c-81e309532950"
-version = "0.3.0"
+version = "0.3.1"
 
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.Dates]]
 deps = ["Printf"]
@@ -43,29 +49,35 @@ version = "1.1.0"
 
 [[deps.DiffRules]]
 deps = ["IrrationalConstants", "LogExpFunctions", "NaNMath", "Random", "SpecialFunctions"]
-git-tree-sha1 = "a4ad7ef19d2cdc2eff57abbbe68032b1cd0bd8f8"
+git-tree-sha1 = "23163d55f885173722d1e4cf0f6110cdbaf7e272"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "1.13.0"
+version = "1.15.1"
 
 [[deps.DocStringExtensions]]
 deps = ["LibGit2"]
-git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b"
+git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.6"
+version = "0.9.3"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
 uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 version = "1.6.0"
 
+[[deps.DualNumbers]]
+deps = ["Calculus", "NaNMath", "SpecialFunctions"]
+git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566"
+uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74"
+version = "0.6.8"
+
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.ForwardDiff]]
 deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"]
-git-tree-sha1 = "00e252f4d706b3d55a8863432e742bf5717b498d"
+git-tree-sha1 = "a9ce73d3c827adab2d70bf168aaece8cce196898"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.35"
+version = "0.10.37"
 weakdeps = ["StaticArrays"]
 
     [deps.ForwardDiff.extensions]
@@ -81,10 +93,10 @@ uuid = "92d709cd-6900-40b7-9082-c6be49f344b6"
 version = "0.2.2"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
@@ -95,12 +107,12 @@ version = "0.21.4"
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -109,22 +121,22 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -132,9 +144,9 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [[deps.LogExpFunctions]]
 deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
-git-tree-sha1 = "0a1b7c2863e44523180fdb3146534e265a91870b"
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
 uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
-version = "0.3.23"
+version = "0.3.28"
 
     [deps.LogExpFunctions.extensions]
     LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -157,9 +169,9 @@ version = "0.1.0"
 
 [[deps.MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "42324d08725e200c23d4dfb549e0d5d89dede2d2"
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.10"
+version = "0.5.13"
 
 [[deps.Markdown]]
 deps = ["Base64"]
@@ -205,26 +217,26 @@ version = "0.5.5+0"
 
 [[deps.Parsers]]
 deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "a5aef8d4a6e8d81f171b2bd4be5265b01384c74c"
+git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.10"
+version = "2.8.1"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
@@ -235,10 +247,10 @@ deps = ["Printf"]
 uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
 
 [[deps.Quaternions]]
-deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+deps = ["DualNumbers", "LinearAlgebra", "Random"]
+git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.4.9"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -248,12 +260,6 @@ uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
 deps = ["SHA", "Serialization"]
 uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
-[[deps.RealDot]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9"
-uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9"
-version = "0.1.0"
-
 [[deps.Reexport]]
 git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b"
 uuid = "189a3867-3050-52da-a836-e630ba90ab69"
@@ -261,15 +267,15 @@ version = "1.2.2"
 
 [[deps.RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b"
+git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.2"
+version = "2.4.0"
 
 [[deps.Rotations]]
-deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"]
+git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.2.0"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -287,9 +293,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.SpecialFunctions]]
 deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "ef28127915f4229c971eb43f3fc075dd3fe91880"
+git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.2.0"
+version = "2.4.0"
 
     [deps.SpecialFunctions.extensions]
     SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -298,15 +304,23 @@ version = "2.2.0"
     ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
+
+    [deps.StaticArrays.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -345,15 +359,15 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -363,12 +377,12 @@ version = "1.2.13+0"
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/6. Symbolics/Manifest.toml b/examples/6. Symbolics/Manifest.toml
index 4562be10..def58707 100644
--- a/examples/6. Symbolics/Manifest.toml	
+++ b/examples/6. Symbolics/Manifest.toml	
@@ -1,39 +1,50 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "b85fe0e9ec615134f7a540386dbd29224a001a21"
 
+[[deps.ADTypes]]
+git-tree-sha1 = "016833eb52ba2d6bea9fcb50ca295980e728ee24"
+uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
+version = "0.2.7"
+
 [[deps.AbstractAlgebra]]
-deps = ["GroupsCore", "InteractiveUtils", "LinearAlgebra", "MacroTools", "Random", "RandomExtensions", "SparseArrays", "Test"]
-git-tree-sha1 = "3ee5c58774f4487a5bf2bb05e39d91ff5022b4cc"
+deps = ["GroupsCore", "InteractiveUtils", "LinearAlgebra", "MacroTools", "Preferences", "Random", "RandomExtensions", "SparseArrays", "Test"]
+git-tree-sha1 = "d7832de8cf7af26abac741f10372080ac6cb73df"
 uuid = "c3fe647b-3220-5bb0-a1ea-a7954cac585d"
-version = "0.29.4"
+version = "0.34.7"
 
 [[deps.AbstractTrees]]
-git-tree-sha1 = "faa260e4cb5aba097a73fab382dd4b5819d8ec8c"
+git-tree-sha1 = "2d9c9a55f9c93e8887ad391fbae72f8ef55e1177"
 uuid = "1520ce14-60c1-5f80-bbc7-55ef81b5835c"
-version = "0.4.4"
+version = "0.4.5"
 
 [[deps.Adapt]]
 deps = ["LinearAlgebra", "Requires"]
-git-tree-sha1 = "76289dc51920fdc6e0013c872ba9551d54961c24"
+git-tree-sha1 = "cde29ddf7e5726c9fb511f340244ea3481267608"
 uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e"
-version = "3.6.2"
+version = "3.7.2"
 weakdeps = ["StaticArrays"]
 
     [deps.Adapt.extensions]
     AdaptStaticArraysExt = "StaticArrays"
 
+[[deps.AliasTables]]
+deps = ["PtrArrays", "Random"]
+git-tree-sha1 = "9876e1e164b144ca45e9e3198d0b689cadfed9ff"
+uuid = "66dad0bd-aa9a-41b7-9441-69ab47430ed8"
+version = "1.1.3"
+
 [[deps.ArgTools]]
 uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f"
 version = "1.1.1"
 
 [[deps.ArrayInterface]]
 deps = ["Adapt", "LinearAlgebra", "Requires", "SparseArrays", "SuiteSparse"]
-git-tree-sha1 = "917286faa2abb288796e75b88ca67edc016f3219"
+git-tree-sha1 = "c5aeb516a84459e0318a02507d2261edad97eb75"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "7.4.5"
+version = "7.7.1"
 
     [deps.ArrayInterface.extensions]
     ArrayInterfaceBandedMatricesExt = "BandedMatrices"
@@ -51,18 +62,6 @@ version = "7.4.5"
     StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
     Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
 
-[[deps.ArrayInterfaceCore]]
-deps = ["LinearAlgebra", "SnoopPrecompile", "SparseArrays", "SuiteSparse"]
-git-tree-sha1 = "e5f08b5689b1aad068e01751889f2f615c7db36d"
-uuid = "30b0a656-2188-435a-8636-2ec0e6a096e2"
-version = "0.1.29"
-
-[[deps.ArrayInterfaceStaticArraysCore]]
-deps = ["ArrayInterfaceCore", "LinearAlgebra", "StaticArraysCore"]
-git-tree-sha1 = "01a9f8e6cfc2bfdd01d333f70b8014a04893103c"
-uuid = "dd5226c6-a4d4-4bc7-8575-46859f9c95b9"
-version = "0.1.4"
-
 [[deps.Artifacts]]
 uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 
@@ -70,21 +69,25 @@ uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.Bijections]]
-git-tree-sha1 = "fe4f8c5ee7f76f2198d5c2a06d3961c249cce7bd"
+git-tree-sha1 = "d8b0439d2be438a5f2cd68ec158fe08a7b2595b7"
 uuid = "e2ed5e7c-b2de-5872-ae92-c73ca462fb04"
-version = "0.1.4"
+version = "0.1.9"
 
 [[deps.Calculus]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad"
+git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430"
 uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
-version = "0.5.1"
+version = "0.5.2"
 
 [[deps.ChainRulesCore]]
-deps = ["Compat", "LinearAlgebra", "SparseArrays"]
-git-tree-sha1 = "e30f2f4e20f7f186dc36529910beaedc60cfa644"
+deps = ["Compat", "LinearAlgebra"]
+git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "1.16.0"
+version = "1.25.0"
+weakdeps = ["SparseArrays"]
+
+    [deps.ChainRulesCore.extensions]
+    ChainRulesCoreSparseArraysExt = "SparseArrays"
 
 [[deps.Combinatorics]]
 git-tree-sha1 = "08c8b6831dc00bfea825826be0bc8336fc369860"
@@ -92,21 +95,21 @@ uuid = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 version = "1.0.2"
 
 [[deps.CommonSolve]]
-git-tree-sha1 = "9441451ee712d1aec22edad62db1a9af3dc8d852"
+git-tree-sha1 = "0eee5eb66b1cf62cd6ad1b460238e60e4b09400c"
 uuid = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2"
-version = "0.2.3"
+version = "0.2.4"
 
 [[deps.CommonSubexpressions]]
-deps = ["MacroTools", "Test"]
-git-tree-sha1 = "7b8a93dba8af7e3b42fecabf646260105ac373f7"
+deps = ["MacroTools"]
+git-tree-sha1 = "cda2cfaebb4be89c9084adaca7dd7333369715c5"
 uuid = "bbf7d656-a473-5ed7-a52c-81e309532950"
-version = "0.3.0"
+version = "0.3.1"
 
 [[deps.Compat]]
-deps = ["UUIDs"]
-git-tree-sha1 = "7a60c856b9fa189eb34f5f8a6f6b5529b7942957"
+deps = ["TOML", "UUIDs"]
+git-tree-sha1 = "8ae8d32e09f0dcf42a36b90d4e17f5dd2e4c4215"
 uuid = "34da2185-b29b-5c13-b0c7-acf172513d20"
-version = "4.6.1"
+version = "4.16.0"
 weakdeps = ["Dates", "LinearAlgebra"]
 
     [deps.Compat.extensions]
@@ -115,34 +118,39 @@ weakdeps = ["Dates", "LinearAlgebra"]
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.CompositeTypes]]
-git-tree-sha1 = "02d2316b7ffceff992f3096ae48c7829a8aa0638"
+git-tree-sha1 = "bce26c3dab336582805503bed209faab1c279768"
 uuid = "b152e2b5-7a66-4b01-a709-34e65c35f657"
-version = "0.1.3"
+version = "0.1.4"
 
 [[deps.ConstructionBase]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "738fec4d684a9a6ee9598a8bfee305b26831f28c"
+git-tree-sha1 = "d8a9c0b6ac2d9081bf76324b39c78ca3ce4f0c98"
 uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
-version = "1.5.2"
+version = "1.5.6"
 weakdeps = ["IntervalSets", "StaticArrays"]
 
     [deps.ConstructionBase.extensions]
     ConstructionBaseIntervalSetsExt = "IntervalSets"
     ConstructionBaseStaticArraysExt = "StaticArrays"
 
+[[deps.Crayons]]
+git-tree-sha1 = "249fe38abf76d48563e2f4556bebd215aa317e15"
+uuid = "a8cc5b0e-0ffa-5ad4-8c14-923d3ee1735f"
+version = "4.1.1"
+
 [[deps.DataAPI]]
-git-tree-sha1 = "8da84edb865b0b5b0100c0666a9bc9a0b71c553c"
+git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
-version = "1.15.0"
+version = "1.16.0"
 
 [[deps.DataStructures]]
 deps = ["Compat", "InteractiveUtils", "OrderedCollections"]
-git-tree-sha1 = "d1fff3a548102f48987a52a2e0d114fa97d730f0"
+git-tree-sha1 = "1d0a14036acb104d9e89698bd408f63ab58cdc82"
 uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
-version = "0.18.13"
+version = "0.18.20"
 
 [[deps.DataValueInterfaces]]
 git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6"
@@ -161,39 +169,41 @@ version = "1.1.0"
 
 [[deps.DiffRules]]
 deps = ["IrrationalConstants", "LogExpFunctions", "NaNMath", "Random", "SpecialFunctions"]
-git-tree-sha1 = "a4ad7ef19d2cdc2eff57abbbe68032b1cd0bd8f8"
+git-tree-sha1 = "23163d55f885173722d1e4cf0f6110cdbaf7e272"
 uuid = "b552c78f-8df3-52c6-915a-8e097449b14b"
-version = "1.13.0"
+version = "1.15.1"
 
 [[deps.Distributed]]
 deps = ["Random", "Serialization", "Sockets"]
 uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 
 [[deps.Distributions]]
-deps = ["FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SparseArrays", "SpecialFunctions", "Statistics", "StatsAPI", "StatsBase", "StatsFuns", "Test"]
-git-tree-sha1 = "5eeb2bd01e5065090ad591a205d8cad432ae6cb6"
+deps = ["AliasTables", "FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SpecialFunctions", "Statistics", "StatsAPI", "StatsBase", "StatsFuns"]
+git-tree-sha1 = "3101c32aab536e7a27b1763c0797dba151b899ad"
 uuid = "31c24e10-a181-5473-b8eb-7969acd0382f"
-version = "0.25.93"
+version = "0.25.113"
 
     [deps.Distributions.extensions]
     DistributionsChainRulesCoreExt = "ChainRulesCore"
     DistributionsDensityInterfaceExt = "DensityInterface"
+    DistributionsTestExt = "Test"
 
     [deps.Distributions.weakdeps]
     ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
     DensityInterface = "b429d917-457f-4dbc-8f4c-0cc954292b1d"
+    Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [[deps.DocStringExtensions]]
 deps = ["LibGit2"]
-git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b"
+git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.6"
+version = "0.9.3"
 
 [[deps.DomainSets]]
 deps = ["CompositeTypes", "IntervalSets", "LinearAlgebra", "Random", "StaticArrays", "Statistics"]
-git-tree-sha1 = "698124109da77b6914f64edd696be8dccf90229e"
+git-tree-sha1 = "51b4b84d33ec5e0955b55ff4b748b99ce2c3faa9"
 uuid = "5b8099bc-c8ec-5219-889f-1d9e522a28bf"
-version = "0.6.6"
+version = "0.6.7"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
@@ -207,10 +217,10 @@ uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74"
 version = "0.6.8"
 
 [[deps.DynamicPolynomials]]
-deps = ["DataStructures", "Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Pkg", "Reexport", "Test"]
-git-tree-sha1 = "8b84876e31fa39479050e2d3395c4b3b210db8b0"
+deps = ["Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Pkg", "Reexport", "Test"]
+git-tree-sha1 = "30a1848c4f4fc35d1d4bbbd125650f6a11b5bc6c"
 uuid = "7c1d4256-1411-5781-91ec-d7bc3513ac07"
-version = "0.4.6"
+version = "0.5.7"
 
 [[deps.EnumX]]
 git-tree-sha1 = "bdb1942cd4c45e3c678fd11569d5cccd80976237"
@@ -218,30 +228,35 @@ uuid = "4e289a0a-7415-4d19-859d-a7e5c4648b56"
 version = "1.0.4"
 
 [[deps.ExprTools]]
-git-tree-sha1 = "c1d06d129da9f55715c6c212866f5b1bddc5fa00"
+git-tree-sha1 = "27415f162e6028e81c72b82ef756bf321213b6ec"
 uuid = "e2ba6199-217a-4e67-a87a-7c52f15ade04"
-version = "0.1.9"
+version = "0.1.10"
 
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
 
 [[deps.FillArrays]]
-deps = ["LinearAlgebra", "Random", "SparseArrays", "Statistics"]
-git-tree-sha1 = "7072f1e3e5a8be51d525d64f63d3ec1287ff2790"
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "6a70198746448456524cb442b8af316927ff3e1a"
 uuid = "1a297f60-69ca-5386-bcde-b61e274b549b"
-version = "0.13.11"
+version = "1.13.0"
+weakdeps = ["PDMats", "SparseArrays", "Statistics"]
 
-[[deps.Formatting]]
-deps = ["Printf"]
-git-tree-sha1 = "8339d61043228fdd3eb658d86c926cb282ae72a8"
-uuid = "59287772-0a20-5a39-b81b-1366585eb4c0"
-version = "0.4.2"
+    [deps.FillArrays.extensions]
+    FillArraysPDMatsExt = "PDMats"
+    FillArraysSparseArraysExt = "SparseArrays"
+    FillArraysStatisticsExt = "Statistics"
+
+[[deps.Format]]
+git-tree-sha1 = "9c68794ef81b08086aeb32eeaf33531668d5f5fc"
+uuid = "1fa38f19-a742-5d3f-a2b9-30dd87b9d5f8"
+version = "1.3.7"
 
 [[deps.ForwardDiff]]
 deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"]
-git-tree-sha1 = "00e252f4d706b3d55a8863432e742bf5717b498d"
+git-tree-sha1 = "a9ce73d3c827adab2d70bf168aaece8cce196898"
 uuid = "f6369f11-7733-5829-9624-2563aa707210"
-version = "0.10.35"
+version = "0.10.37"
 weakdeps = ["StaticArrays"]
 
     [deps.ForwardDiff.extensions]
@@ -264,27 +279,27 @@ uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820"
 
 [[deps.GPUArraysCore]]
 deps = ["Adapt"]
-git-tree-sha1 = "1cd7f0af1aa58abc02ea1d872953a97359cb87fa"
+git-tree-sha1 = "2d6ca471a6c7b536127afccfa7564b5b39227fe0"
 uuid = "46192b85-c4d5-4398-a991-12ede77f4527"
-version = "0.1.4"
+version = "0.1.5"
 
 [[deps.Groebner]]
-deps = ["AbstractAlgebra", "Combinatorics", "Logging", "MultivariatePolynomials", "Primes", "Random", "SnoopPrecompile"]
-git-tree-sha1 = "b6c3e9e1eb8dcc6fd9bc68fe08dcc7ab22710de6"
+deps = ["AbstractAlgebra", "Combinatorics", "ExprTools", "Logging", "MultivariatePolynomials", "PrecompileTools", "PrettyTables", "Primes", "Printf", "Random", "SIMD", "TimerOutputs"]
+git-tree-sha1 = "6b505ef15e55bdc5bb3ddbcfebdff1c9e67081e8"
 uuid = "0b43b601-686d-58a3-8a1c-6623616c7cd4"
-version = "0.3.4"
+version = "0.5.1"
 
 [[deps.GroupsCore]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "9e1a5e9f3b81ad6a5c613d181664a0efc6fe6dd7"
+git-tree-sha1 = "6df9cd6ee79fc59feab33f63a1b3c9e95e2461d5"
 uuid = "d5909c97-4eac-4ecc-a3dc-fdd0858a4120"
-version = "0.4.0"
+version = "0.4.2"
 
 [[deps.HypergeometricFunctions]]
-deps = ["DualNumbers", "LinearAlgebra", "OpenLibm_jll", "SpecialFunctions"]
-git-tree-sha1 = "84204eae2dd237500835990bcade263e27674a93"
+deps = ["LinearAlgebra", "OpenLibm_jll", "SpecialFunctions"]
+git-tree-sha1 = "7c4195be1649ae622304031ed46a2f4df989f1eb"
 uuid = "34004b35-14d8-5ef3-9330-4cdb6864b03a"
-version = "0.3.16"
+version = "0.3.24"
 
 [[deps.IfElse]]
 git-tree-sha1 = "debdd00ffef04665ccbb3e150747a77560e8fad1"
@@ -292,19 +307,24 @@ uuid = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 version = "0.1.1"
 
 [[deps.IntegerMathUtils]]
-git-tree-sha1 = "f366daebdfb079fd1fe4e3d560f99a0c892e15bc"
+git-tree-sha1 = "b8ffb903da9f7b8cf695a8bead8e01814aa24b30"
 uuid = "18e54dd8-cb9d-406c-a71d-865a43cbb235"
-version = "0.1.0"
+version = "0.1.2"
 
 [[deps.InteractiveUtils]]
 deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
 [[deps.IntervalSets]]
-deps = ["Dates", "Random", "Statistics"]
-git-tree-sha1 = "16c0cc91853084cb5f58a78bd209513900206ce6"
+git-tree-sha1 = "dba9ddf07f77f60450fe5d2e2beb9854d9a49bd0"
 uuid = "8197267c-284f-5f27-9208-e0e47529a953"
-version = "0.7.4"
+version = "0.7.10"
+weakdeps = ["Random", "RecipesBase", "Statistics"]
+
+    [deps.IntervalSets.extensions]
+    IntervalSetsRandomExt = "Random"
+    IntervalSetsRecipesBaseExt = "RecipesBase"
+    IntervalSetsStatisticsExt = "Statistics"
 
 [[deps.IrrationalConstants]]
 git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2"
@@ -317,21 +337,21 @@ uuid = "82899510-4779-5014-852e-03e436cf321d"
 version = "1.0.0"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.LaTeXStrings]]
-git-tree-sha1 = "f2355693d6778a178ade15952b7ac47a4ff97996"
+git-tree-sha1 = "dda21b8cbd6a6c40d9d02a73230f9d70fed6918c"
 uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
-version = "1.3.0"
+version = "1.4.0"
 
 [[deps.LabelledArrays]]
 deps = ["ArrayInterface", "ChainRulesCore", "ForwardDiff", "LinearAlgebra", "MacroTools", "PreallocationTools", "RecursiveArrayTools", "StaticArrays"]
-git-tree-sha1 = "cd04158424635efd05ff38d5f55843397b7416a9"
+git-tree-sha1 = "d1f981fba6eb3ec393eede4821bca3f2b7592cd4"
 uuid = "2ee39098-c373-598a-b85f-a56591580800"
-version = "1.14.0"
+version = "1.15.1"
 
 [[deps.LambertW]]
 git-tree-sha1 = "c5ffc834de5d61d00d2b0e18c96267cffc21f648"
@@ -339,28 +359,36 @@ uuid = "984bce1d-4616-540c-a9ee-88d1112d94c9"
 version = "0.4.6"
 
 [[deps.Latexify]]
-deps = ["Formatting", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Printf", "Requires"]
-git-tree-sha1 = "099e356f267354f46ba65087981a77da23a279b7"
+deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"]
+git-tree-sha1 = "ce5f5621cac23a86011836badfedf664a612cee4"
 uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
-version = "0.16.0"
+version = "0.16.5"
 
     [deps.Latexify.extensions]
     DataFramesExt = "DataFrames"
+    SparseArraysExt = "SparseArrays"
     SymEngineExt = "SymEngine"
 
     [deps.Latexify.weakdeps]
     DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
     SymEngine = "123dc426-2d89-5057-bbad-38513e3affd8"
 
+[[deps.Lazy]]
+deps = ["MacroTools"]
+git-tree-sha1 = "1370f8202dac30758f3c345f9909b97f53d87d3f"
+uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0"
+version = "0.15.1"
+
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -369,22 +397,22 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -392,9 +420,9 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [[deps.LogExpFunctions]]
 deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
-git-tree-sha1 = "0a1b7c2863e44523180fdb3146534e265a91870b"
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
 uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
-version = "0.3.23"
+version = "0.3.28"
 
     [deps.LogExpFunctions.extensions]
     LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -417,9 +445,9 @@ version = "0.1.0"
 
 [[deps.MacroTools]]
 deps = ["Markdown", "Random"]
-git-tree-sha1 = "42324d08725e200c23d4dfb549e0d5d89dede2d2"
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.10"
+version = "0.5.13"
 
 [[deps.Markdown]]
 deps = ["Base64"]
@@ -432,9 +460,9 @@ version = "2.28.2+0"
 
 [[deps.Missings]]
 deps = ["DataAPI"]
-git-tree-sha1 = "f66bdc5de519e8f8ae43bdc598782d35a25b1272"
+git-tree-sha1 = "ec4f7fbeab05d7747bdf98eb74d130a2a2ed298d"
 uuid = "e1d29d7a-bbdc-5cf2-9ac0-f12de2c33e28"
-version = "1.1.0"
+version = "1.2.0"
 
 [[deps.MozillaCACerts_jll]]
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
@@ -442,15 +470,15 @@ version = "2022.10.11"
 
 [[deps.MultivariatePolynomials]]
 deps = ["ChainRulesCore", "DataStructures", "LinearAlgebra", "MutableArithmetics"]
-git-tree-sha1 = "eaa98afe2033ffc0629f9d0d83961d66a021dfcc"
+git-tree-sha1 = "8d39779e29f80aa6c071e7ac17101c6e31f075d7"
 uuid = "102ac46a-7ee4-5c85-9060-abc95bfdeaa3"
-version = "0.4.7"
+version = "0.5.7"
 
 [[deps.MutableArithmetics]]
 deps = ["LinearAlgebra", "SparseArrays", "Test"]
-git-tree-sha1 = "964cb1a7069723727025ae295408747a0b36a854"
+git-tree-sha1 = "90077f1e79de8c9c7c8a90644494411111f4e07b"
 uuid = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
-version = "1.3.0"
+version = "1.5.2"
 
 [[deps.NaNMath]]
 deps = ["OpenLibm_jll"]
@@ -479,26 +507,26 @@ uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
 version = "0.5.5+0"
 
 [[deps.OrderedCollections]]
-git-tree-sha1 = "d321bf2de576bf25ec4d3e4360faca399afca282"
+git-tree-sha1 = "dfdf5519f235516220579f949664f1bf44e741c5"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.6.0"
+version = "1.6.3"
 
 [[deps.PDMats]]
 deps = ["LinearAlgebra", "SparseArrays", "SuiteSparse"]
-git-tree-sha1 = "67eae2738d63117a196f497d7db789821bce61d1"
+git-tree-sha1 = "949347156c25054de2db3b166c52ac4728cbad65"
 uuid = "90014a1f-27ba-587c-ab20-58faa44d9150"
-version = "0.11.17"
+version = "0.11.31"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PreallocationTools]]
 deps = ["Adapt", "ArrayInterface", "ForwardDiff", "Requires"]
-git-tree-sha1 = "f739b1b3cc7b9949af3b35089931f2b58c289163"
+git-tree-sha1 = "01ac95fca7daabe77a9cb705862bd87016af9ddb"
 uuid = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
-version = "0.4.12"
+version = "0.4.13"
 
     [deps.PreallocationTools.extensions]
     PreallocationToolsReverseDiffExt = "ReverseDiff"
@@ -508,37 +536,54 @@ version = "0.4.12"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
+
+[[deps.PrettyTables]]
+deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "Reexport", "StringManipulation", "Tables"]
+git-tree-sha1 = "66b20dd35966a748321d3b2537c4584cf40387c7"
+uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
+version = "2.3.2"
 
 [[deps.Primes]]
 deps = ["IntegerMathUtils"]
-git-tree-sha1 = "311a2aa90a64076ea0fac2ad7492e914e6feeb81"
+git-tree-sha1 = "cb420f77dc474d23ee47ca8d14c90810cafe69e7"
 uuid = "27ebfcd6-29c5-5fa9-bf4b-fb8fc14df3ae"
-version = "0.5.3"
+version = "0.5.6"
 
 [[deps.Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
+[[deps.PtrArrays]]
+git-tree-sha1 = "77a42d78b6a92df47ab37e177b2deac405e1c88f"
+uuid = "43287f4e-b6f4-7ad1-bb20-aadabca52c3d"
+version = "1.2.1"
+
 [[deps.QuadGK]]
 deps = ["DataStructures", "LinearAlgebra"]
-git-tree-sha1 = "6ec7ac8412e83d57e313393220879ede1740f9ee"
+git-tree-sha1 = "cda3b045cf9ef07a08ad46731f5a3165e56cf3da"
 uuid = "1fd47b50-473d-5c70-9696-f719f8f3bcdc"
-version = "2.8.2"
+version = "2.11.1"
+
+    [deps.QuadGK.extensions]
+    QuadGKEnzymeExt = "Enzyme"
+
+    [deps.QuadGK.weakdeps]
+    Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9"
 
 [[deps.Quaternions]]
-deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+deps = ["DualNumbers", "LinearAlgebra", "Random"]
+git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.4.9"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -550,15 +595,9 @@ uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [[deps.RandomExtensions]]
 deps = ["Random", "SparseArrays"]
-git-tree-sha1 = "062986376ce6d394b23d5d90f01d81426113a3c9"
+git-tree-sha1 = "b8a399e95663485820000f26b6a43c794e166a49"
 uuid = "fb686558-2515-59ef-acaa-46db3789a887"
-version = "0.4.3"
-
-[[deps.RealDot]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9"
-uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9"
-version = "0.1.0"
+version = "0.4.4"
 
 [[deps.RecipesBase]]
 deps = ["PrecompileTools"]
@@ -567,10 +606,24 @@ uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 version = "1.3.4"
 
 [[deps.RecursiveArrayTools]]
-deps = ["Adapt", "ArrayInterfaceCore", "ArrayInterfaceStaticArraysCore", "ChainRulesCore", "DocStringExtensions", "FillArrays", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "StaticArraysCore", "Statistics", "Tables", "ZygoteRules"]
-git-tree-sha1 = "a5ce741acddc02f0d4fc6505463ca89697d7fb23"
+deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "Requires", "SparseArrays", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"]
+git-tree-sha1 = "27ee1c03e732c488ecce1a25f0d7da9b5d936574"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "2.32.3"
+version = "3.3.3"
+
+    [deps.RecursiveArrayTools.extensions]
+    RecursiveArrayToolsFastBroadcastExt = "FastBroadcast"
+    RecursiveArrayToolsMeasurementsExt = "Measurements"
+    RecursiveArrayToolsMonteCarloMeasurementsExt = "MonteCarloMeasurements"
+    RecursiveArrayToolsTrackerExt = "Tracker"
+    RecursiveArrayToolsZygoteExt = "Zygote"
+
+    [deps.RecursiveArrayTools.weakdeps]
+    FastBroadcast = "7034ab61-46d4-4ed7-9d0f-46aef9175898"
+    Measurements = "eff96d63-e80a-5855-80a2-b1b0885c5ab7"
+    MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca"
+    Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
+    Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
 
 [[deps.Reexport]]
 git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b"
@@ -585,43 +638,72 @@ version = "1.3.0"
 
 [[deps.RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b"
+git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.2"
+version = "2.4.0"
 
 [[deps.Rmath]]
 deps = ["Random", "Rmath_jll"]
-git-tree-sha1 = "f65dcb5fa46aee0cf9ed6274ccbd597adc49aa7b"
+git-tree-sha1 = "852bd0f55565a9e973fcfee83a84413270224dc4"
 uuid = "79098fc4-a85e-5d69-aa6a-4863f24498fa"
-version = "0.7.1"
+version = "0.8.0"
 
 [[deps.Rmath_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "6ed52fdd3382cf21947b15e8870ac0ddbff736da"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "58cdd8fb2201a6267e1db87ff148dd6c1dbd8ad8"
 uuid = "f50d1b31-88e8-58de-be2c-1cc44531875f"
-version = "0.4.0+0"
+version = "0.5.1+0"
 
 [[deps.Rotations]]
-deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"]
+git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.2.0"
 
 [[deps.RuntimeGeneratedFunctions]]
 deps = ["ExprTools", "SHA", "Serialization"]
-git-tree-sha1 = "d7d9ebe28062161c1e314ed643097b0c6fe657d9"
+git-tree-sha1 = "6aacc5eefe8415f47b3e34214c1d79d2674a0ba2"
 uuid = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
-version = "0.5.7"
+version = "0.5.12"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
 version = "0.7.0"
 
+[[deps.SIMD]]
+deps = ["PrecompileTools"]
+git-tree-sha1 = "98ca7c29edd6fc79cd74c61accb7010a4e7aee33"
+uuid = "fdea26ae-647d-5447-a871-4b548cad5224"
+version = "3.6.0"
+
 [[deps.SciMLBase]]
-deps = ["ArrayInterfaceCore", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Preferences", "RecipesBase", "RecursiveArrayTools", "RuntimeGeneratedFunctions", "StaticArraysCore", "Statistics", "Tables"]
-git-tree-sha1 = "fe89a8113ea445bcff9ee570077830674babb534"
+deps = ["ADTypes", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FillArrays", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables", "TruncatedStacktraces"]
+git-tree-sha1 = "09324a0ae70c52a45b91b236c62065f78b099c37"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "1.81.0"
+version = "2.15.2"
+
+    [deps.SciMLBase.extensions]
+    SciMLBaseChainRulesCoreExt = "ChainRulesCore"
+    SciMLBasePartialFunctionsExt = "PartialFunctions"
+    SciMLBasePyCallExt = "PyCall"
+    SciMLBasePythonCallExt = "PythonCall"
+    SciMLBaseRCallExt = "RCall"
+    SciMLBaseZygoteExt = "Zygote"
+
+    [deps.SciMLBase.weakdeps]
+    ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2"
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    PartialFunctions = "570af359-4316-4cb7-8c74-252c00c2016b"
+    PyCall = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0"
+    PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d"
+    RCall = "6f49c342-dc21-5d91-9882-a32aef131414"
+    Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
+
+[[deps.SciMLOperators]]
+deps = ["ArrayInterface", "DocStringExtensions", "Lazy", "LinearAlgebra", "Setfield", "SparseArrays", "StaticArraysCore", "Tricks"]
+git-tree-sha1 = "51ae235ff058a64815e0a2c34b1db7578a06813d"
+uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
+version = "0.3.7"
 
 [[deps.Serialization]]
 uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
@@ -632,20 +714,14 @@ git-tree-sha1 = "e2cc6d8c88613c05e1defb55170bf5ff211fbeac"
 uuid = "efcf1570-3423-57d1-acb7-fd33fddbac46"
 version = "1.1.1"
 
-[[deps.SnoopPrecompile]]
-deps = ["Preferences"]
-git-tree-sha1 = "e760a70afdcd461cf01a575947738d359234665c"
-uuid = "66db9d55-30c0-4569-8b51-7e840670fc0c"
-version = "1.0.3"
-
 [[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 
 [[deps.SortingAlgorithms]]
 deps = ["DataStructures"]
-git-tree-sha1 = "a4ada03f999bd01b3a25dcaa30b2d929fe537e00"
+git-tree-sha1 = "66e0a8e672a0bdfca2c3f5937efb8538b9ddc085"
 uuid = "a2af1166-a08f-5f64-846c-94a0d3cef48c"
-version = "1.1.0"
+version = "1.2.1"
 
 [[deps.SparseArrays]]
 deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
@@ -653,24 +729,29 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.SpecialFunctions]]
 deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "ef28127915f4229c971eb43f3fc075dd3fe91880"
+git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.2.0"
+version = "2.4.0"
 weakdeps = ["ChainRulesCore"]
 
     [deps.SpecialFunctions.extensions]
     SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+weakdeps = ["ChainRulesCore", "Statistics"]
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -679,21 +760,21 @@ version = "1.9.0"
 
 [[deps.StatsAPI]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "45a7769a04a3cf80da1c1c7c60caf932e6f4c9f7"
+git-tree-sha1 = "1ff449ad350c9c4cbc756624d6f8a8c3ef56d3ed"
 uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0"
-version = "1.6.0"
+version = "1.7.0"
 
 [[deps.StatsBase]]
 deps = ["DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
-git-tree-sha1 = "75ebe04c5bed70b91614d684259b661c9e6274a4"
+git-tree-sha1 = "5cf7606d6cef84b543b483848d4ae08ad9832b21"
 uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
-version = "0.34.0"
+version = "0.34.3"
 
 [[deps.StatsFuns]]
 deps = ["HypergeometricFunctions", "IrrationalConstants", "LogExpFunctions", "Reexport", "Rmath", "SpecialFunctions"]
-git-tree-sha1 = "f625d686d5a88bcd2b15cd81f18f98186fdc0c9a"
+git-tree-sha1 = "b423576adc27097764a90e163157bcfc9acf0f46"
 uuid = "4c63d2b9-4356-54db-8cca-17b64c39e42c"
-version = "1.3.0"
+version = "1.3.2"
 
     [deps.StatsFuns.extensions]
     StatsFunsChainRulesCoreExt = "ChainRulesCore"
@@ -703,6 +784,12 @@ version = "1.3.0"
     ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
     InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112"
 
+[[deps.StringManipulation]]
+deps = ["PrecompileTools"]
+git-tree-sha1 = "a04cabe79c5f01f4d723cc6704070ada0b9d46d5"
+uuid = "892a3eda-7b42-436c-8928-eab12a02cf0e"
+version = "0.3.4"
+
 [[deps.SuiteSparse]]
 deps = ["Libdl", "LinearAlgebra", "Serialization", "SparseArrays"]
 uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9"
@@ -712,17 +799,28 @@ deps = ["Artifacts", "Libdl", "Pkg", "libblastrampoline_jll"]
 uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c"
 version = "5.10.1+6"
 
+[[deps.SymbolicIndexingInterface]]
+git-tree-sha1 = "be414bfd80c2c91197823890c66ef4b74f5bf5fe"
+uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
+version = "0.3.1"
+
 [[deps.SymbolicUtils]]
-deps = ["AbstractTrees", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LabelledArrays", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "TimerOutputs", "Unityper"]
-git-tree-sha1 = "5cb1f963f82e7b81305102dd69472fcd3e0e1483"
+deps = ["AbstractTrees", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LabelledArrays", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TimerOutputs", "Unityper"]
+git-tree-sha1 = "c84ea9bcc9d527ba86ce08191cf561f35b48f9a0"
 uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
-version = "1.0.5"
+version = "1.7.1"
 
 [[deps.Symbolics]]
-deps = ["ArrayInterface", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "Groebner", "IfElse", "LaTeXStrings", "LambertW", "Latexify", "Libdl", "LinearAlgebra", "MacroTools", "Markdown", "NaNMath", "RecipesBase", "Reexport", "Requires", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicUtils", "TreeViews"]
-git-tree-sha1 = "e23ec62c083ca8f15a4b7174331b3b8d1c511e47"
+deps = ["ArrayInterface", "Bijections", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "Groebner", "IfElse", "LaTeXStrings", "LambertW", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "PrecompileTools", "RecipesBase", "Reexport", "Requires", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "SymbolicUtils"]
+git-tree-sha1 = "8d28ebc206dec9e250e21b9502a2662265897650"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "5.3.1"
+version = "5.14.1"
+
+    [deps.Symbolics.extensions]
+    SymbolicsSymPyExt = "SymPy"
+
+    [deps.Symbolics.weakdeps]
+    SymPy = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6"
 
 [[deps.TOML]]
 deps = ["Dates"]
@@ -736,10 +834,10 @@ uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c"
 version = "1.0.1"
 
 [[deps.Tables]]
-deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "OrderedCollections", "TableTraits", "Test"]
-git-tree-sha1 = "1544b926975372da01227b382066ab70e574a3ec"
+deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "OrderedCollections", "TableTraits"]
+git-tree-sha1 = "598cd7c1f68d1e205689b1c2fe65a9f85846f297"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.10.1"
+version = "1.12.0"
 
 [[deps.Tar]]
 deps = ["ArgTools", "SHA"]
@@ -752,15 +850,20 @@ uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [[deps.TimerOutputs]]
 deps = ["ExprTools", "Printf"]
-git-tree-sha1 = "f548a9e9c490030e545f72074a41edfd0e5bcdd7"
+git-tree-sha1 = "3a6f063d690135f5c1ba351412c82bae4d1402bf"
 uuid = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f"
-version = "0.5.23"
+version = "0.5.25"
 
-[[deps.TreeViews]]
-deps = ["Test"]
-git-tree-sha1 = "8d0d7a3fe2f30d6a7f833a5f19f7c7a5b396eae6"
-uuid = "a2a6695c-b41b-5b7d-aed9-dbfdeacea5d7"
-version = "0.3.0"
+[[deps.Tricks]]
+git-tree-sha1 = "7822b97e99a1672bfb1b49b668a6d46d58d8cbcb"
+uuid = "410a4b4d-49e4-4fbc-ab6d-cb71b17b3775"
+version = "0.1.9"
+
+[[deps.TruncatedStacktraces]]
+deps = ["InteractiveUtils", "MacroTools", "Preferences"]
+git-tree-sha1 = "ea3e54c2bdde39062abf5a9758a23735558705e1"
+uuid = "781d530d-4396-4725-bb49-402e4bee1e77"
+version = "1.4.0"
 
 [[deps.TypeSortedCollections]]
 git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2"
@@ -776,41 +879,35 @@ uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.Unityper]]
 deps = ["ConstructionBase"]
-git-tree-sha1 = "d5f4ec8c22db63bd3ccb239f640e895cfde145aa"
+git-tree-sha1 = "25008b734a03736c41e2a7dc314ecb95bd6bbdb0"
 uuid = "a7c27f48-0311-42f6-a7f8-2c11e75eb415"
-version = "0.1.2"
+version = "0.1.6"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
 uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
 version = "1.2.13+0"
 
-[[deps.ZygoteRules]]
-deps = ["ChainRulesCore", "MacroTools"]
-git-tree-sha1 = "977aed5d006b840e2e40c0b48984f7463109046d"
-uuid = "700de1a5-db45-46bc-99cf-38207098b444"
-version = "0.2.3"
-
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml
index 4b3a07f6..12609af7 100644
--- a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml	
+++ b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml	
@@ -1,6 +1,6 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "3899da068c88cead675439c424121794dbc2c0d1"
 
@@ -14,22 +14,22 @@ uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 [[deps.Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
-[[deps.CRlibm]]
-deps = ["CRlibm_jll"]
-git-tree-sha1 = "32abd86e3c2025db5172aa182b982debed519834"
-uuid = "96374032-68de-5a5b-8d9e-752f78720389"
-version = "1.0.1"
-
 [[deps.CRlibm_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
 git-tree-sha1 = "e329286945d0cfc04456972ea732551869af1cfc"
 uuid = "4e9b3aee-d8a1-5a3d-ad8b-7d824db253f0"
 version = "1.0.1+0"
 
+[[deps.Calculus]]
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430"
+uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
+version = "0.5.2"
+
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.Dates]]
 deps = ["Printf"]
@@ -37,25 +37,20 @@ uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
 
 [[deps.DocStringExtensions]]
 deps = ["LibGit2"]
-git-tree-sha1 = "b19534d1895d702889b219c382a6e18010797f0b"
+git-tree-sha1 = "2fb1e02f2b635d0845df5d7c167fec4dd739b00d"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.8.6"
+version = "0.9.3"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
 uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 version = "1.6.0"
 
-[[deps.ErrorfreeArithmetic]]
-git-tree-sha1 = "d6863c556f1142a061532e79f611aa46be201686"
-uuid = "90fa49ef-747e-5e6f-a989-263ba693cf1a"
-version = "0.5.2"
-
-[[deps.FastRounding]]
-deps = ["ErrorfreeArithmetic", "LinearAlgebra"]
-git-tree-sha1 = "6344aa18f654196be82e62816935225b3b9abe44"
-uuid = "fa42c844-2597-5d31-933b-ebd51ab2693f"
-version = "0.3.1"
+[[deps.DualNumbers]]
+deps = ["Calculus", "NaNMath", "SpecialFunctions"]
+git-tree-sha1 = "5837a837389fccf076445fce071c8ddaea35a566"
+uuid = "fa6b7ba4-c1ee-5f82-b5fc-ecf0adba8f74"
+version = "0.6.8"
 
 [[deps.FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
@@ -65,26 +60,43 @@ deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 
 [[deps.IntervalArithmetic]]
-deps = ["CRlibm", "FastRounding", "LinearAlgebra", "Markdown", "Random", "RecipesBase", "RoundingEmulator", "SetRounding", "StaticArrays"]
-git-tree-sha1 = "c1c88395d09366dae431556bcb598ad08fa1392b"
+deps = ["CRlibm_jll", "LinearAlgebra", "MacroTools", "RoundingEmulator"]
+git-tree-sha1 = "24c095b1ec7ee58b936985d31d5df92f9b9cfebb"
 uuid = "d1acc4aa-44c8-5952-acd4-ba5d80a2a253"
-version = "0.20.8"
+version = "0.22.19"
+
+    [deps.IntervalArithmetic.extensions]
+    IntervalArithmeticDiffRulesExt = "DiffRules"
+    IntervalArithmeticForwardDiffExt = "ForwardDiff"
+    IntervalArithmeticIntervalSetsExt = "IntervalSets"
+    IntervalArithmeticRecipesBaseExt = "RecipesBase"
+
+    [deps.IntervalArithmetic.weakdeps]
+    DiffRules = "b552c78f-8df3-52c6-915a-8e097449b14b"
+    ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+    IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
+
+[[deps.IrrationalConstants]]
+git-tree-sha1 = "630b497eafcc20001bba38a4651b327dcfc491d2"
+uuid = "92d709cd-6900-40b7-9082-c6be49f344b6"
+version = "0.2.2"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -93,27 +105,43 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
 uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
+[[deps.LogExpFunctions]]
+deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
+uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
+version = "0.3.28"
+
+    [deps.LogExpFunctions.extensions]
+    LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
+    LogExpFunctionsChangesOfVariablesExt = "ChangesOfVariables"
+    LogExpFunctionsInverseFunctionsExt = "InverseFunctions"
+
+    [deps.LogExpFunctions.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    ChangesOfVariables = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0"
+    InverseFunctions = "3587e190-3f89-42d0-90ee-14403ec27112"
+
 [[deps.Logging]]
 uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
 
@@ -123,6 +151,12 @@ git-tree-sha1 = "037fdda7c47bf8fc2f46b1096972afabd26fa636"
 uuid = "39f5be34-8529-5463-bac7-bf6867c840a3"
 version = "0.1.0"
 
+[[deps.MacroTools]]
+deps = ["Markdown", "Random"]
+git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
+uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
+version = "0.5.13"
+
 [[deps.Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
@@ -136,6 +170,12 @@ version = "2.28.2+0"
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
 version = "2022.10.11"
 
+[[deps.NaNMath]]
+deps = ["OpenLibm_jll"]
+git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4"
+uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
+version = "1.0.2"
+
 [[deps.NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
@@ -145,32 +185,43 @@ deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
 uuid = "4536629a-c528-5b80-bd46-f80d51c5b363"
 version = "0.3.21+4"
 
+[[deps.OpenLibm_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "05823500-19ac-5b8b-9628-191a04bc5112"
+version = "0.8.1+0"
+
+[[deps.OpenSpecFun_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
+uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
+version = "0.5.5+0"
+
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 
 [[deps.Quaternions]]
-deps = ["LinearAlgebra", "Random", "RealDot"]
-git-tree-sha1 = "da095158bdc8eaccb7890f9884048555ab771019"
+deps = ["DualNumbers", "LinearAlgebra", "Random"]
+git-tree-sha1 = "0b345302b17b0e694092621915de0e0dc7443a1a"
 uuid = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
-version = "0.7.4"
+version = "0.4.9"
 
 [[deps.REPL]]
 deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
@@ -180,18 +231,6 @@ uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
 deps = ["SHA", "Serialization"]
 uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
-[[deps.RealDot]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9"
-uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9"
-version = "0.1.0"
-
-[[deps.RecipesBase]]
-deps = ["PrecompileTools"]
-git-tree-sha1 = "5c3d09cc4f31f5fc6af001c250bf1278733100ff"
-uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
-version = "1.3.4"
-
 [[deps.Reexport]]
 git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b"
 uuid = "189a3867-3050-52da-a836-e630ba90ab69"
@@ -199,15 +238,15 @@ version = "1.2.2"
 
 [[deps.RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-git-tree-sha1 = "067a44aead5b587252e8cf73773cca422c6ae19b"
+git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.2"
+version = "2.4.0"
 
 [[deps.Rotations]]
-deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays"]
-git-tree-sha1 = "54ccb4dbab4b1f69beb255a2c0ca5f65a9c82f08"
+deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"]
+git-tree-sha1 = "405148000e80f70b31e7732ea93288aecb1793fa"
 uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc"
-version = "1.5.1"
+version = "1.2.0"
 
 [[deps.RoundingEmulator]]
 git-tree-sha1 = "40b9edad2e5287e05bd413a38f61a8ff55b9557b"
@@ -221,11 +260,6 @@ version = "0.7.0"
 [[deps.Serialization]]
 uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
 
-[[deps.SetRounding]]
-git-tree-sha1 = "d7a25e439d07a17b7cdf97eecee504c50fedf5f6"
-uuid = "3cc68bcd-71a2-5612-b932-767ffbe40ab0"
-version = "0.2.1"
-
 [[deps.Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 
@@ -233,16 +267,36 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
 deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
+[[deps.SpecialFunctions]]
+deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
+git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
+uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
+version = "2.4.0"
+
+    [deps.SpecialFunctions.extensions]
+    SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
+
+    [deps.SpecialFunctions.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "8982b3607a212b070a5e46eea83eb62b4744ae12"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.25"
+version = "1.9.8"
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
+
+    [deps.StaticArrays.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -281,15 +335,15 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -299,12 +353,12 @@ version = "1.2.13+0"
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/examples/Manifest.toml b/examples/Manifest.toml
deleted file mode 100644
index 26dbcc47..00000000
--- a/examples/Manifest.toml
+++ /dev/null
@@ -1,96 +0,0 @@
-# This file is machine-generated - editing it directly is not advised
-
-julia_version = "1.9.0"
-manifest_format = "2.0"
-project_hash = "51eb3237a3e48045ad4ce63e3c6e9262bc86ff71"
-
-[[deps.Base64]]
-uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
-
-[[deps.Dates]]
-deps = ["Printf"]
-uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
-
-[[deps.IOCapture]]
-deps = ["Logging", "Random"]
-git-tree-sha1 = "f7be53659ab06ddc986428d3a9dcc95f6fa6705a"
-uuid = "b5f81e59-6552-4d32-b1f0-c071b021bf89"
-version = "0.2.2"
-
-[[deps.InteractiveUtils]]
-deps = ["Markdown"]
-uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
-
-[[deps.JSON]]
-deps = ["Dates", "Mmap", "Parsers", "Unicode"]
-git-tree-sha1 = "31e996f0a15c7b280ba9f76636b3ff9e2ae58c9a"
-uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
-version = "0.21.4"
-
-[[deps.Literate]]
-deps = ["Base64", "IOCapture", "JSON", "REPL"]
-git-tree-sha1 = "1c4418beaa6664041e0f9b48f0710f57bff2fcbe"
-uuid = "98b081ad-f1c9-55d3-8b20-4c87d4299306"
-version = "2.14.0"
-
-[[deps.Logging]]
-uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
-
-[[deps.Markdown]]
-deps = ["Base64"]
-uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
-
-[[deps.Mmap]]
-uuid = "a63ad114-7e13-5084-954f-fe012c677804"
-
-[[deps.Parsers]]
-deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "7302075e5e06da7d000d9bfa055013e3e85578ca"
-uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.9"
-
-[[deps.PrecompileTools]]
-deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
-uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
-
-[[deps.Preferences]]
-deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
-uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
-
-[[deps.Printf]]
-deps = ["Unicode"]
-uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
-
-[[deps.REPL]]
-deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
-uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
-
-[[deps.Random]]
-deps = ["SHA", "Serialization"]
-uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
-
-[[deps.SHA]]
-uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
-version = "0.7.0"
-
-[[deps.Serialization]]
-uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
-
-[[deps.Sockets]]
-uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
-
-[[deps.TOML]]
-deps = ["Dates"]
-uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76"
-version = "1.0.3"
-
-[[deps.UUIDs]]
-deps = ["Random", "SHA"]
-uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
-
-[[deps.Unicode]]
-uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
diff --git a/perf/Manifest.toml b/perf/Manifest.toml
index 4577004c..001e9cd8 100644
--- a/perf/Manifest.toml
+++ b/perf/Manifest.toml
@@ -1,6 +1,6 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.9.0"
+julia_version = "1.9.4"
 manifest_format = "2.0"
 project_hash = "65dd92ee98603779b07a7023ff0989262d569492"
 
@@ -16,20 +16,20 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 
 [[deps.BenchmarkTools]]
 deps = ["JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"]
-git-tree-sha1 = "d9a9701b899b30332bbcb3e1679c41cce81fb0e8"
+git-tree-sha1 = "f1dff6729bc61f4d49e140da1af55dcd1ac97b2f"
 uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-version = "1.3.2"
+version = "1.5.0"
 
 [[deps.Calculus]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "f641eb0a4f00c343bbc32346e1217b86f3ce9dad"
+git-tree-sha1 = "9cb23bbb1127eefb022b022481466c0f1127d430"
 uuid = "49dc2e85-a5d0-5ad3-a950-438e2897f1b9"
-version = "0.5.1"
+version = "0.5.2"
 
 [[deps.CompilerSupportLibraries_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
-version = "1.0.2+0"
+version = "1.0.5+0"
 
 [[deps.Dates]]
 deps = ["Printf"]
@@ -65,10 +65,10 @@ uuid = "92d709cd-6900-40b7-9082-c6be49f344b6"
 version = "0.2.2"
 
 [[deps.JLLWrappers]]
-deps = ["Preferences"]
-git-tree-sha1 = "abc9885a7ca2052a736a600f7fa66209f96506e1"
+deps = ["Artifacts", "Preferences"]
+git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.4.1"
+version = "1.6.1"
 
 [[deps.JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
@@ -79,12 +79,12 @@ version = "0.21.4"
 [[deps.LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
 uuid = "b27032c2-a3e7-50c8-80cd-2d36dbcbfd21"
-version = "0.6.3"
+version = "0.6.4"
 
 [[deps.LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "7.84.0+0"
+version = "8.4.0+0"
 
 [[deps.LibGit2]]
 deps = ["Base64", "NetworkOptions", "Printf", "SHA"]
@@ -93,22 +93,22 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
 [[deps.LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
 uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
-version = "1.10.2+0"
+version = "1.11.0+1"
 
 [[deps.Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 
 [[deps.Libiconv_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "c7cb1f5d892775ba13767a87c7ada0b980ea0a71"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "61dfdba58e585066d8bce214c5a51eaa0539f269"
 uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531"
-version = "1.16.1+2"
+version = "1.17.0+1"
 
 [[deps.LightXML]]
 deps = ["Libdl", "XML2_jll"]
-git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f"
+git-tree-sha1 = "3a994404d3f6709610701c7dabfc03fed87a81f8"
 uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
@@ -116,9 +116,9 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [[deps.LogExpFunctions]]
 deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
-git-tree-sha1 = "0a1b7c2863e44523180fdb3146534e265a91870b"
+git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
 uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
-version = "0.3.23"
+version = "0.3.28"
 
     [deps.LogExpFunctions.extensions]
     LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -183,26 +183,26 @@ version = "0.5.5+0"
 
 [[deps.Parsers]]
 deps = ["Dates", "PrecompileTools", "UUIDs"]
-git-tree-sha1 = "7302075e5e06da7d000d9bfa055013e3e85578ca"
+git-tree-sha1 = "8489905bcdbcfac64d1daa51ca07c0d8f0283821"
 uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
-version = "2.5.9"
+version = "2.8.1"
 
 [[deps.Pkg]]
 deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.9.0"
+version = "1.9.2"
 
 [[deps.PrecompileTools]]
 deps = ["Preferences"]
-git-tree-sha1 = "259e206946c293698122f63e2b513a7c99a244e8"
+git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
 uuid = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
-version = "1.1.1"
+version = "1.2.1"
 
 [[deps.Preferences]]
 deps = ["TOML"]
-git-tree-sha1 = "7eb1686b4f04b82f96ed7a4ea5890a4f0c7a09f1"
+git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Printf]]
 deps = ["Unicode"]
@@ -233,9 +233,9 @@ version = "1.2.2"
 
 [[deps.RigidBodyDynamics]]
 deps = ["DocStringExtensions", "LightXML", "LinearAlgebra", "LoopThrottle", "Random", "Reexport", "Rotations", "SparseArrays", "StaticArrays", "TypeSortedCollections", "UnsafeArrays"]
-path = ".."
+git-tree-sha1 = "313ea256ced33aa6039987c9fef57e59aa229589"
 uuid = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-version = "2.3.2"
+version = "2.4.0"
 
 [[deps.Rotations]]
 deps = ["LinearAlgebra", "Quaternions", "Random", "StaticArrays", "Statistics"]
@@ -259,9 +259,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [[deps.SpecialFunctions]]
 deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "ef28127915f4229c971eb43f3fc075dd3fe91880"
+git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.2.0"
+version = "2.4.0"
 
     [deps.SpecialFunctions.extensions]
     SpecialFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -270,15 +270,23 @@ version = "2.2.0"
     ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
 
 [[deps.StaticArrays]]
-deps = ["LinearAlgebra", "Random", "StaticArraysCore", "Statistics"]
-git-tree-sha1 = "c262c8e978048c2b095be1672c9bee55b4619521"
+deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
+git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.5.24"
+version = "1.9.8"
+
+    [deps.StaticArrays.extensions]
+    StaticArraysChainRulesCoreExt = "ChainRulesCore"
+    StaticArraysStatisticsExt = "Statistics"
+
+    [deps.StaticArrays.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 
 [[deps.StaticArraysCore]]
-git-tree-sha1 = "6b7ba252635a5eff6a0b0664a41ee140a1c9e72a"
+git-tree-sha1 = "192954ef1208c7019899fbf8049e717f92959682"
 uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
-version = "1.4.0"
+version = "1.4.3"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -317,15 +325,15 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
 
 [[deps.UnsafeArrays]]
-git-tree-sha1 = "3350f94f6caa02f324a23645bf524fc9334c7488"
+git-tree-sha1 = "da0c9ca60d3371a4bc86b4e65c45db17086fb3ac"
 uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
-version = "1.0.4"
+version = "1.0.6"
 
 [[deps.XML2_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"]
-git-tree-sha1 = "93c41695bc1c08c46c5899f4fe06d6ead504bb73"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"]
+git-tree-sha1 = "6a451c6f33a176150f315726eba8b92fbfdb9ae7"
 uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a"
-version = "2.10.3+0"
+version = "2.13.4+0"
 
 [[deps.Zlib_jll]]
 deps = ["Libdl"]
@@ -335,12 +343,12 @@ version = "1.2.13+0"
 [[deps.libblastrampoline_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
-version = "5.7.0+0"
+version = "5.8.0+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.48.0+0"
+version = "1.52.0+1"
 
 [[deps.p7zip_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/perf/runbenchmarks.jl b/perf/runbenchmarks.jl
index d3681896..0d44c25b 100644
--- a/perf/runbenchmarks.jl
+++ b/perf/runbenchmarks.jl
@@ -7,10 +7,6 @@ using RigidBodyDynamics.OdeIntegrators
 using Random
 using Profile
 using BenchmarkTools
-using LinearAlgebra
-
-# Due to https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500:
-BLAS.set_num_threads(1)
 
 const ScalarType = Float64
 # const ScalarType = Float32
diff --git a/src/RigidBodyDynamics.jl b/src/RigidBodyDynamics.jl
index 96ff7017..70710b17 100644
--- a/src/RigidBodyDynamics.jl
+++ b/src/RigidBodyDynamics.jl
@@ -21,7 +21,8 @@ export
     DynamicsResult,
     StateCache,
     DynamicsResultCache,
-    SegmentedVectorCache
+    SegmentedVectorCache,
+    WrenchesCache
 
 # specific joint types
 export
diff --git a/src/caches.jl b/src/caches.jl
index e13e6f2c..7fcfa64d 100644
--- a/src/caches.jl
+++ b/src/caches.jl
@@ -107,3 +107,28 @@ end
 @inline function makevalue(c::SegmentedVectorCache{K, KeyRange}, ::Type{T}) where {K, T, KeyRange}
     SegmentedVector{K, T, KeyRange}(Vector{T}(undef, c.length), c.ranges)
 end
+
+"""
+$(TYPEDEF)
+
+A container that manages the creation and storage of `BodyDict{Wrench{T}}`.
+Similar to [`StateCache`](@ref).
+"""
+struct WrenchesCache{M} <: AbstractTypeDict
+    mechanism::Mechanism{M}
+    keys::Vector{UInt}
+    values::Vector  # Can also be `Any`
+end
+
+Base.show(io::IO, ::WrenchesCache{M}) where {M} = print(io, "WrenchesCache{$M}(…)")
+
+WrenchesCache(mechanism::Mechanism{M}) where {M} = WrenchesCache{M}(mechanism, [], [])
+
+@inline function valuetype(::Type{WrenchesCache{M}}, ::Type{T}) where {M,T}
+    BodyDict{Wrench{T}}
+end
+
+@inline function makevalue(c::WrenchesCache, ::Type{T}) where {T}
+    rootframe = root_frame(c.mechanism)
+    BodyDict{Wrench{T}}(b => zero(Wrench{T}, rootframe) for b in bodies(c.mechanism))
+end
diff --git a/src/spatial/threevectors.jl b/src/spatial/threevectors.jl
index d8eae288..213bb375 100644
--- a/src/spatial/threevectors.jl
+++ b/src/spatial/threevectors.jl
@@ -75,7 +75,7 @@ LinearAlgebra.cross(v1::FreeVector3D, v2::FreeVector3D) = begin @framecheck(v1.f
 LinearAlgebra.dot(v1::FreeVector3D, v2::FreeVector3D) = begin @framecheck(v1.frame, v2.frame); v1.v ⋅ v2.v end
 Base.:*(t::Transform3D, vector::FreeVector3D) = begin @framecheck(t.from, vector.frame); FreeVector3D(t.to, rotation(t) * vector.v) end
 Base.:\(t::Transform3D, point::FreeVector3D) = begin @framecheck point.frame t.to; FreeVector3D(t.from, rotation(t) \ point.v) end
-LinearAlgebra.norm(v::FreeVector3D) = norm(v.v)
+LinearAlgebra.norm(v::FreeVector3D) = LinearAlgebra.generic_norm2(v.v)
 LinearAlgebra.normalize(v::FreeVector3D, p::Real = 2) = FreeVector3D(v.frame, normalize(v.v, p))
 
 # Mixed Point3D and FreeVector3D
diff --git a/test/runtests.jl b/test/runtests.jl
index 76dccb26..2bfa5fc1 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -30,7 +30,7 @@ include("test_simulate.jl")
 include("test_mechanism_modification.jl")
 include("test_pd_control.jl")
 
-if VERSION >= v"1.9"
+if v"1.9" <= VERSION < v"1.10"
     # The notebook tests rely on instantiating specific project manifests.
     # Attempting to do so on a version of Julia older than the one used to
     # create those manifests can cause errors in `Pkg.instantiate()`.
@@ -40,4 +40,3 @@ if VERSION >= v"1.9"
         @test begin include("../perf/runbenchmarks.jl"); true end
     end
 end
-
diff --git a/test/test_notebooks.jl b/test/test_notebooks.jl
index dbd14e1a..3fcd3459 100644
--- a/test/test_notebooks.jl
+++ b/test/test_notebooks.jl
@@ -4,7 +4,7 @@ let
     excludedirs = [".ipynb_checkpoints"]
     excludefiles = String[]
     push!(excludefiles, "6. Symbolics.ipynb")  # Disabled until https://github.com/JuliaGeometry/Quaternions.jl/issues/123 is solved.
-    # push!(excludefiles, "7. Rigorous error bounds using IntervalArithmetic.ipynb") # Manifest used for 1.1 doesn't work for 1.0.
+    push!(excludefiles, "7. Rigorous error bounds using IntervalArithmetic.ipynb") # Manifest used for 1.1 doesn't work for 1.0.
     for (root, dir, files) in walkdir(notebookdir)
         basename(root) in excludedirs && continue
         for file in files