Repository: engnadeau/pybotics (language: python)

Issue:
feat: numpy.typing.NDArray requires >=1.21
BREAKING CHANGE: bumped min numpy version

## Affected Issues
<!--
Please list issues affected by this PR.
-->
- Fixes #

## Proposed Changes
<!--
Please explain what was changed in this PR.
-->
-



Discussion / hints:

Fix patch:
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
index 203cddcf..c56f7922 100644
--- a/.github/workflows/publish.yml
+++ b/.github/workflows/publish.yml
@@ -1,26 +1,25 @@
-name: Publish
+name: Publish to PyPI
 
 on:
   release:
-    types: [created]
+    types:
+      - created
 
 jobs:
   deploy:
-
     runs-on: ubuntu-latest
-
     steps:
-    - uses: actions/checkout@v2
-    - name: Set up Python
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.x'
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install poetry
-    - name: Build and publish
-      run: |
-        poetry version $(git describe --tags --abbrev=0)
-        poetry build
-        poetry publish --username ${{ secrets.PYPI_USERNAME }} --password ${{ secrets.PYPI_PASSWORD }}
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          # use latest stable python version for publishing
+          python-version: "3.x"
+      - name: Install dependencies
+        run: |
+          pip install poetry
+      - name: Build and publish
+        run: |
+          make build
+          poetry publish \
+            --username ${{ secrets.PYPI_USERNAME }} \
+            --password ${{ secrets.PYPI_PASSWORD }}
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 32c506d1..fb94611c 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -1,15 +1,17 @@
-name: Release
+name: GitHub Release
+
 on:
   push:
     branches:
       - master
+
 jobs:
   release:
     name: Release
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v1
+        uses: actions/checkout@v3
       - name: Setup Node.js
         uses: actions/setup-node@v1
         with:
diff --git a/Makefile b/Makefile
index 5bda0ef3..e500702d 100644
--- a/Makefile
+++ b/Makefile
@@ -22,6 +22,9 @@ format:
 	poetry run black .
 	poetry run isort .
 
+.PHONY: test-all
+test-all: test test-examples test-notebooks
+
 .PHONY: test
 test:
 	PYTHONPATH=. \
@@ -34,7 +37,7 @@ test:
 .PHONY: test-notebooks
 test-notebooks: examples/*.ipynb
 	for file in $^; do \
-		poetry run jupyter nbconvert --execute $${file}; \
+		poetry run jupyter nbconvert --to=html --execute $${file}; \
 	done
 
 .PHONY: test-examples
@@ -45,6 +48,8 @@ test-examples: examples/*.py
 
 .PHONY: build
 build:
+	# bump local package version to match git tag and build package
+	poetry version $(shell git describe --tags --abbrev=0)
 	poetry build
 
 .PHONY: paper
diff --git a/README.md b/README.md
index d4877943..a79dd37e 100644
--- a/README.md
+++ b/README.md
@@ -9,16 +9,16 @@ The Python Toolbox for Robotics
 - [Report a bug](https://github.com/nnadeau/pybotics/issues)
 - [Request a feature](https://github.com/nnadeau/pybotics/issues)
 
-Item | Badges
----|---
-Repo | [![GitHub issues](https://img.shields.io/github/issues/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/issues) [![GitHub forks](https://img.shields.io/github/forks/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/network) [![GitHub stars](https://img.shields.io/github/stars/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/stargazers) ![GitHub repo size](https://img.shields.io/github/repo-size/engnadeau/pybotics)
-Releases | [![GitHub tag](https://img.shields.io/github/tag/nnadeau/pybotics.svg?maxAge=2592000?style=flat-square)](https://github.com/nnadeau/pybotics/releases) [![PyPI Version](https://img.shields.io/pypi/v/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Wheel](https://img.shields.io/pypi/wheel/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Format](https://img.shields.io/pypi/format/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![semantic-release](https://img.shields.io/badge/%20%20%F0%9F%93%A6%F0%9F%9A%80-semantic--release-e10079.svg)](https://github.com/semantic-release/semantic-release) ![PyPI - Downloads](https://img.shields.io/pypi/dm/pybotics)
-Compatibility | [![PyPI Pythons](https://img.shields.io/pypi/pyversions/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Implementation](https://img.shields.io/pypi/implementation/pybotics.svg)](https://pypi.python.org/pypi/pybotics)
-Workflows | [![Test](https://github.com/nnadeau/pybotics/workflows/Test/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Release](https://github.com/nnadeau/pybotics/workflows/Release/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Publish](https://github.com/nnadeau/pybotics/workflows/Publish/badge.svg)](https://github.com/nnadeau/pybotics/actions)
-Documentation | [![Documentation Status](https://readthedocs.org/projects/pybotics/badge/?version=latest)](https://pybotics.readthedocs.io/en/latest/?badge=latest)
-Citations | [![DOI](https://joss.theoj.org/papers/10.21105/joss.01738/status.svg)](https://doi.org/10.21105/joss.01738) [![DOI](https://zenodo.org/badge/66797360.svg)](https://zenodo.org/badge/latestdoi/66797360)
-License | [![PyPI License](https://img.shields.io/pypi/l/pybotics.svg)](https://pypi.python.org/pypi/pybotics)
-Social | ![Twitter Follow](https://img.shields.io/twitter/follow/engnadeau?style=social) [![Twitter](https://img.shields.io/twitter/url?style=social&url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics)](https://twitter.com/intent/tweet?text=Wow:&url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics)
+| Item          | Badges                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Repo          | [![GitHub issues](https://img.shields.io/github/issues/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/issues) [![GitHub forks](https://img.shields.io/github/forks/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/network) [![GitHub stars](https://img.shields.io/github/stars/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/stargazers) ![GitHub repo size](https://img.shields.io/github/repo-size/engnadeau/pybotics)                                                                                                                                                                                                                                                 |
+| Releases      | [![GitHub tag](https://img.shields.io/github/tag/nnadeau/pybotics.svg?maxAge=2592000?style=flat-square)](https://github.com/nnadeau/pybotics/releases) [![PyPI Version](https://img.shields.io/pypi/v/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Wheel](https://img.shields.io/pypi/wheel/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Format](https://img.shields.io/pypi/format/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![semantic-release](https://img.shields.io/badge/%20%20%F0%9F%93%A6%F0%9F%9A%80-semantic--release-e10079.svg)](https://github.com/semantic-release/semantic-release) ![PyPI - Downloads](https://img.shields.io/pypi/dm/pybotics) |
+| Compatibility | [![PyPI Pythons](https://img.shields.io/pypi/pyversions/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Implementation](https://img.shields.io/pypi/implementation/pybotics.svg)](https://pypi.python.org/pypi/pybotics)                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| Workflows     | [![Test](https://github.com/nnadeau/pybotics/workflows/Test/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Release](https://github.com/nnadeau/pybotics/workflows/Release/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Publish](https://github.com/nnadeau/pybotics/workflows/Publish/badge.svg)](https://github.com/nnadeau/pybotics/actions)                                                                                                                                                                                                                                                                                                                                     |
+| Documentation | [![Documentation Status](https://readthedocs.org/projects/pybotics/badge/?version=latest)](https://pybotics.readthedocs.io/en/latest/?badge=latest)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
+| Citations     | [![DOI](https://joss.theoj.org/papers/10.21105/joss.01738/status.svg)](https://doi.org/10.21105/joss.01738) [![DOI](https://zenodo.org/badge/66797360.svg)](https://zenodo.org/badge/latestdoi/66797360)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
+| License       | [![PyPI License](https://img.shields.io/pypi/l/pybotics.svg)](https://pypi.python.org/pypi/pybotics)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| Social        | ![Twitter Follow](https://img.shields.io/twitter/follow/engnadeau?style=social) [![Twitter](https://img.shields.io/twitter/url?style=social&url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics)](https://twitter.com/intent/tweet?text=Wow:&url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics)                                                                                                                                                                                                                                                                                                                                                                                                                  |
 
 ## Contents
 
@@ -34,6 +34,7 @@ Social | ![Twitter Follow](https://img.shields.io/twitter/follow/engnadeau?style
   - [Development and Community Guidelines](#development-and-community-guidelines)
     - [Local Development](#local-development)
     - [Docker Development](#docker-development)
+    - [Commits](#commits)
     - [Dependency Management](#dependency-management)
     - [Submit an Issue](#submit-an-issue)
     - [Contributing](#contributing)
@@ -153,6 +154,17 @@ poetry install
 make test
 ```
 
+### Commits
+
+- The repo abides by [SemVer](https://semver.org/), [`semantic-release`](https://github.com/semantic-release/semantic-release), and [Angular commit message syntax](https://github.com/angular/angular/blob/main/CONTRIBUTING.md)
+- It is highly recommended to use the [`commitizen` CLI](https://github.com/commitizen/cz-cli)
+- See commit examples below:
+
+| Change                    | Commit Type |
+| ------------------------- | ----------- |
+| Bumped dependency version | `build`     |
+| Bumped Python requirement | `feat`      |
+
 ### Dependency Management
 
 ```bash
diff --git a/poetry.lock b/poetry.lock
index 6e3952d5..02af99fe 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -8,40 +8,47 @@ python-versions = "*"
 
 [[package]]
 name = "appnope"
-version = "0.1.0"
-description = "Disable App Nap on OS X 10.9"
+version = "0.1.3"
+description = "Disable App Nap on macOS >= 10.9"
 category = "dev"
 optional = false
 python-versions = "*"
 
 [[package]]
-name = "argh"
-version = "0.26.2"
-description = "An unobtrusive argparse wrapper with natural syntax"
+name = "argon2-cffi"
+version = "21.3.0"
+description = "The secure Argon2 password hashing algorithm."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
+
+[package.dependencies]
+argon2-cffi-bindings = "*"
+typing-extensions = {version = "*", markers = "python_version < \"3.8\""}
+
+[package.extras]
+dev = ["cogapp", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "pre-commit", "pytest", "sphinx", "sphinx-notfound-page", "tomli"]
+docs = ["furo", "sphinx", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pytest"]
 
 [[package]]
-name = "argon2-cffi"
-version = "20.1.0"
-description = "The secure Argon2 password hashing algorithm."
+name = "argon2-cffi-bindings"
+version = "21.2.0"
+description = "Low-level CFFI bindings for Argon2"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-cffi = ">=1.0.0"
-six = "*"
+cffi = ">=1.0.1"
 
 [package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pytest", "sphinx", "wheel", "pre-commit"]
-docs = ["sphinx"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pytest"]
+dev = ["cogapp", "pre-commit", "pytest", "wheel"]
+tests = ["pytest"]
 
 [[package]]
 name = "atomicwrites"
-version = "1.4.0"
+version = "1.4.1"
 description = "Atomic file writes."
 category = "dev"
 optional = false
@@ -49,25 +56,25 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "attrs"
-version = "19.3.0"
+version = "22.1.0"
 description = "Classes Without Boilerplate"
 category = "main"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.5"
 
 [package.extras]
-azure-pipelines = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface", "pytest-azurepipelines"]
-dev = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface", "sphinx", "pre-commit"]
-docs = ["sphinx", "zope.interface"]
-tests = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface"]
+dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
+docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"]
+tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"]
+tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]
 
 [[package]]
-name = "babel"
-version = "2.9.1"
+name = "Babel"
+version = "2.10.3"
 description = "Internationalization utilities"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
 pytz = ">=2015.7"
@@ -80,6 +87,21 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "beautifulsoup4"
+version = "4.11.1"
+description = "Screen-scraping library"
+category = "dev"
+optional = false
+python-versions = ">=3.6.0"
+
+[package.dependencies]
+soupsieve = ">1.2"
+
+[package.extras]
+html5lib = ["html5lib"]
+lxml = ["lxml"]
+
 [[package]]
 name = "black"
 version = "22.6.0"
@@ -100,35 +122,38 @@ typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implem
 typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
-uvloop = ["uvloop (>=0.15.2)"]
-jupyter = ["tokenize-rt (>=3.2.0)", "ipython (>=7.8.0)"]
-d = ["aiohttp (>=3.7.4)"]
 colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "bleach"
-version = "3.3.0"
+version = "5.0.1"
 description = "An easy safelist-based HTML-sanitizing tool."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.7"
 
 [package.dependencies]
-packaging = "*"
 six = ">=1.9.0"
 webencodings = "*"
 
+[package.extras]
+css = ["tinycss2 (>=1.1.0,<1.2)"]
+dev = ["Sphinx (==4.3.2)", "black (==22.3.0)", "build (==0.8.0)", "flake8 (==4.0.1)", "hashin (==0.17.0)", "mypy (==0.961)", "pip-tools (==6.6.2)", "pytest (==7.1.2)", "tox (==3.25.0)", "twine (==4.0.1)", "wheel (==0.37.1)"]
+
 [[package]]
 name = "certifi"
-version = "2020.6.20"
+version = "2022.6.15"
 description = "Python package for providing Mozilla's CA Bundle."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "cffi"
-version = "1.14.2"
+version = "1.15.1"
 description = "Foreign Function Interface for Python calling C code."
 category = "dev"
 optional = false
@@ -139,11 +164,11 @@ pycparser = "*"
 
 [[package]]
 name = "charset-normalizer"
-version = "2.0.9"
+version = "2.1.1"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 category = "dev"
 optional = false
-python-versions = ">=3.5.0"
+python-versions = ">=3.6.0"
 
 [package.extras]
 unicode_backport = ["unicodedata2"]
@@ -162,7 +187,7 @@ importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
 
 [[package]]
 name = "colorama"
-version = "0.4.3"
+version = "0.4.5"
 description = "Cross-platform colored terminal text."
 category = "dev"
 optional = false
@@ -176,31 +201,39 @@ category = "dev"
 optional = false
 python-versions = ">=3.7"
 
+[package.dependencies]
+tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.11.0a6\" and extra == \"toml\""}
+
 [package.extras]
 toml = ["tomli"]
 
 [[package]]
 name = "cycler"
-version = "0.10.0"
+version = "0.11.0"
 description = "Composable style cycles"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
-[package.dependencies]
-six = "*"
+[[package]]
+name = "debugpy"
+version = "1.6.3"
+description = "An implementation of the Debug Adapter Protocol for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
 
 [[package]]
 name = "decorator"
-version = "4.4.2"
+version = "5.1.1"
 description = "Decorators for Humans"
 category = "dev"
 optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*"
+python-versions = ">=3.5"
 
 [[package]]
 name = "defusedxml"
-version = "0.6.0"
+version = "0.7.1"
 description = "XML bomb protection for Python stdlib modules"
 category = "dev"
 optional = false
@@ -208,7 +241,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "docutils"
-version = "0.16"
+version = "0.17.1"
 description = "Docutils -- Python Documentation Utilities"
 category = "dev"
 optional = false
@@ -216,11 +249,11 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "entrypoints"
-version = "0.3"
+version = "0.4"
 description = "Discover and load entry points from installed packages."
 category = "dev"
 optional = false
-python-versions = ">=2.7"
+python-versions = ">=3.6"
 
 [[package]]
 name = "exceptiongroup"
@@ -233,23 +266,34 @@ python-versions = ">=3.7"
 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "fastjsonschema"
+version = "2.16.1"
+description = "Fastest Python implementation of JSON schema"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.extras]
+devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"]
+
 [[package]]
 name = "flake8"
-version = "4.0.1"
+version = "5.0.4"
 description = "the modular source code checker: pep8 pyflakes and co"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.6.1"
 
 [package.dependencies]
-importlib-metadata = {version = "<4.3", markers = "python_version < \"3.8\""}
-mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.8.0,<2.9.0"
-pyflakes = ">=2.4.0,<2.5.0"
+importlib-metadata = {version = ">=1.1.0,<4.3", markers = "python_version < \"3.8\""}
+mccabe = ">=0.7.0,<0.8.0"
+pycodestyle = ">=2.9.0,<2.10.0"
+pyflakes = ">=2.5.0,<2.6.0"
 
 [[package]]
 name = "flake8-bugbear"
-version = "20.1.4"
+version = "22.8.23"
 description = "A plugin for flake8 finding likely bugs and design problems in your program. Contains warnings that don't belong in pyflakes and pycodestyle."
 category = "dev"
 optional = false
@@ -259,16 +303,30 @@ python-versions = ">=3.6"
 attrs = ">=19.2.0"
 flake8 = ">=3.0.0"
 
+[package.extras]
+dev = ["coverage", "hypothesis", "hypothesmith (>=0.2)", "pre-commit"]
+
 [[package]]
-name = "flake8-polyfill"
-version = "1.0.2"
-description = "Polyfill package for Flake8 plugins"
+name = "fonttools"
+version = "4.37.1"
+description = "Tools to manipulate font files"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
-[package.dependencies]
-flake8 = "*"
+[package.extras]
+all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
+graphite = ["lz4 (>=1.7.4.2)"]
+interpolatable = ["munkres", "scipy"]
+lxml = ["lxml (>=4.0,<5)"]
+pathops = ["skia-pathops (>=0.5.0)"]
+plot = ["matplotlib"]
+repacker = ["uharfbuzz (>=0.23.0)"]
+symfont = ["sympy"]
+type1 = ["xattr"]
+ufo = ["fs (>=2.2.0,<3)"]
+unicode = ["unicodedata2 (>=14.0.0)"]
+woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
 name = "hypothesis"
@@ -284,8 +342,8 @@ exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 sortedcontainers = ">=2.1.0,<3.0.0"
 
 [package.extras]
-all = ["black (>=19.10b0)", "click (>=7.0)", "django (>=3.2)", "dpcontracts (>=0.4)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=1.0)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "importlib-metadata (>=3.6)", "backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
-cli = ["click (>=7.0)", "black (>=19.10b0)", "rich (>=9.0.0)"]
+all = ["backports.zoneinfo (>=0.2.1)", "black (>=19.10b0)", "click (>=7.0)", "django (>=3.2)", "dpcontracts (>=0.4)", "importlib-metadata (>=3.6)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=1.0)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "tzdata (>=2022.1)"]
+cli = ["black (>=19.10b0)", "click (>=7.0)", "rich (>=9.0.0)"]
 codemods = ["libcst (>=0.3.16)"]
 dateutil = ["python-dateutil (>=1.4)"]
 django = ["django (>=3.2)"]
@@ -301,15 +359,15 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "idna"
-version = "2.10"
+version = "3.3"
 description = "Internationalized Domain Names in Applications (IDNA)"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.5"
 
 [[package]]
 name = "imagesize"
-version = "1.2.0"
+version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
 category = "dev"
 optional = false
@@ -317,22 +375,38 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "importlib-metadata"
-version = "1.7.0"
+version = "4.2.0"
 description = "Read metadata from Python packages"
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+python-versions = ">=3.6"
 
 [package.dependencies]
+typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""}
 zipp = ">=0.5"
 
 [package.extras]
-testing = ["importlib-resources (>=1.3)", "pep517", "packaging"]
-docs = ["rst.linker", "sphinx"]
+docs = ["jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "sphinx"]
+testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pep517", "pyfakefs", "pytest (>=4.6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.0.1)", "pytest-flake8", "pytest-mypy"]
+
+[[package]]
+name = "importlib-resources"
+version = "5.9.0"
+description = "Read resources from Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
+
+[package.extras]
+docs = ["jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
 
 [[package]]
 name = "iniconfig"
-version = "1.0.1"
+version = "1.1.1"
 description = "iniconfig: brain-dead simple config-ini parsing"
 category = "dev"
 optional = false
@@ -340,55 +414,63 @@ python-versions = "*"
 
 [[package]]
 name = "ipykernel"
-version = "5.3.4"
+version = "6.15.1"
 description = "IPython Kernel for Jupyter"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.7"
 
 [package.dependencies]
 appnope = {version = "*", markers = "platform_system == \"Darwin\""}
-ipython = ">=5.0.0"
-jupyter-client = "*"
-tornado = ">=4.2"
-traitlets = ">=4.1.0"
+debugpy = ">=1.0"
+ipython = ">=7.23.1"
+jupyter-client = ">=6.1.12"
+matplotlib-inline = ">=0.1"
+nest-asyncio = "*"
+packaging = "*"
+psutil = "*"
+pyzmq = ">=17"
+tornado = ">=6.1"
+traitlets = ">=5.1.0"
 
 [package.extras]
-test = ["pytest (!=5.3.4)", "pytest-cov", "flaky", "nose"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=6.0)", "pytest-cov", "pytest-timeout"]
 
 [[package]]
 name = "ipython"
-version = "7.16.3"
+version = "7.34.0"
 description = "IPython: Productive Interactive Computing"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 appnope = {version = "*", markers = "sys_platform == \"darwin\""}
 backcall = "*"
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
 decorator = "*"
-jedi = ">=0.10,<=0.17.2"
-pexpect = {version = "*", markers = "sys_platform != \"win32\""}
+jedi = ">=0.16"
+matplotlib-inline = "*"
+pexpect = {version = ">4.3", markers = "sys_platform != \"win32\""}
 pickleshare = "*"
 prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0"
 pygments = "*"
+setuptools = ">=18.5"
 traitlets = ">=4.2"
 
 [package.extras]
-all = ["Sphinx (>=1.3)", "ipykernel", "ipyparallel", "ipywidgets", "nbconvert", "nbformat", "nose (>=0.10.1)", "notebook", "numpy (>=1.14)", "pygments", "qtconsole", "requests", "testpath"]
+all = ["Sphinx (>=1.3)", "ipykernel", "ipyparallel", "ipywidgets", "nbconvert", "nbformat", "nose (>=0.10.1)", "notebook", "numpy (>=1.17)", "pygments", "qtconsole", "requests", "testpath"]
 doc = ["Sphinx (>=1.3)"]
 kernel = ["ipykernel"]
 nbconvert = ["nbconvert"]
 nbformat = ["nbformat"]
-notebook = ["notebook", "ipywidgets"]
+notebook = ["ipywidgets", "notebook"]
 parallel = ["ipyparallel"]
 qtconsole = ["qtconsole"]
-test = ["nose (>=0.10.1)", "requests", "testpath", "pygments", "nbformat", "ipykernel", "numpy (>=1.14)"]
+test = ["ipykernel", "nbformat", "nose (>=0.10.1)", "numpy (>=1.17)", "pygments", "requests", "testpath"]
 
 [[package]]
-name = "ipython-genutils"
+name = "ipython_genutils"
 version = "0.2.0"
 description = "Vestigial utilities from IPython"
 category = "dev"
@@ -404,107 +486,126 @@ optional = false
 python-versions = ">=3.6.1,<4.0"
 
 [package.extras]
-pipfile_deprecated_finder = ["pipreqs", "requirementslib"]
-requirements_deprecated_finder = ["pipreqs", "pip-api"]
 colors = ["colorama (>=0.4.3,<0.5.0)"]
+pipfile_deprecated_finder = ["pipreqs", "requirementslib"]
 plugins = ["setuptools"]
+requirements_deprecated_finder = ["pip-api", "pipreqs"]
 
 [[package]]
 name = "jedi"
-version = "0.17.2"
+version = "0.18.1"
 description = "An autocompletion tool for Python that can be used for text editors."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-parso = ">=0.7.0,<0.8.0"
+parso = ">=0.8.0,<0.9.0"
 
 [package.extras]
-qa = ["flake8 (==3.7.9)"]
-testing = ["Django (<3.1)", "colorama", "docopt", "pytest (>=3.9.0,<5.0.0)"]
+qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
+testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
-name = "jinja2"
-version = "2.11.3"
+name = "Jinja2"
+version = "3.1.2"
 description = "A very fast and expressive template engine."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.7"
 
 [package.dependencies]
-MarkupSafe = ">=0.23"
+MarkupSafe = ">=2.0"
 
 [package.extras]
-i18n = ["Babel (>=0.8)"]
+i18n = ["Babel (>=2.7)"]
 
 [[package]]
 name = "joblib"
-version = "0.16.0"
-description = "Lightweight pipelining: using Python functions as pipeline jobs."
+version = "1.1.0"
+description = "Lightweight pipelining with Python functions"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 
 [[package]]
 name = "jsonschema"
-version = "3.2.0"
+version = "4.14.0"
 description = "An implementation of JSON Schema validation for Python"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
 [package.dependencies]
 attrs = ">=17.4.0"
 importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
-pyrsistent = ">=0.14.0"
-six = ">=1.11.0"
+importlib-resources = {version = ">=1.4.0", markers = "python_version < \"3.9\""}
+pkgutil-resolve-name = {version = ">=1.3.10", markers = "python_version < \"3.9\""}
+pyrsistent = ">=0.14.0,<0.17.0 || >0.17.0,<0.17.1 || >0.17.1,<0.17.2 || >0.17.2"
+typing-extensions = {version = "*", markers = "python_version < \"3.8\""}
 
 [package.extras]
-format = ["idna", "jsonpointer (>1.13)", "rfc3987", "strict-rfc3339", "webcolors"]
-format_nongpl = ["idna", "jsonpointer (>1.13)", "webcolors", "rfc3986-validator (>0.1.0)", "rfc3339-validator"]
+format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
+format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=1.11)"]
 
 [[package]]
 name = "jupyter-client"
-version = "6.1.6"
+version = "7.3.5"
 description = "Jupyter protocol implementation and client libraries"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.7"
 
 [package.dependencies]
-jupyter-core = ">=4.6.0"
-python-dateutil = ">=2.1"
-pyzmq = ">=13"
-tornado = ">=4.1"
+entrypoints = "*"
+jupyter-core = ">=4.9.2"
+nest-asyncio = ">=1.5.4"
+python-dateutil = ">=2.8.2"
+pyzmq = ">=23.0"
+tornado = ">=6.2"
 traitlets = "*"
 
 [package.extras]
-test = ["async-generator", "ipykernel", "ipython", "mock", "pytest", "pytest-asyncio", "pytest-timeout"]
+doc = ["ipykernel", "myst-parser", "sphinx (>=1.3.6)", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
+test = ["codecov", "coverage", "ipykernel (>=6.5)", "ipython", "mypy", "pre-commit", "pytest", "pytest-asyncio (>=0.18)", "pytest-cov", "pytest-timeout"]
 
 [[package]]
 name = "jupyter-core"
-version = "4.6.3"
+version = "4.11.1"
 description = "Jupyter core package. A base package on which Jupyter projects rely."
 category = "dev"
 optional = false
-python-versions = "!=3.0,!=3.1,!=3.2,!=3.3,!=3.4,>=2.7"
+python-versions = ">=3.7"
 
 [package.dependencies]
-pywin32 = {version = ">=1.0", markers = "sys_platform == \"win32\""}
+pywin32 = {version = ">=1.0", markers = "sys_platform == \"win32\" and platform_python_implementation != \"PyPy\""}
 traitlets = "*"
 
+[package.extras]
+test = ["ipykernel", "pre-commit", "pytest", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "jupyterlab-pygments"
+version = "0.2.2"
+description = "Pygments theme using JupyterLab CSS variables"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "kiwisolver"
-version = "1.2.0"
+version = "1.4.4"
 description = "A fast implementation of the Cassowary constraint solver"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+
+[package.dependencies]
+typing-extensions = {version = "*", markers = "python_version < \"3.8\""}
 
 [[package]]
 name = "livereload"
-version = "2.6.2"
+version = "2.6.3"
 description = "Python LiveReload is an awesome tool for web developers"
 category = "dev"
 optional = false
@@ -515,42 +616,69 @@ six = "*"
 tornado = {version = "*", markers = "python_version > \"2.7\""}
 
 [[package]]
-name = "markupsafe"
-version = "1.1.1"
+name = "lxml"
+version = "4.9.1"
+description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
+
+[package.extras]
+cssselect = ["cssselect (>=0.7)"]
+html5 = ["html5lib"]
+htmlsoup = ["BeautifulSoup4"]
+source = ["Cython (>=0.29.7)"]
+
+[[package]]
+name = "MarkupSafe"
+version = "2.1.1"
 description = "Safely add untrusted strings to HTML/XML markup."
 category = "dev"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
+python-versions = ">=3.7"
 
 [[package]]
 name = "matplotlib"
-version = "3.3.1"
+version = "3.5.3"
 description = "Python plotting package"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
-certifi = ">=2020.06.20"
 cycler = ">=0.10"
+fonttools = ">=4.22.0"
 kiwisolver = ">=1.0.1"
-numpy = ">=1.15"
+numpy = ">=1.17"
+packaging = ">=20.0"
 pillow = ">=6.2.0"
-pyparsing = ">=2.0.3,<2.0.4 || >2.0.4,<2.1.2 || >2.1.2,<2.1.6 || >2.1.6"
-python-dateutil = ">=2.1"
+pyparsing = ">=2.2.1"
+python-dateutil = ">=2.7"
+setuptools_scm = ">=4,<7"
+
+[[package]]
+name = "matplotlib-inline"
+version = "0.1.6"
+description = "Inline Matplotlib backend for Jupyter"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.dependencies]
+traitlets = "*"
 
 [[package]]
 name = "mccabe"
-version = "0.6.1"
+version = "0.7.0"
 description = "McCabe checker, plugin for flake8"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "mistune"
-version = "0.8.4"
-description = "The fastest markdown parser in pure Python"
+version = "2.0.4"
+description = "A sane Markdown parser with useful plugins and renderers"
 category = "dev"
 optional = false
 python-versions = "*"
@@ -570,9 +698,9 @@ typed-ast = {version = ">=1.4.0,<2", markers = "python_version < \"3.8\""}
 typing-extensions = ">=3.10"
 
 [package.extras]
-reports = ["lxml"]
-python2 = ["typed-ast (>=1.4.0,<2)"]
 dmypy = ["psutil (>=4.0)"]
+python2 = ["typed-ast (>=1.4.0,<2)"]
+reports = ["lxml"]
 
 [[package]]
 name = "mypy-extensions"
@@ -582,50 +710,76 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "nbclient"
+version = "0.6.7"
+description = "A client library for executing notebooks. Formerly nbconvert's ExecutePreprocessor."
+category = "dev"
+optional = false
+python-versions = ">=3.7.0"
+
+[package.dependencies]
+jupyter-client = ">=6.1.5"
+nbformat = ">=5.0"
+nest-asyncio = "*"
+traitlets = ">=5.2.2"
+
+[package.extras]
+sphinx = ["Sphinx (>=1.7)", "autodoc-traits", "mock", "moto", "myst-parser", "sphinx-book-theme"]
+test = ["black", "check-manifest", "flake8", "ipykernel", "ipython", "ipywidgets", "mypy", "nbconvert", "pip (>=18.1)", "pre-commit", "pytest (>=4.1)", "pytest-asyncio", "pytest-cov (>=2.6.1)", "setuptools (>=60.0)", "testpath", "twine (>=1.11.0)", "xmltodict"]
+
 [[package]]
 name = "nbconvert"
-version = "5.6.1"
+version = "7.0.0"
 description = "Converting Jupyter Notebooks"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.7"
 
 [package.dependencies]
+beautifulsoup4 = "*"
 bleach = "*"
 defusedxml = "*"
-entrypoints = ">=0.2.2"
-jinja2 = ">=2.4"
-jupyter-core = "*"
-mistune = ">=0.8.1,<2"
-nbformat = ">=4.4"
+importlib-metadata = {version = ">=3.6", markers = "python_version < \"3.10\""}
+jinja2 = ">=3.0"
+jupyter-core = ">=4.7"
+jupyterlab-pygments = "*"
+lxml = "*"
+markupsafe = ">=2.0"
+mistune = ">=2.0.3,<3"
+nbclient = ">=0.5.0"
+nbformat = ">=5.1"
+packaging = "*"
 pandocfilters = ">=1.4.1"
-pygments = "*"
-testpath = "*"
-traitlets = ">=4.2"
+pygments = ">=2.4.1"
+tinycss2 = "*"
+traitlets = ">=5.0"
 
 [package.extras]
-all = ["pytest", "pytest-cov", "ipykernel", "jupyter-client (>=5.3.1)", "ipywidgets (>=7)", "pebble", "tornado (>=4.0)", "sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "sphinxcontrib-github-alt", "ipython", "mock"]
-docs = ["sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "sphinxcontrib-github-alt", "ipython", "jupyter-client (>=5.3.1)"]
-execute = ["jupyter-client (>=5.3.1)"]
-serve = ["tornado (>=4.0)"]
-test = ["pytest", "pytest-cov", "ipykernel", "jupyter-client (>=5.3.1)", "ipywidgets (>=7)", "pebble", "mock"]
+all = ["ipykernel", "ipython", "ipywidgets (>=7)", "nbsphinx (>=0.2.12)", "pre-commit", "pyppeteer (>=1,<1.1)", "pyqtwebengine (>=5.15)", "pytest", "pytest-cov", "pytest-dependency", "sphinx (==5.0.2)", "sphinx-rtd-theme", "tornado (>=6.1)"]
+docs = ["ipython", "nbsphinx (>=0.2.12)", "sphinx (==5.0.2)", "sphinx-rtd-theme"]
+qtpdf = ["pyqtwebengine (>=5.15)"]
+qtpng = ["pyqtwebengine (>=5.15)"]
+serve = ["tornado (>=6.1)"]
+test = ["ipykernel", "ipywidgets (>=7)", "pre-commit", "pyppeteer (>=1,<1.1)", "pytest", "pytest-cov", "pytest-dependency"]
+webpdf = ["pyppeteer (>=1,<1.1)"]
 
 [[package]]
 name = "nbformat"
-version = "5.0.7"
+version = "5.4.0"
 description = "The Jupyter Notebook format"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.7"
 
 [package.dependencies]
-ipython-genutils = "*"
-jsonschema = ">=2.4,<2.5.0 || >2.5.0"
+fastjsonschema = "*"
+jsonschema = ">=2.6"
 jupyter-core = "*"
-traitlets = ">=4.1"
+traitlets = ">=5.1"
 
 [package.extras]
-test = ["pytest", "pytest-cov", "testpath"]
+test = ["check-manifest", "pre-commit", "pytest", "testpath"]
 
 [[package]]
 name = "nest-asyncio"
@@ -637,11 +791,11 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "notebook"
-version = "6.4.10"
+version = "6.4.12"
 description = "A web-based notebook environment for interactive computing"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 argon2-cffi = "*"
@@ -661,64 +815,69 @@ tornado = ">=6.1"
 traitlets = ">=4.2.1"
 
 [package.extras]
-docs = ["sphinx", "nbsphinx", "sphinxcontrib-github-alt", "sphinx-rtd-theme", "myst-parser"]
+docs = ["myst-parser", "nbsphinx", "sphinx", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
 json-logging = ["json-logging"]
-test = ["pytest", "coverage", "requests", "nbval", "selenium", "pytest-cov", "requests-unixsocket"]
+test = ["coverage", "nbval", "pytest", "pytest-cov", "requests", "requests-unixsocket", "selenium", "testpath"]
 
 [[package]]
 name = "numpy"
-version = "1.21.1"
+version = "1.21.6"
 description = "NumPy is the fundamental package for array computing with Python."
 category = "main"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.7,<3.11"
 
 [[package]]
 name = "packaging"
-version = "20.4"
+version = "21.3"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-pyparsing = ">=2.0.2"
-six = "*"
+pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
 
 [[package]]
 name = "pandas"
-version = "1.1.0"
+version = "1.3.5"
 description = "Powerful data structures for data analysis, time series, and statistics"
 category = "dev"
 optional = false
-python-versions = ">=3.6.1"
+python-versions = ">=3.7.1"
 
 [package.dependencies]
-numpy = ">=1.15.4"
+numpy = [
+    {version = ">=1.17.3", markers = "platform_machine != \"aarch64\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
+    {version = ">=1.19.2", markers = "platform_machine == \"aarch64\" and python_version < \"3.10\""},
+    {version = ">=1.20.0", markers = "platform_machine == \"arm64\" and python_version < \"3.10\""},
+    {version = ">=1.21.0", markers = "python_version >= \"3.10\""},
+]
 python-dateutil = ">=2.7.3"
-pytz = ">=2017.2"
+pytz = ">=2017.3"
 
 [package.extras]
-test = ["hypothesis (>=3.58)", "pytest-xdist", "pytest (>=4.0.2)"]
+test = ["hypothesis (>=3.58)", "pytest (>=6.0)", "pytest-xdist"]
 
 [[package]]
 name = "pandocfilters"
-version = "1.4.2"
+version = "1.5.0"
 description = "Utilities for writing pandoc filters in python"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "parso"
-version = "0.7.1"
+version = "0.8.3"
 description = "A Python Parser"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [package.extras]
-testing = ["pytest (>=3.0.7)", "docopt"]
+qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
+testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
@@ -728,32 +887,24 @@ category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 
-[[package]]
-name = "pathtools"
-version = "0.1.2"
-description = "File system general utilities"
-category = "dev"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "pbr"
-version = "5.4.5"
+version = "5.10.0"
 description = "Python Build Reasonableness"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=2.6"
 
 [[package]]
 name = "pep8-naming"
-version = "0.11.1"
+version = "0.13.2"
 description = "Check PEP-8 naming conventions, plugin for flake8"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
 [package.dependencies]
-flake8-polyfill = ">=1.0.2,<2"
+flake8 = ">=3.9.1"
 
 [[package]]
 name = "pexpect"
@@ -775,11 +926,23 @@ optional = false
 python-versions = "*"
 
 [[package]]
-name = "pillow"
-version = "8.3.2"
+name = "Pillow"
+version = "9.2.0"
 description = "Python Imaging Library (Fork)"
 category = "dev"
 optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "pkgutil_resolve_name"
+version = "1.3.10"
+description = "Resolve a name to an object."
+category = "dev"
+optional = false
 python-versions = ">=3.6"
 
 [[package]]
@@ -791,56 +954,60 @@ optional = false
 python-versions = ">=3.7"
 
 [package.extras]
-test = ["pytest (>=6)", "pytest-mock (>=3.6)", "pytest-cov (>=2.7)", "appdirs (==1.4.4)"]
-docs = ["sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)", "proselint (>=0.10.2)", "furo (>=2021.7.5b38)"]
+docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
+test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
 
 [[package]]
 name = "pluggy"
-version = "0.13.1"
+version = "1.0.0"
 description = "plugin and hook calling mechanisms for python"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
 importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
 
 [package.extras]
 dev = ["pre-commit", "tox"]
-
-[[package]]
-name = "port-for"
-version = "0.3.1"
-description = "Utility that helps with local TCP ports managment. It can find an unused TCP localhost port and remember the association."
-category = "dev"
-optional = false
-python-versions = "*"
+testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "prometheus-client"
-version = "0.8.0"
+version = "0.14.1"
 description = "Python client for the Prometheus monitoring system."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [package.extras]
 twisted = ["twisted"]
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.3"
+version = "3.0.30"
 description = "Library for building powerful interactive command lines in Python"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.6.2"
 
 [package.dependencies]
 wcwidth = "*"
 
+[[package]]
+name = "psutil"
+version = "5.9.1"
+description = "Cross-platform lib for process and system monitoring in Python."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[package.extras]
+test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
+
 [[package]]
 name = "ptyprocess"
-version = "0.6.0"
+version = "0.7.0"
 description = "Run a subprocess in a pseudo terminal"
 category = "dev"
 optional = false
@@ -848,23 +1015,23 @@ python-versions = "*"
 
 [[package]]
 name = "py"
-version = "1.10.0"
+version = "1.11.0"
 description = "library with cross-python path, ini-parsing, io, code, log facilities"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "pycodestyle"
-version = "2.8.0"
+version = "2.9.1"
 description = "Python style guide checker"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "pycparser"
-version = "2.20"
+version = "2.21"
 description = "C parser in Python"
 category = "dev"
 optional = false
@@ -886,38 +1053,41 @@ toml = ["toml"]
 
 [[package]]
 name = "pyflakes"
-version = "2.4.0"
+version = "2.5.0"
 description = "passive checker of Python programs"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [[package]]
-name = "pygments"
-version = "2.7.4"
+name = "Pygments"
+version = "2.13.0"
 description = "Pygments is a syntax highlighting package written in Python."
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
+
+[package.extras]
+plugins = ["importlib-metadata"]
 
 [[package]]
 name = "pyparsing"
-version = "2.4.7"
-description = "Python parsing module"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 category = "dev"
 optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+python-versions = ">=3.6.8"
+
+[package.extras]
+diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pyrsistent"
-version = "0.16.0"
+version = "0.18.1"
 description = "Persistent/Functional/Immutable data structures"
 category = "dev"
 optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = "*"
+python-versions = ">=3.7"
 
 [[package]]
 name = "pytest"
@@ -939,50 +1109,50 @@ py = ">=1.8.2"
 tomli = ">=1.0.0"
 
 [package.extras]
-testing = ["xmlschema", "requests", "pygments (>=2.7.2)", "nose", "mock", "hypothesis (>=3.56)", "argcomplete"]
+testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
 
 [[package]]
 name = "pytest-cov"
-version = "2.10.1"
+version = "3.0.0"
 description = "Pytest plugin for measuring coverage."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-coverage = ">=4.4"
+coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests (==2.0.2)", "six", "pytest-xdist", "virtualenv"]
+testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
 
 [[package]]
 name = "pytest-randomly"
-version = "3.4.1"
+version = "3.12.0"
 description = "Pytest plugin to randomly order tests and control random.seed."
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.7"
 
 [package.dependencies]
-importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
+importlib-metadata = {version = ">=3.6.0", markers = "python_version < \"3.10\""}
 pytest = "*"
 
 [[package]]
 name = "pytest-runner"
-version = "5.2"
+version = "6.0.0"
 description = "Invoke py.test as distutils command with dependency resolution"
 category = "dev"
 optional = false
-python-versions = ">=2.7"
+python-versions = ">=3.7"
 
 [package.extras]
-docs = ["sphinx", "jaraco.packaging (>=3.2)", "rst.linker (>=1.9)"]
-testing = ["pytest (>=3.5,!=3.7.3)", "pytest-checkdocs", "pytest-flake8", "pytest-black-multipy", "pytest-cov", "pytest-virtualenv"]
+docs = ["jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.0.1)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-virtualenv", "types-setuptools"]
 
 [[package]]
 name = "python-dateutil"
-version = "2.8.1"
+version = "2.8.2"
 description = "Extensions to the standard Python datetime module"
 category = "dev"
 optional = false
@@ -991,9 +1161,28 @@ python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "pytoolconfig"
+version = "1.2.2"
+description = "Python tool configuration"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+packaging = ">=21.3"
+tomli = {version = ">=2.0", markers = "python_version < \"3.11\""}
+typing-extensions = {version = "*", markers = "python_version < \"3.8\""}
+
+[package.extras]
+doc = ["sphinx (>=4.5.0)", "tabulate (>=0.8.9)"]
+gen_docs = ["pytoolconfig[doc]", "sphinx (>=4.5.0)", "sphinx-autodoc-typehints (>=1.18.1)", "sphinx-rtd-theme (>=1.0.0)"]
+global = ["appdirs (>=1.4.4)"]
+validation = ["pydantic (>=1.7.4)"]
+
 [[package]]
 name = "pytz"
-version = "2020.1"
+version = "2022.2.1"
 description = "World timezone definitions, modern and historical"
 category = "dev"
 optional = false
@@ -1001,7 +1190,7 @@ python-versions = "*"
 
 [[package]]
 name = "pywin32"
-version = "301"
+version = "304"
 description = "Python for Window Extensions"
 category = "dev"
 optional = false
@@ -1009,87 +1198,90 @@ python-versions = "*"
 
 [[package]]
 name = "pywinpty"
-version = "0.5.7"
-description = "Python bindings for the winpty library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pyyaml"
-version = "5.4"
-description = "YAML parser and emitter for Python"
+version = "2.0.7"
+description = "Pseudo terminal support for Windows from Python."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+python-versions = ">=3.7"
 
 [[package]]
 name = "pyzmq"
-version = "19.0.2"
+version = "23.2.1"
 description = "Python bindings for 0MQ"
 category = "dev"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*"
+python-versions = ">=3.6"
+
+[package.dependencies]
+cffi = {version = "*", markers = "implementation_name == \"pypy\""}
+py = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
 name = "requests"
-version = "2.26.0"
+version = "2.28.1"
 description = "Python HTTP for Humans."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+python-versions = ">=3.7, <4"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
-charset-normalizer = {version = ">=2.0.0,<2.1.0", markers = "python_version >= \"3\""}
-idna = {version = ">=2.5,<4", markers = "python_version >= \"3\""}
+charset-normalizer = ">=2,<3"
+idna = ">=2.5,<4"
 urllib3 = ">=1.21.1,<1.27"
 
 [package.extras]
-socks = ["PySocks (>=1.5.6,!=1.5.7)", "win-inet-pton"]
-use_chardet_on_py3 = ["chardet (>=3.0.2,<5)"]
+socks = ["PySocks (>=1.5.6,!=1.5.7)"]
+use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "rope"
-version = "1.1.1"
+version = "1.3.0"
 description = "a python refactoring library..."
 category = "dev"
 optional = false
-python-versions = ">=3"
+python-versions = ">=3.7"
+
+[package.dependencies]
+pytoolconfig = ">=1.1.2"
 
 [package.extras]
-dev = ["pytest-timeout", "pytest", "build"]
+dev = ["build (>=0.7.0)", "pytest (>=7.0.1)", "pytest-timeout (>=2.1.0)"]
+doc = ["pytoolconfig[doc]", "sphinx (>=4.5.0)", "sphinx-autodoc-typehints (>=1.18.1)", "sphinx-rtd-theme (>=1.0.0)"]
 
 [[package]]
 name = "scikit-learn"
-version = "0.23.2"
+version = "1.0.2"
 description = "A set of python modules for machine learning and data mining"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 joblib = ">=0.11"
-numpy = ">=1.13.3"
-scipy = ">=0.19.1"
+numpy = ">=1.14.6"
+scipy = ">=1.1.0"
 threadpoolctl = ">=2.0.0"
 
 [package.extras]
-alldeps = ["numpy (>=1.13.3)", "scipy (>=0.19.1)"]
+benchmark = ["matplotlib (>=2.2.3)", "memory-profiler (>=0.57.0)", "pandas (>=0.25.0)"]
+docs = ["Pillow (>=7.1.2)", "matplotlib (>=2.2.3)", "memory-profiler (>=0.57.0)", "numpydoc (>=1.0.0)", "pandas (>=0.25.0)", "scikit-image (>=0.14.5)", "seaborn (>=0.9.0)", "sphinx (>=4.0.1)", "sphinx-gallery (>=0.7.0)", "sphinx-prompt (>=1.3.0)", "sphinxext-opengraph (>=0.4.2)"]
+examples = ["matplotlib (>=2.2.3)", "pandas (>=0.25.0)", "scikit-image (>=0.14.5)", "seaborn (>=0.9.0)"]
+tests = ["black (>=21.6b0)", "flake8 (>=3.8.2)", "matplotlib (>=2.2.3)", "mypy (>=0.770)", "pandas (>=0.25.0)", "pyamg (>=4.0.0)", "pytest (>=5.0.1)", "pytest-cov (>=2.9.0)", "scikit-image (>=0.14.5)"]
 
 [[package]]
 name = "scipy"
-version = "1.5.2"
+version = "1.7.3"
 description = "SciPy: Scientific Library for Python"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7,<3.11"
 
 [package.dependencies]
-numpy = ">=1.14.5"
+numpy = ">=1.16.5,<1.23.0"
 
 [[package]]
-name = "send2trash"
+name = "Send2Trash"
 version = "1.8.0"
 description = "Send file to trash natively under Mac OS X, Windows and Linux."
 category = "dev"
@@ -1097,13 +1289,43 @@ optional = false
 python-versions = "*"
 
 [package.extras]
-nativelib = ["pyobjc-framework-cocoa", "pywin32"]
-objc = ["pyobjc-framework-cocoa"]
+nativelib = ["pyobjc-framework-Cocoa", "pywin32"]
+objc = ["pyobjc-framework-Cocoa"]
 win32 = ["pywin32"]
 
+[[package]]
+name = "setuptools"
+version = "65.3.0"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "setuptools-scm"
+version = "6.4.2"
+description = "the blessed package to manage your versions by scm tags"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+packaging = ">=20.0"
+setuptools = "*"
+tomli = ">=1.0.0"
+
+[package.extras]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]
+
 [[package]]
 name = "six"
-version = "1.15.0"
+version = "1.16.0"
 description = "Python 2 and 3 compatibility utilities"
 category = "dev"
 optional = false
@@ -1111,78 +1333,87 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
 
 [[package]]
 name = "snowballstemmer"
-version = "2.0.0"
-description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
+version = "2.2.0"
+description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
 category = "dev"
 optional = false
 python-versions = "*"
 
 [[package]]
 name = "sortedcontainers"
-version = "2.2.2"
+version = "2.4.0"
 description = "Sorted Containers -- Sorted List, Sorted Dict, Sorted Set"
 category = "dev"
 optional = false
 python-versions = "*"
 
 [[package]]
-name = "sphinx"
-version = "3.2.1"
+name = "soupsieve"
+version = "2.3.2.post1"
+description = "A modern CSS selector implementation for Beautiful Soup."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "Sphinx"
+version = "4.3.2"
 description = "Python documentation generator"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 
 [package.dependencies]
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3"
 colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.12"
+docutils = ">=0.14,<0.18"
 imagesize = "*"
 Jinja2 = ">=2.3"
 packaging = "*"
 Pygments = ">=2.0"
 requests = ">=2.5.0"
+setuptools = "*"
 snowballstemmer = ">=1.1"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
-sphinxcontrib-htmlhelp = "*"
+sphinxcontrib-htmlhelp = ">=2.0.0"
 sphinxcontrib-jsmath = "*"
 sphinxcontrib-qthelp = "*"
-sphinxcontrib-serializinghtml = "*"
+sphinxcontrib-serializinghtml = ">=1.1.5"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=3.5.0)", "flake8-import-order", "mypy (>=0.780)", "docutils-stubs"]
-test = ["pytest", "pytest-cov", "html5lib", "typed-ast", "cython"]
+lint = ["docutils-stubs", "flake8 (>=3.5.0)", "isort", "mypy (>=0.920)", "types-pkg-resources", "types-requests", "types-typed-ast"]
+test = ["cython", "html5lib", "pytest", "pytest-cov", "typed-ast"]
 
 [[package]]
 name = "sphinx-autobuild"
-version = "0.7.1"
-description = "Watch a Sphinx directory and rebuild the documentation when a change is detected. Also includes a livereload enabled web server."
+version = "2021.3.14"
+description = "Rebuild Sphinx documentation on changes, with live-reload in the browser."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-argh = ">=0.24.1"
-livereload = ">=2.3.0"
-pathtools = ">=0.1.2"
-port-for = "0.3.1"
-PyYAML = ">=3.10"
-tornado = ">=3.2"
-watchdog = ">=0.7.1"
+colorama = "*"
+livereload = "*"
+sphinx = "*"
+
+[package.extras]
+test = ["pytest", "pytest-cov"]
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "0.5.0"
+version = "1.0.0"
 description = "Read the Docs theme for Sphinx"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 
 [package.dependencies]
-sphinx = "*"
+docutils = "<0.18"
+sphinx = ">=1.6"
 
 [package.extras]
 dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client"]
@@ -1208,8 +1439,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
-lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
@@ -1220,20 +1451,20 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
-lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "1.0.3"
+version = "2.0.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 
 [package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["html5lib", "pytest"]
-lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-jsmath"
@@ -1244,7 +1475,7 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-test = ["mypy", "flake8", "pytest"]
+test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
@@ -1255,52 +1486,59 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
-lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.4"
+version = "1.1.5"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
 category = "dev"
 optional = false
 python-versions = ">=3.5"
 
 [package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
-lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "terminado"
-version = "0.8.3"
-description = "Terminals served to xterm.js using Tornado websockets"
+version = "0.15.0"
+description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.7"
 
 [package.dependencies]
 ptyprocess = {version = "*", markers = "os_name != \"nt\""}
-pywinpty = {version = ">=0.5", markers = "os_name == \"nt\""}
-tornado = ">=4"
-
-[[package]]
-name = "testpath"
-version = "0.4.4"
-description = "Test utilities for code working with files and commands"
-category = "dev"
-optional = false
-python-versions = "*"
+pywinpty = {version = ">=1.1.0", markers = "os_name == \"nt\""}
+tornado = ">=6.1.0"
 
 [package.extras]
-test = ["pathlib2"]
+test = ["pre-commit", "pytest (>=6.0)", "pytest-timeout"]
 
 [[package]]
 name = "threadpoolctl"
-version = "2.1.0"
+version = "3.1.0"
 description = "threadpoolctl"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
+
+[[package]]
+name = "tinycss2"
+version = "1.1.1"
+description = "A tiny CSS parser"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+webencodings = ">=0.4"
+
+[package.extras]
+doc = ["sphinx", "sphinx_rtd_theme"]
+test = ["coverage[toml]", "pytest", "pytest-cov", "pytest-flake8", "pytest-isort"]
 
 [[package]]
 name = "tokenize-rt"
@@ -1310,6 +1548,14 @@ category = "dev"
 optional = false
 python-versions = ">=3.6.1"
 
+[[package]]
+name = "toml"
+version = "0.10.2"
+description = "Python Library for Tom's Obvious, Minimal Language"
+category = "dev"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+
 [[package]]
 name = "tomli"
 version = "2.0.1"
@@ -1320,27 +1566,22 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "tornado"
-version = "6.1"
+version = "6.2"
 description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
 category = "dev"
 optional = false
-python-versions = ">= 3.5"
+python-versions = ">= 3.7"
 
 [[package]]
 name = "traitlets"
-version = "4.3.3"
-description = "Traitlets Python config system"
+version = "5.3.0"
+description = ""
 category = "dev"
 optional = false
-python-versions = "*"
-
-[package.dependencies]
-decorator = "*"
-ipython-genutils = "*"
-six = "*"
+python-versions = ">=3.7"
 
 [package.extras]
-test = ["pytest", "mock"]
+test = ["pre-commit", "pytest"]
 
 [[package]]
 name = "typed-ast"
@@ -1360,38 +1601,27 @@ python-versions = ">=3.7"
 
 [[package]]
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-version = "1.26.5"
+version = "1.26.12"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, <4"
 
 [package.extras]
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-secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
+secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
 socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 
 [[package]]
 name = "vulture"
-version = "2.0"
+version = "2.5"
 description = "Find dead code"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 
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-name = "watchdog"
-version = "0.10.3"
-description = "Filesystem events monitoring"
-category = "dev"
-optional = false
-python-versions = "*"
-
 [package.dependencies]
-pathtools = ">=0.1.1"
-
-[package.extras]
-watchmedo = ["PyYAML (>=3.10)", "argh (>=0.24.1)"]
+toml = "*"
 
 [[package]]
 name = "wcwidth"
@@ -1411,20 +1641,20 @@ python-versions = "*"
 
 [[package]]
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-version = "3.1.0"
+version = "3.8.1"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.extras]
-testing = ["func-timeout", "jaraco.itertools"]
-docs = ["rst.linker (>=1.9)", "jaraco.packaging (>=3.2)", "sphinx"]
+docs = ["jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx"]
+testing = ["func-timeout", "jaraco.itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
 
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-content-hash = "843fc9b6b16378437356bd7e739b22526e2f8a3c50b31df53c8886cee8b44771"
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diff --git a/pyproject.toml b/pyproject.toml
index 8836288d..7c557f15 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybotics"
-version = "0.0.0"
+version = "2.0.1"
 description = "Python Toolbox for Robotics"
 authors = ["Nicholas Nadeau <nicholas.nadeau@gmail.com>"]
 readme = "README.md"
@@ -9,57 +9,57 @@ repository = "https://github.com/engnadeau/pybotics"
 documentation = "https://github.com/engnadeau/pybotics"
 keywords = ["robot", "research", "automation", "kinematics", "geometry"]
 classifiers = [
-    "Development Status :: 5 - Production/Stable",
-    "Framework :: Robot Framework :: Library",
-    "Framework :: Robot Framework :: Tool",
-    "Framework :: Robot Framework",
-    "Intended Audience :: Developers",
-    "Intended Audience :: Education",
-    "Intended Audience :: End Users/Desktop",
-    "Intended Audience :: Manufacturing",
-    "Intended Audience :: Science/Research",
-    "License :: OSI Approved :: MIT License",
-    "License :: OSI Approved",
-    "Natural Language :: English",
-    "Operating System :: MacOS",
-    "Operating System :: Microsoft :: Windows",
-    "Operating System :: Microsoft",
-    "Operating System :: OS Independent",
-    "Operating System :: POSIX :: Linux",
-    "Operating System :: POSIX",
-    "Programming Language :: Python :: 3 :: Only",
-    "Programming Language :: Python :: 3.10",
-    "Programming Language :: Python :: 3.7",
-    "Programming Language :: Python :: 3.8",
-    "Programming Language :: Python :: 3.9",
-    "Programming Language :: Python :: 3",
-    "Programming Language :: Python :: Implementation :: CPython",
-    "Topic :: Education",
-    "Topic :: Other/Nonlisted Topic",
-    "Topic :: Scientific/Engineering :: Artificial Intelligence",
-    "Topic :: Scientific/Engineering :: Human Machine Interfaces",
-    "Topic :: Scientific/Engineering :: Mathematics",
-    "Topic :: Scientific/Engineering :: Physics",
-    "Topic :: Scientific/Engineering",
-    "Topic :: Software Development :: Libraries :: Python Modules",
-    "Topic :: Software Development :: Libraries",
-    "Topic :: Software Development :: Testing :: Mocking",
-    "Topic :: Software Development",
-    "Topic :: System :: Hardware",
-    "Topic :: System",
-    "Topic :: Utilities",
-    "Typing :: Typed",
+  "Development Status :: 5 - Production/Stable",
+  "Framework :: Robot Framework :: Library",
+  "Framework :: Robot Framework :: Tool",
+  "Framework :: Robot Framework",
+  "Intended Audience :: Developers",
+  "Intended Audience :: Education",
+  "Intended Audience :: End Users/Desktop",
+  "Intended Audience :: Manufacturing",
+  "Intended Audience :: Science/Research",
+  "License :: OSI Approved :: MIT License",
+  "License :: OSI Approved",
+  "Natural Language :: English",
+  "Operating System :: MacOS",
+  "Operating System :: Microsoft :: Windows",
+  "Operating System :: Microsoft",
+  "Operating System :: OS Independent",
+  "Operating System :: POSIX :: Linux",
+  "Operating System :: POSIX",
+  "Programming Language :: Python :: 3 :: Only",
+  "Programming Language :: Python :: 3.10",
+  "Programming Language :: Python :: 3.7",
+  "Programming Language :: Python :: 3.8",
+  "Programming Language :: Python :: 3.9",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: Implementation :: CPython",
+  "Topic :: Education",
+  "Topic :: Other/Nonlisted Topic",
+  "Topic :: Scientific/Engineering :: Artificial Intelligence",
+  "Topic :: Scientific/Engineering :: Human Machine Interfaces",
+  "Topic :: Scientific/Engineering :: Mathematics",
+  "Topic :: Scientific/Engineering :: Physics",
+  "Topic :: Scientific/Engineering",
+  "Topic :: Software Development :: Libraries :: Python Modules",
+  "Topic :: Software Development :: Libraries",
+  "Topic :: Software Development :: Testing :: Mocking",
+  "Topic :: Software Development",
+  "Topic :: System :: Hardware",
+  "Topic :: System",
+  "Topic :: Utilities",
+  "Typing :: Typed",
 ]
 
 [tool.poetry.dependencies]
-python = "^3.7"
+python = "^3.7.1,<3.11"
 attrs = ">=19.0"
-numpy = "^1.20"
-scipy = "^1"
+numpy = "^1.21"
+scipy = "^1.6"
 typing-extensions = { version = "^4", python = "~3.7" }
 
 [tool.poetry.dev-dependencies]
-black = {extras = ["jupyter"], version = "^22.6.0"}
+black = { extras = ["jupyter"], version = "^22.6.0" }
 coverage = ">=6"
 flake8 = ">=4"
 flake8-bugbear = "*"


Test patch:
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 13b07a8c..77a8d316 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -2,44 +2,126 @@ name: Test
 
 on:
   push:
-    branches: [ master ]
+    branches:
+      - master
   pull_request:
-    branches: [ master ]
+    branches:
+      - master
 
 jobs:
-  build:
+  lint:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - "3.7"
+          - "3.8"
+          - "3.9"
+          - "3.10"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install poetry
+          # TODO: use linting dev group? #798
+          # TODO: use ` --dev-only` from next poetry release?
+          poetry install
+      - name: Run linting checks
+        run: |
+          make lint
+
+  test-build-and-installs:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - "3.7"
+          - "3.8"
+          - "3.9"
+          - "3.10"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install poetry
+      - name: Run build
+        run: |
+          make build
+      - name: Run installs
+        run: |
+          # test local install
+          pip install --no-deps --force-reinstall .
+          # test wheel
+          pip install --no-deps --force-reinstall dist/*.whl
+          # test tarball
+          pip install --no-deps --force-reinstall dist/*.tar.gz
+
+  test-examples:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - "3.7"
+          - "3.8"
+          - "3.9"
+          - "3.10"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install poetry
+          poetry install --no-dev
+      - name: Test example
+        run: |
+          make test-examples
 
+  test-unit:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.7, 3.8]
+        python-version:
+          - "3.7"
+          - "3.8"
+          - "3.9"
+          - "3.10"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install poetry
+          poetry install
+      - name: Unit testing
+        run: |
+          make test
 
+  test-notebooks:
+    runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v2
-      with:
-        python-version: ${{ matrix.python-version }}
-    - name: Install system dependencies
-      run: |
-        sudo apt-get install gcc gfortran libopenblas-dev liblapack-dev cython
-        python -m pip install --upgrade pip
-        pip install poetry
-    - name: Install core dependencies
-      run: |
-        poetry install --no-dev
-    - name: Test example
-      run: |
-        poetry run python examples/basic_usage.py
-    - name: Install dev dependencies
-      run: |
-        poetry install
-    - name: Run linting checks
-      run: |
-        make check
-    - name: Run unit tests
-      run: |
-        make test
-    - name: Run notebook tests
-      run: |
-        make test-notebooks
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.x"
+      - name: Install dependencies
+        run: |
+          pip install poetry
+          poetry install
+      - name: Test notebooks
+        run: |
+          make test-notebooks