diff --git a/.bazelrc b/.bazelrc
index ede4716d..5b17f1c2 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -35,7 +35,7 @@ build --test_summary=terse
 
 build:linux --action_env=PATH=/usr/sbin:/usr/bin:/sbin:/bin
 
-build:macos --action_env=PATH=/opt/homebrew/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin
+build:macos --action_env=PATH=/opt/homebrew/opt/python@3.12/bin:/opt/homebrew/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin
 build:macos --test_timeout=120,600,1800,7200
 
 # Disable python imports from ~/.local (pip -U) during build and test.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index bf4b9f5e..65d7aed5 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -103,7 +103,7 @@ jobs:
       - name: black
         uses: psf/black@stable
         with:
-          version: 24.8.0
+          version: 24.10.0
           jupyter: true
       - name: isort
         uses: isort/isort-action@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9b37eef6..25cc98d9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,6 +1,6 @@
 repos:
 - repo: https://github.com/psf/black
-  rev: 24.8.0  # NOTE: If updating, also update the version in .github/workflows/*
+  rev: 24.10.0  # NOTE: If updating, also update the version in .github/workflows/*
   hooks:
     - id: black-jupyter
       types_or: ["python","jupyter"] 
diff --git a/book/htmlbook b/book/htmlbook
index e03392ce..716dde34 160000
--- a/book/htmlbook
+++ b/book/htmlbook
@@ -1 +1 @@
-Subproject commit e03392ce9a701a5bef5de9a70bfcb7725593850f
+Subproject commit 716dde343a107e34c3383b61a1b205df6cf07c00
diff --git a/poetry.lock b/poetry.lock
index f2f5cd5c..a9b94096 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,13 +2,13 @@
 
 [[package]]
 name = "alabaster"
-version = "0.7.16"
+version = "1.0.0"
 description = "A light, configurable Sphinx theme"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 files = [
-    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
-    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
+    {file = "alabaster-1.0.0-py3-none-any.whl", hash = "sha256:fc6786402dc3fcb2de3cabd5fe455a2db534b371124f1f21de8731783dec828b"},
+    {file = "alabaster-1.0.0.tar.gz", hash = "sha256:c00dca57bca26fa62a6d7d0a9fcce65f3e026e9bfe33e9c538fd3fbb2144fd9e"},
 ]
 
 [[package]]
@@ -120,33 +120,33 @@ lxml = ["lxml"]
 
 [[package]]
 name = "black"
-version = "24.8.0"
+version = "24.10.0"
 description = "The uncompromising code formatter."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "black-24.8.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:09cdeb74d494ec023ded657f7092ba518e8cf78fa8386155e4a03fdcc44679e6"},
-    {file = "black-24.8.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:81c6742da39f33b08e791da38410f32e27d632260e599df7245cccee2064afeb"},
-    {file = "black-24.8.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:707a1ca89221bc8a1a64fb5e15ef39cd755633daa672a9db7498d1c19de66a42"},
-    {file = "black-24.8.0-cp310-cp310-win_amd64.whl", hash = "sha256:d6417535d99c37cee4091a2f24eb2b6d5ec42b144d50f1f2e436d9fe1916fe1a"},
-    {file = "black-24.8.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:fb6e2c0b86bbd43dee042e48059c9ad7830abd5c94b0bc518c0eeec57c3eddc1"},
-    {file = "black-24.8.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:837fd281f1908d0076844bc2b801ad2d369c78c45cf800cad7b61686051041af"},
-    {file = "black-24.8.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:62e8730977f0b77998029da7971fa896ceefa2c4c4933fcd593fa599ecbf97a4"},
-    {file = "black-24.8.0-cp311-cp311-win_amd64.whl", hash = "sha256:72901b4913cbac8972ad911dc4098d5753704d1f3c56e44ae8dce99eecb0e3af"},
-    {file = "black-24.8.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:7c046c1d1eeb7aea9335da62472481d3bbf3fd986e093cffd35f4385c94ae368"},
-    {file = "black-24.8.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:649f6d84ccbae73ab767e206772cc2d7a393a001070a4c814a546afd0d423aed"},
-    {file = "black-24.8.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2b59b250fdba5f9a9cd9d0ece6e6d993d91ce877d121d161e4698af3eb9c1018"},
-    {file = "black-24.8.0-cp312-cp312-win_amd64.whl", hash = "sha256:6e55d30d44bed36593c3163b9bc63bf58b3b30e4611e4d88a0c3c239930ed5b2"},
-    {file = "black-24.8.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:505289f17ceda596658ae81b61ebbe2d9b25aa78067035184ed0a9d855d18afd"},
-    {file = "black-24.8.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b19c9ad992c7883ad84c9b22aaa73562a16b819c1d8db7a1a1a49fb7ec13c7d2"},
-    {file = "black-24.8.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1f13f7f386f86f8121d76599114bb8c17b69d962137fc70efe56137727c7047e"},
-    {file = "black-24.8.0-cp38-cp38-win_amd64.whl", hash = "sha256:f490dbd59680d809ca31efdae20e634f3fae27fba3ce0ba3208333b713bc3920"},
-    {file = "black-24.8.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:eab4dd44ce80dea27dc69db40dab62d4ca96112f87996bca68cd75639aeb2e4c"},
-    {file = "black-24.8.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:3c4285573d4897a7610054af5a890bde7c65cb466040c5f0c8b732812d7f0e5e"},
-    {file = "black-24.8.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9e84e33b37be070ba135176c123ae52a51f82306def9f7d063ee302ecab2cf47"},
-    {file = "black-24.8.0-cp39-cp39-win_amd64.whl", hash = "sha256:73bbf84ed136e45d451a260c6b73ed674652f90a2b3211d6a35e78054563a9bb"},
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-    {file = "black-24.8.0.tar.gz", hash = "sha256:2500945420b6784c38b9ee885af039f5e7471ef284ab03fa35ecdde4688cd83f"},
+    {file = "black-24.10.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e6668650ea4b685440857138e5fe40cde4d652633b1bdffc62933d0db4ed9812"},
+    {file = "black-24.10.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1c536fcf674217e87b8cc3657b81809d3c085d7bf3ef262ead700da345bfa6ea"},
+    {file = "black-24.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:649fff99a20bd06c6f727d2a27f401331dc0cc861fb69cde910fe95b01b5928f"},
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+    {file = "black-24.10.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:5a2221696a8224e335c28816a9d331a6c2ae15a2ee34ec857dcf3e45dbfa99ad"},
+    {file = "black-24.10.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f9da3333530dbcecc1be13e69c250ed8dfa67f43c4005fb537bb426e19200d50"},
+    {file = "black-24.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:4007b1393d902b48b36958a216c20c4482f601569d19ed1df294a496eb366392"},
+    {file = "black-24.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:394d4ddc64782e51153eadcaaca95144ac4c35e27ef9b0a42e121ae7e57a9175"},
+    {file = "black-24.10.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:b5e39e0fae001df40f95bd8cc36b9165c5e2ea88900167bddf258bacef9bbdc3"},
+    {file = "black-24.10.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:d37d422772111794b26757c5b55a3eade028aa3fde43121ab7b673d050949d65"},
+    {file = "black-24.10.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:14b3502784f09ce2443830e3133dacf2c0110d45191ed470ecb04d0f5f6fcb0f"},
+    {file = "black-24.10.0-cp312-cp312-win_amd64.whl", hash = "sha256:30d2c30dc5139211dda799758559d1b049f7f14c580c409d6ad925b74a4208a8"},
+    {file = "black-24.10.0-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:1cbacacb19e922a1d75ef2b6ccaefcd6e93a2c05ede32f06a21386a04cedb981"},
+    {file = "black-24.10.0-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:1f93102e0c5bb3907451063e08b9876dbeac810e7da5a8bfb7aeb5a9ef89066b"},
+    {file = "black-24.10.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ddacb691cdcdf77b96f549cf9591701d8db36b2f19519373d60d31746068dbf2"},
+    {file = "black-24.10.0-cp313-cp313-win_amd64.whl", hash = "sha256:680359d932801c76d2e9c9068d05c6b107f2584b2a5b88831c83962eb9984c1b"},
+    {file = "black-24.10.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:17374989640fbca88b6a448129cd1745c5eb8d9547b464f281b251dd00155ccd"},
+    {file = "black-24.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:63f626344343083322233f175aaf372d326de8436f5928c042639a4afbbf1d3f"},
+    {file = "black-24.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ccfa1d0cb6200857f1923b602f978386a3a2758a65b52e0950299ea014be6800"},
+    {file = "black-24.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:2cd9c95431d94adc56600710f8813ee27eea544dd118d45896bb734e9d7a0dc7"},
+    {file = "black-24.10.0-py3-none-any.whl", hash = "sha256:3bb2b7a1f7b685f85b11fed1ef10f8a9148bceb49853e47a294a3dd963c1dd7d"},
+    {file = "black-24.10.0.tar.gz", hash = "sha256:846ea64c97afe3bc677b761787993be4991810ecc7a4a937816dd6bddedc4875"},
 ]
 
 [package.dependencies]
@@ -162,7 +162,7 @@ typing-extensions = {version = ">=4.0.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)", "aiohttp (>=3.7.4,!=3.9.0)"]
+d = ["aiohttp (>=3.10)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
@@ -186,13 +186,13 @@ css = ["tinycss2 (>=1.1.0,<1.3)"]
 
 [[package]]
 name = "build"
-version = "1.2.2"
+version = "1.2.2.post1"
 description = "A simple, correct Python build frontend"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "build-1.2.2-py3-none-any.whl", hash = "sha256:277ccc71619d98afdd841a0e96ac9fe1593b823af481d3b0cea748e8894e0613"},
-    {file = "build-1.2.2.tar.gz", hash = "sha256:119b2fb462adef986483438377a13b2f42064a2a3a4161f24a0cca698a07ac8c"},
+    {file = "build-1.2.2.post1-py3-none-any.whl", hash = "sha256:1d61c0887fa860c01971625baae8bdd338e517b836a2f70dd1f7aa3a6b2fc5b5"},
+    {file = "build-1.2.2.post1.tar.gz", hash = "sha256:b36993e92ca9375a219c99e606a122ff365a760a2d4bba0caa09bd5278b608b7"},
 ]
 
 [package.dependencies]
@@ -333,101 +333,116 @@ files = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.3.2"
+version = "3.4.0"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
 python-versions = ">=3.7.0"
 files = [
-    {file = "charset-normalizer-3.3.2.tar.gz", hash = "sha256:f30c3cb33b24454a82faecaf01b19c18562b1e89558fb6c56de4d9118a032fd5"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:25baf083bf6f6b341f4121c2f3c548875ee6f5339300e08be3f2b2ba1721cdd3"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:06435b539f889b1f6f4ac1758871aae42dc3a8c0e24ac9e60c2384973ad73027"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9063e24fdb1e498ab71cb7419e24622516c4a04476b17a2dab57e8baa30d6e03"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6897af51655e3691ff853668779c7bad41579facacf5fd7253b0133308cf000d"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1d3193f4a680c64b4b6a9115943538edb896edc190f0b222e73761716519268e"},
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@@ -967,69 +984,75 @@ devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benc
 
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 [[package]]
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-version = "2.6.0"
+version = "2.6.1"
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 python-versions = ">=3.8"
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@@ -1168,15 +1191,18 @@ license = ["ukkonen"]
 
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+
 [[package]]
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 version = "2.35.1"
@@ -1271,13 +1297,13 @@ files = [
 
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 [package.dependencies]
@@ -2959,13 +3001,13 @@ testing = ["pytest", "pytest-cov", "wheel"]
 
 [[package]]
 name = "platformdirs"
-version = "4.3.2"
+version = "4.3.6"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
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 python-versions = ">=3.8"
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 ]
 
 [package.extras]
@@ -3069,13 +3111,13 @@ virtualenv = ">=20.10.0"
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.47"
+version = "3.0.48"
 description = "Library for building powerful interactive command lines in Python"
 optional = false
 python-versions = ">=3.7.0"
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 ]
 
 [package.dependencies]
@@ -3159,13 +3201,13 @@ files = [
 
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+version = "3.0.2"
 description = "Python interface to Graphviz's Dot"
 optional = false
 python-versions = ">=3.8"
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 [package.extras]
 dev = ["chardet", "parameterized", "ruff"]
 release = ["zest.releaser[recommended]"]
-tests = ["chardet", "parameterized", "ruff", "tox", "unittest-parallel"]
+tests = ["chardet", "parameterized", "pytest", "pytest-cov", "pytest-xdist[psutil]", "ruff", "tox"]
 
 [[package]]
 name = "pyglet"
@@ -3217,13 +3259,13 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pyproject-hooks"
-version = "1.1.0"
+version = "1.2.0"
 description = "Wrappers to call pyproject.toml-based build backend hooks."
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 python-versions = ">=3.7"
 files = [
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 [[package]]
@@ -3584,123 +3626,103 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
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-version = "3.9.7"
+version = "3.10.0"
 description = "rapid fuzzy string matching"
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-python-versions = ">=3.8"
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+    {file = "rapidfuzz-3.10.0.tar.gz", hash = "sha256:6b62af27e65bb39276a66533655a2fa3c60a487b03935721c45b7809527979be"},
 ]
 
 [package.extras]
-full = ["numpy"]
+all = ["numpy"]
 
 [[package]]
 name = "referencing"
@@ -3754,18 +3776,19 @@ requests = ">=2.0.1,<3.0.0"
 
 [[package]]
 name = "rich"
-version = "13.8.1"
+version = "13.9.2"
 description = "Render rich text, tables, progress bars, syntax highlighting, markdown and more to the terminal"
 optional = false
-python-versions = ">=3.7.0"
+python-versions = ">=3.8.0"
 files = [
-    {file = "rich-13.8.1-py3-none-any.whl", hash = "sha256:1760a3c0848469b97b558fc61c85233e3dafb69c7a071b4d60c38099d3cd4c06"},
-    {file = "rich-13.8.1.tar.gz", hash = "sha256:8260cda28e3db6bf04d2d1ef4dbc03ba80a824c88b0e7668a0f23126a424844a"},
+    {file = "rich-13.9.2-py3-none-any.whl", hash = "sha256:8c82a3d3f8dcfe9e734771313e606b39d8247bb6b826e196f4914b333b743cf1"},
+    {file = "rich-13.9.2.tar.gz", hash = "sha256:51a2c62057461aaf7152b4d611168f93a9fc73068f8ded2790f29fe2b5366d0c"},
 ]
 
 [package.dependencies]
 markdown-it-py = ">=2.2.0"
 pygments = ">=2.13.0,<3.0.0"
+typing-extensions = {version = ">=4.0.0,<5.0", markers = "python_version < \"3.11\""}
 
 [package.extras]
 jupyter = ["ipywidgets (>=7.5.1,<9)"]
@@ -4104,17 +4127,17 @@ files = [
 
 [[package]]
 name = "sphinx"
-version = "7.4.7"
+version = "8.0.2"
 description = "Python documentation generator"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 files = [
-    {file = "sphinx-7.4.7-py3-none-any.whl", hash = "sha256:c2419e2135d11f1951cd994d6eb18a1835bd8fdd8429f9ca375dc1f3281bd239"},
-    {file = "sphinx-7.4.7.tar.gz", hash = "sha256:242f92a7ea7e6c5b406fdc2615413890ba9f699114a9c09192d7dfead2ee9cfe"},
+    {file = "sphinx-8.0.2-py3-none-any.whl", hash = "sha256:56173572ae6c1b9a38911786e206a110c9749116745873feae4f9ce88e59391d"},
+    {file = "sphinx-8.0.2.tar.gz", hash = "sha256:0cce1ddcc4fd3532cf1dd283bc7d886758362c5c1de6598696579ce96d8ffa5b"},
 ]
 
 [package.dependencies]
-alabaster = ">=0.7.14,<0.8.0"
+alabaster = ">=0.7.14"
 babel = ">=2.13"
 colorama = {version = ">=0.4.6", markers = "sys_platform == \"win32\""}
 docutils = ">=0.20,<0.22"
@@ -4134,27 +4157,27 @@ tomli = {version = ">=2", markers = "python_version < \"3.11\""}
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=6.0)", "importlib-metadata (>=6.0)", "mypy (==1.10.1)", "pytest (>=6.0)", "ruff (==0.5.2)", "sphinx-lint (>=0.9)", "tomli (>=2)", "types-docutils (==0.21.0.20240711)", "types-requests (>=2.30.0)"]
+lint = ["flake8 (>=6.0)", "mypy (==1.11.0)", "pytest (>=6.0)", "ruff (==0.5.5)", "sphinx-lint (>=0.9)", "tomli (>=2)", "types-Pillow (==10.2.0.20240520)", "types-Pygments (==2.18.0.20240506)", "types-colorama (==0.4.15.20240311)", "types-defusedxml (==0.7.0.20240218)", "types-docutils (==0.21.0.20240724)", "types-requests (>=2.30.0)"]
 test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=8.0)", "setuptools (>=70.0)", "typing_extensions (>=4.9)"]
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "2.0.0"
+version = "3.0.1"
 description = "Read the Docs theme for Sphinx"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinx_rtd_theme-2.0.0-py2.py3-none-any.whl", hash = "sha256:ec93d0856dc280cf3aee9a4c9807c60e027c7f7b461b77aeffed682e68f0e586"},
-    {file = "sphinx_rtd_theme-2.0.0.tar.gz", hash = "sha256:bd5d7b80622406762073a04ef8fadc5f9151261563d47027de09910ce03afe6b"},
+    {file = "sphinx_rtd_theme-3.0.1-py2.py3-none-any.whl", hash = "sha256:921c0ece75e90633ee876bd7b148cfaad136b481907ad154ac3669b6fc957916"},
+    {file = "sphinx_rtd_theme-3.0.1.tar.gz", hash = "sha256:a4c5745d1b06dfcb80b7704fe532eb765b44065a8fad9851e4258c8804140703"},
 ]
 
 [package.dependencies]
-docutils = "<0.21"
-sphinx = ">=5,<8"
+docutils = ">0.18,<0.22"
+sphinx = ">=6,<9"
 sphinxcontrib-jquery = ">=4,<5"
 
 [package.extras]
-dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
+dev = ["bump2version", "transifex-client", "twine", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -4310,13 +4333,13 @@ tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
 
 [[package]]
 name = "sympy"
-version = "1.13.2"
+version = "1.13.3"
 description = "Computer algebra system (CAS) in Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "sympy-1.13.2-py3-none-any.whl", hash = "sha256:c51d75517712f1aed280d4ce58506a4a88d635d6b5dd48b39102a7ae1f3fcfe9"},
-    {file = "sympy-1.13.2.tar.gz", hash = "sha256:401449d84d07be9d0c7a46a64bd54fe097667d5e7181bfe67ec777be9e01cb13"},
+    {file = "sympy-1.13.3-py3-none-any.whl", hash = "sha256:54612cf55a62755ee71824ce692986f23c88ffa77207b30c1368eda4a7060f73"},
+    {file = "sympy-1.13.3.tar.gz", hash = "sha256:b27fd2c6530e0ab39e275fc9b683895367e51d5da91baa8d3d64db2565fec4d9"},
 ]
 
 [package.dependencies]
@@ -4365,13 +4388,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2024.8.30"
+version = "2024.9.20"
 description = "Read and write TIFF files"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 files = [
-    {file = "tifffile-2024.8.30-py3-none-any.whl", hash = "sha256:8bc59a8f02a2665cd50a910ec64961c5373bee0b8850ec89d3b7b485bf7be7ad"},
-    {file = "tifffile-2024.8.30.tar.gz", hash = "sha256:2c9508fe768962e30f87def61819183fb07692c258cb175b3c114828368485a4"},
+    {file = "tifffile-2024.9.20-py3-none-any.whl", hash = "sha256:c54dc85bc1065d972cb8a6ffb3181389d597876aa80177933459733e4ed243dd"},
+    {file = "tifffile-2024.9.20.tar.gz", hash = "sha256:3fbf3be2f995a7051a8ae05a4be70c96fc0789f22ed6f1c4104c973cf68a640b"},
 ]
 
 [package.dependencies]
@@ -4426,13 +4449,13 @@ files = [
 
 [[package]]
 name = "tomli"
-version = "2.0.1"
+version = "2.0.2"
 description = "A lil' TOML parser"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
-    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+    {file = "tomli-2.0.2-py3-none-any.whl", hash = "sha256:2ebe24485c53d303f690b0ec092806a085f07af5a5aa1464f3931eec36caaa38"},
+    {file = "tomli-2.0.2.tar.gz", hash = "sha256:d46d457a85337051c36524bc5349dd91b1877838e2979ac5ced3e710ed8a60ed"},
 ]
 
 [[package]]
@@ -4645,13 +4668,13 @@ tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
 
 [[package]]
 name = "trove-classifiers"
-version = "2024.7.2"
+version = "2024.9.12"
 description = "Canonical source for classifiers on PyPI (pypi.org)."
 optional = false
 python-versions = "*"
 files = [
-    {file = "trove_classifiers-2024.7.2-py3-none-any.whl", hash = "sha256:ccc57a33717644df4daca018e7ec3ef57a835c48e96a1e71fc07eb7edac67af6"},
-    {file = "trove_classifiers-2024.7.2.tar.gz", hash = "sha256:8328f2ac2ce3fd773cbb37c765a0ed7a83f89dc564c7d452f039b69249d0ac35"},
+    {file = "trove_classifiers-2024.9.12-py3-none-any.whl", hash = "sha256:f88a27a892891c87c5f8bbdf110710ae9e0a4725ea8e0fb45f1bcadf088a491f"},
+    {file = "trove_classifiers-2024.9.12.tar.gz", hash = "sha256:4b46b3e134a4d01999ac5bc6e528afcc10cc48f0f724f185f267e276005768f4"},
 ]
 
 [[package]]
@@ -4685,13 +4708,13 @@ files = [
 
 [[package]]
 name = "tzdata"
-version = "2024.1"
+version = "2024.2"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2024.1-py2.py3-none-any.whl", hash = "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"},
-    {file = "tzdata-2024.1.tar.gz", hash = "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd"},
+    {file = "tzdata-2024.2-py2.py3-none-any.whl", hash = "sha256:a48093786cdcde33cad18c2555e8532f34422074448fbc874186f0abd79565cd"},
+    {file = "tzdata-2024.2.tar.gz", hash = "sha256:7d85cc416e9382e69095b7bdf4afd9e3880418a2413feec7069d533d6b4e31cc"},
 ]
 
 [[package]]
@@ -4807,13 +4830,13 @@ test = ["pytest"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.4"
+version = "20.26.6"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.4-py3-none-any.whl", hash = "sha256:48f2695d9809277003f30776d155615ffc11328e6a0a8c1f0ec80188d7874a55"},
-    {file = "virtualenv-20.26.4.tar.gz", hash = "sha256:c17f4e0f3e6036e9f26700446f85c76ab11df65ff6d8a9cbfad9f71aabfcf23c"},
+    {file = "virtualenv-20.26.6-py3-none-any.whl", hash = "sha256:7345cc5b25405607a624d8418154577459c3e0277f5466dd79c49d5e492995f2"},
+    {file = "virtualenv-20.26.6.tar.gz", hash = "sha256:280aede09a2a5c317e409a00102e7077c6432c5a38f0ef938e643805a7ad2c48"},
 ]
 
 [package.dependencies]
@@ -4933,13 +4956,13 @@ test = ["pytest"]
 
 [[package]]
 name = "zipp"
-version = "3.20.1"
+version = "3.20.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.20.1-py3-none-any.whl", hash = "sha256:9960cd8967c8f85a56f920d5d507274e74f9ff813a0ab8889a5b5be2daf44064"},
-    {file = "zipp-3.20.1.tar.gz", hash = "sha256:c22b14cc4763c5a5b04134207736c107db42e9d3ef2d9779d465f5f1bcba572b"},
+    {file = "zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350"},
+    {file = "zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"},
 ]
 
 [package.extras]
diff --git a/requirements-bazel-linux.txt b/requirements-bazel-linux.txt
index a01db39c..59c825c1 100644
--- a/requirements-bazel-linux.txt
+++ b/requirements-bazel-linux.txt
@@ -3,14 +3,14 @@ attrs==24.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_pla
 autoprop==4.1.0 ; python_version >= "3.10" and python_version < "4.0"
 bayesian-optimization==1.5.1 ; python_version >= "3.10" and python_version < "4.0"
 beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
-black[jupyter]==24.8.0 ; python_version >= "3.10" and python_version < "4.0"
+black[jupyter]==24.10.0 ; python_version >= "3.10" and python_version < "4.0"
 bleach==6.1.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-build==1.2.2 ; python_version >= "3.10" and python_version < "4.0"
+build==1.2.2.post1 ; python_version >= "3.10" and python_version < "4.0"
 cachecontrol[filecache]==0.14.0 ; python_version >= "3.10" and python_version < "4.0"
 certifi==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
 cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
 cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
+charset-normalizer==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 cleo==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
 cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
@@ -24,47 +24,47 @@ cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 cython==3.0.11 ; python_version >= "3.10" and python_version < "4.0"
 decorator==5.1.1 ; python_version >= "3.10" and python_version < "4.0"
 defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-distlib==0.3.8 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.32.0 ; python_version >= "3.10" and python_version < "4.0"
+distlib==0.3.9 ; python_version >= "3.10" and python_version < "4.0"
+drake==1.33.0 ; python_version >= "3.10" and python_version < "4.0"
 dulwich==0.21.7 ; python_version >= "3.10" and python_version < "4.0"
 entrypoints==0.4 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 exceptiongroup==1.2.2 ; python_version >= "3.10" and python_version < "3.11"
 executing==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
 fastjsonschema==2.20.0 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.16.0 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.53.1 ; python_version >= "3.10" and python_version < "4.0"
+filelock==3.16.1 ; python_version >= "3.10" and python_version < "4.0"
+fonttools==4.54.1 ; python_version >= "3.10" and python_version < "4.0"
 fsspec==2024.9.0 ; python_version >= "3.10" and python_version < "4.0"
 glooey==0.3.6 ; python_version >= "3.10" and python_version < "4.0"
 gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 gymnasium==0.29.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.0 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.8 ; python_version >= "3.10" and python_version < "4.0"
+identify==2.6.1 ; python_version >= "3.10" and python_version < "4.0"
+idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 imageio==2.35.1 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.5.0 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
-ipython==8.27.0 ; python_version >= "3.10" and python_version < "4.0"
+ipython==8.28.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 jedi==0.19.1 ; python_version >= "3.10" and python_version < "4.0"
 jeepney==0.8.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 jinja2==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
 joblib==1.4.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2023.12.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jsonschema-specifications==2024.10.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jsonschema==4.23.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-client==8.6.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyter-core==5.7.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-widgets==3.0.13 ; python_version >= "3.10" and python_version < "4.0"
 keyring==24.3.1 ; python_version >= "3.10" and python_version < "4.0"
 kiwisolver==1.4.7 ; python_version >= "3.10" and python_version < "4.0"
 lazy-loader==0.4 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
+lxml-html-clean==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 lxml==5.3.0 ; python_version >= "3.10" and python_version < "4.0"
 manifold3d==2.5.1 ; python_version >= "3.10" and python_version < "4.0"
 markdown-it-py==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
+markupsafe==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.5.1 ; sys_platform == "linux"
 mdurl==0.1.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -95,40 +95,40 @@ nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
-nvidia-nvjitlink-cu12==12.6.68 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvjitlink-cu12==12.6.77 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 packaging==24.1 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.2.2 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==10.4.0 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.11.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.3.2 ; python_version >= "3.10" and python_version < "4.0"
+platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
-prompt-toolkit==3.0.47 ; python_version >= "3.10" and python_version < "4.0"
+prompt-toolkit==3.0.48 ; python_version >= "3.10" and python_version < "4.0"
 psutil==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
 ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
 py==1.11.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux" and implementation_name == "pypy"
 pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
-pydot==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
+pydot==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyglet==1.5.29 ; python_version >= "3.10" and python_version < "4.0"
 pygments==2.18.0 ; python_version >= "3.10" and python_version < "4.0"
 pyparsing==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
-pyproject-hooks==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pyproject-hooks==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
 python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
 python-fcl==0.7.0.6 ; python_version >= "3.10" and python_version < "4.0"
 pytz==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
 pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyzmq==24.0.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
-rapidfuzz==3.9.7 ; python_version >= "3.10" and python_version < "4.0"
+rapidfuzz==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 referencing==0.35.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 requests-toolbelt==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 requests==2.32.3 ; python_version >= "3.10" and python_version < "4.0"
-rich==13.8.1 ; python_version >= "3.10" and python_version < "4.0"
+rich==13.9.2 ; python_version >= "3.10" and python_version < "4.0"
 rpds-py==0.20.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 scikit-image==0.24.0 ; python_version >= "3.10" and python_version < "4.0"
 scikit-learn==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -140,14 +140,14 @@ six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
 soupsieve==2.6 ; python_version >= "3.10" and python_version < "4.0"
 stable-baselines3==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.13.2 ; python_version >= "3.10" and python_version < "4.0"
+sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
 tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 testpath==0.6.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-tifffile==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
+tifffile==2024.9.20 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tokenize-rt==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.0.1 ; python_version >= "3.10" and python_version < "3.11"
+tomli==2.0.2 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
 --find-links https://download.pytorch.org/whl/torch_stable.html
 torch==2.3.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
@@ -157,15 +157,15 @@ tqdm==4.66.5 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"
 trimesh[recommend]==4.1.8 ; python_version >= "3.10" and python_version < "4.0"
 triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version < "3.12" and python_version >= "3.10"
-trove-classifiers==2024.7.2 ; python_version >= "3.10" and python_version < "4.0"
+trove-classifiers==2024.9.12 ; python_version >= "3.10" and python_version < "4.0"
 typeguard==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 typing-extensions==4.12.2 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+tzdata==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 urllib3==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 vecrec==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 vhacdx==0.0.8.post1 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.26.4 ; python_version >= "3.10" and python_version < "4.0"
+virtualenv==20.26.6 ; python_version >= "3.10" and python_version < "4.0"
 wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
 webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 widgetsnbextension==4.0.13 ; python_version >= "3.10" and python_version < "4.0"
-zipp==3.20.1 ; python_version >= "3.10" and python_version < "3.12"
+zipp==3.20.2 ; python_version >= "3.10" and python_version < "3.12"
diff --git a/requirements-bazel-mac.txt b/requirements-bazel-mac.txt
index 2ef88c39..0609e9a6 100644
--- a/requirements-bazel-mac.txt
+++ b/requirements-bazel-mac.txt
@@ -3,14 +3,14 @@ attrs==24.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_pla
 autoprop==4.1.0 ; python_version >= "3.10" and python_version < "4.0"
 bayesian-optimization==1.5.1 ; python_version >= "3.10" and python_version < "4.0"
 beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
-black[jupyter]==24.8.0 ; python_version >= "3.10" and python_version < "4.0"
+black[jupyter]==24.10.0 ; python_version >= "3.10" and python_version < "4.0"
 bleach==6.1.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-build==1.2.2 ; python_version >= "3.10" and python_version < "4.0"
+build==1.2.2.post1 ; python_version >= "3.10" and python_version < "4.0"
 cachecontrol[filecache]==0.14.0 ; python_version >= "3.10" and python_version < "4.0"
 certifi==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
 cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
 cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
+charset-normalizer==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 cleo==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
 cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
@@ -23,45 +23,45 @@ cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 cython==3.0.11 ; python_version >= "3.10" and python_version < "4.0"
 decorator==5.1.1 ; python_version >= "3.10" and python_version < "4.0"
 defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-distlib==0.3.8 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.32.0 ; python_version >= "3.10" and python_version < "4.0"
+distlib==0.3.9 ; python_version >= "3.10" and python_version < "4.0"
+drake==1.33.0 ; python_version >= "3.10" and python_version < "4.0"
 dulwich==0.21.7 ; python_version >= "3.10" and python_version < "4.0"
 exceptiongroup==1.2.2 ; python_version >= "3.10" and python_version < "3.11"
 executing==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
 fastjsonschema==2.20.0 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.16.0 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.53.1 ; python_version >= "3.10" and python_version < "4.0"
+filelock==3.16.1 ; python_version >= "3.10" and python_version < "4.0"
+fonttools==4.54.1 ; python_version >= "3.10" and python_version < "4.0"
 fsspec==2024.9.0 ; python_version >= "3.10" and python_version < "4.0"
 glooey==0.3.6 ; python_version >= "3.10" and python_version < "4.0"
 gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 gymnasium==0.29.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.0 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.8 ; python_version >= "3.10" and python_version < "4.0"
+identify==2.6.1 ; python_version >= "3.10" and python_version < "4.0"
+idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 imageio==2.35.1 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.5.0 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
-ipython==8.27.0 ; python_version >= "3.10" and python_version < "4.0"
+ipython==8.28.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 jedi==0.19.1 ; python_version >= "3.10" and python_version < "4.0"
 jinja2==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
 joblib==1.4.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2023.12.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jsonschema-specifications==2024.10.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jsonschema==4.23.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-client==8.6.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyter-core==5.7.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-widgets==3.0.13 ; python_version >= "3.10" and python_version < "4.0"
 keyring==24.3.1 ; python_version >= "3.10" and python_version < "4.0"
 kiwisolver==1.4.7 ; python_version >= "3.10" and python_version < "4.0"
 lazy-loader==0.4 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
+lxml-html-clean==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 lxml==5.3.0 ; python_version >= "3.10" and python_version < "4.0"
 manifold3d==2.5.1 ; python_version >= "3.10" and python_version < "4.0"
 markdown-it-py==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
+markupsafe==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.7.3 ; sys_platform == "darwin" and python_version < "4.0"
 mdurl==0.1.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -91,39 +91,39 @@ nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
-nvidia-nvjitlink-cu12==12.6.68 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvjitlink-cu12==12.6.77 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 packaging==24.1 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.2.2 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==10.4.0 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.11.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.3.2 ; python_version >= "3.10" and python_version < "4.0"
+platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
-prompt-toolkit==3.0.47 ; python_version >= "3.10" and python_version < "4.0"
+prompt-toolkit==3.0.48 ; python_version >= "3.10" and python_version < "4.0"
 psutil==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
 ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
 pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
-pydot==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
+pydot==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyglet==1.5.29 ; python_version >= "3.10" and python_version < "4.0"
 pygments==2.18.0 ; python_version >= "3.10" and python_version < "4.0"
 pyparsing==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
-pyproject-hooks==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pyproject-hooks==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
 python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
 python-fcl==0.7.0.6 ; python_version >= "3.10" and python_version < "4.0"
 pytz==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 pyvirtualdisplay==3.0 ; python_version >= "3.10" and python_version < "4.0"
 pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyzmq==26.2.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-rapidfuzz==3.9.7 ; python_version >= "3.10" and python_version < "4.0"
+rapidfuzz==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 referencing==0.35.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 requests-toolbelt==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 requests==2.32.3 ; python_version >= "3.10" and python_version < "4.0"
-rich==13.8.1 ; python_version >= "3.10" and python_version < "4.0"
+rich==13.9.2 ; python_version >= "3.10" and python_version < "4.0"
 rpds-py==0.20.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 scikit-image==0.24.0 ; python_version >= "3.10" and python_version < "4.0"
 scikit-learn==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -134,14 +134,14 @@ six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
 soupsieve==2.6 ; python_version >= "3.10" and python_version < "4.0"
 stable-baselines3==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.13.2 ; python_version >= "3.10" and python_version < "4.0"
+sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
 tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-tifffile==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
+tifffile==2024.9.20 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tinycss2==1.3.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
 tokenize-rt==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.0.1 ; python_version >= "3.10" and python_version < "3.11"
+tomli==2.0.2 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
 --find-links https://download.pytorch.org/whl/torch_stable.html
 torch==2.3.1 ; python_version >= "3.10" and sys_platform == "darwin"
@@ -151,16 +151,16 @@ tqdm==4.66.5 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"
 trimesh[recommend]==4.1.8 ; python_version >= "3.10" and python_version < "4.0"
 triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version < "3.12" and python_version >= "3.10"
-trove-classifiers==2024.7.2 ; python_version >= "3.10" and python_version < "4.0"
+trove-classifiers==2024.9.12 ; python_version >= "3.10" and python_version < "4.0"
 typeguard==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 typing-extensions==4.12.2 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+tzdata==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 urllib3==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 vecrec==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 vhacdx==0.0.8.post1 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.26.4 ; python_version >= "3.10" and python_version < "4.0"
+virtualenv==20.26.6 ; python_version >= "3.10" and python_version < "4.0"
 wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
 webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 widgetsnbextension==4.0.13 ; python_version >= "3.10" and python_version < "4.0"
 xattr==1.1.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-zipp==3.20.1 ; python_version >= "3.10" and python_version < "3.12"
+zipp==3.20.2 ; python_version >= "3.10" and python_version < "3.12"
diff --git a/requirements-bazel.txt b/requirements-bazel.txt
index 46d89f19..1f31cd7f 100644
--- a/requirements-bazel.txt
+++ b/requirements-bazel.txt
@@ -3,14 +3,14 @@ attrs==24.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_pla
 autoprop==4.1.0 ; python_version >= "3.10" and python_version < "4.0"
 bayesian-optimization==1.5.1 ; python_version >= "3.10" and python_version < "4.0"
 beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
-black[jupyter]==24.8.0 ; python_version >= "3.10" and python_version < "4.0"
+black[jupyter]==24.10.0 ; python_version >= "3.10" and python_version < "4.0"
 bleach==6.1.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-build==1.2.2 ; python_version >= "3.10" and python_version < "4.0"
+build==1.2.2.post1 ; python_version >= "3.10" and python_version < "4.0"
 cachecontrol[filecache]==0.14.0 ; python_version >= "3.10" and python_version < "4.0"
 certifi==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
 cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
 cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
+charset-normalizer==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 cleo==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
 cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
@@ -24,47 +24,47 @@ cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 cython==3.0.11 ; python_version >= "3.10" and python_version < "4.0"
 decorator==5.1.1 ; python_version >= "3.10" and python_version < "4.0"
 defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-distlib==0.3.8 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.32.0 ; python_version >= "3.10" and python_version < "4.0"
+distlib==0.3.9 ; python_version >= "3.10" and python_version < "4.0"
+drake==1.33.0 ; python_version >= "3.10" and python_version < "4.0"
 dulwich==0.21.7 ; python_version >= "3.10" and python_version < "4.0"
 entrypoints==0.4 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 exceptiongroup==1.2.2 ; python_version >= "3.10" and python_version < "3.11"
 executing==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
 fastjsonschema==2.20.0 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.16.0 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.53.1 ; python_version >= "3.10" and python_version < "4.0"
+filelock==3.16.1 ; python_version >= "3.10" and python_version < "4.0"
+fonttools==4.54.1 ; python_version >= "3.10" and python_version < "4.0"
 fsspec==2024.9.0 ; python_version >= "3.10" and python_version < "4.0"
 glooey==0.3.6 ; python_version >= "3.10" and python_version < "4.0"
 gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 gymnasium==0.29.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.0 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.8 ; python_version >= "3.10" and python_version < "4.0"
+identify==2.6.1 ; python_version >= "3.10" and python_version < "4.0"
+idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 imageio==2.35.1 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.5.0 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
-ipython==8.27.0 ; python_version >= "3.10" and python_version < "4.0"
+ipython==8.28.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 jedi==0.19.1 ; python_version >= "3.10" and python_version < "4.0"
 jeepney==0.8.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 jinja2==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
 joblib==1.4.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2023.12.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jsonschema-specifications==2024.10.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jsonschema==4.23.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-client==8.6.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyter-core==5.7.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-widgets==3.0.13 ; python_version >= "3.10" and python_version < "4.0"
 keyring==24.3.1 ; python_version >= "3.10" and python_version < "4.0"
 kiwisolver==1.4.7 ; python_version >= "3.10" and python_version < "4.0"
 lazy-loader==0.4 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
+lxml-html-clean==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 lxml==5.3.0 ; python_version >= "3.10" and python_version < "4.0"
 manifold3d==2.5.1 ; python_version >= "3.10" and python_version < "4.0"
 markdown-it-py==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
+markupsafe==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.5.1 ; sys_platform == "linux"
 matplotlib==3.7.3 ; sys_platform == "darwin" and python_version < "4.0"
@@ -99,29 +99,29 @@ nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
-nvidia-nvjitlink-cu12==12.6.68 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvjitlink-cu12==12.6.77 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 packaging==24.1 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.2.2 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==10.4.0 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.11.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.3.2 ; python_version >= "3.10" and python_version < "4.0"
+platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
-prompt-toolkit==3.0.47 ; python_version >= "3.10" and python_version < "4.0"
+prompt-toolkit==3.0.48 ; python_version >= "3.10" and python_version < "4.0"
 psutil==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
 ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
 py==1.11.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux" and implementation_name == "pypy"
 pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
-pydot==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
+pydot==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyglet==1.5.29 ; python_version >= "3.10" and python_version < "4.0"
 pygments==2.18.0 ; python_version >= "3.10" and python_version < "4.0"
 pyparsing==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
-pyproject-hooks==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pyproject-hooks==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
 python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
 python-fcl==0.7.0.6 ; python_version >= "3.10" and python_version < "4.0"
 pytz==2024.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -130,11 +130,11 @@ pywin32-ctypes==0.2.3 ; python_version >= "3.10" and python_version < "4.0" and
 pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyzmq==24.0.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 pyzmq==26.2.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-rapidfuzz==3.9.7 ; python_version >= "3.10" and python_version < "4.0"
+rapidfuzz==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 referencing==0.35.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 requests-toolbelt==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 requests==2.32.3 ; python_version >= "3.10" and python_version < "4.0"
-rich==13.8.1 ; python_version >= "3.10" and python_version < "4.0"
+rich==13.9.2 ; python_version >= "3.10" and python_version < "4.0"
 rpds-py==0.20.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 scikit-image==0.24.0 ; python_version >= "3.10" and python_version < "4.0"
 scikit-learn==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -146,15 +146,15 @@ six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
 soupsieve==2.6 ; python_version >= "3.10" and python_version < "4.0"
 stable-baselines3==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.13.2 ; python_version >= "3.10" and python_version < "4.0"
+sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
 tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 testpath==0.6.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-tifffile==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
+tifffile==2024.9.20 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tinycss2==1.3.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
 tokenize-rt==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.0.1 ; python_version >= "3.10" and python_version < "3.11"
+tomli==2.0.2 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
 --find-links https://download.pytorch.org/whl/torch_stable.html
 torch==2.3.1+cpu ; python_version >= "3.10" and sys_platform == "linux"
@@ -165,16 +165,16 @@ tqdm==4.66.5 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"
 trimesh[recommend]==4.1.8 ; python_version >= "3.10" and python_version < "4.0"
 triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version < "3.12" and python_version >= "3.10"
-trove-classifiers==2024.7.2 ; python_version >= "3.10" and python_version < "4.0"
+trove-classifiers==2024.9.12 ; python_version >= "3.10" and python_version < "4.0"
 typeguard==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 typing-extensions==4.12.2 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+tzdata==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 urllib3==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 vecrec==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 vhacdx==0.0.8.post1 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.26.4 ; python_version >= "3.10" and python_version < "4.0"
+virtualenv==20.26.6 ; python_version >= "3.10" and python_version < "4.0"
 wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
 webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 widgetsnbextension==4.0.13 ; python_version >= "3.10" and python_version < "4.0"
 xattr==1.1.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-zipp==3.20.1 ; python_version >= "3.10" and python_version < "3.12"
+zipp==3.20.2 ; python_version >= "3.10" and python_version < "3.12"
diff --git a/requirements.txt b/requirements.txt
index 21984b23..620e16a7 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,14 +3,14 @@ attrs==24.2.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_pla
 autoprop==4.1.0 ; python_version >= "3.10" and python_version < "4.0"
 bayesian-optimization==1.5.1 ; python_version >= "3.10" and python_version < "4.0"
 beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
-black[jupyter]==24.8.0 ; python_version >= "3.10" and python_version < "4.0"
+black[jupyter]==24.10.0 ; python_version >= "3.10" and python_version < "4.0"
 bleach==6.1.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-build==1.2.2 ; python_version >= "3.10" and python_version < "4.0"
+build==1.2.2.post1 ; python_version >= "3.10" and python_version < "4.0"
 cachecontrol[filecache]==0.14.0 ; python_version >= "3.10" and python_version < "4.0"
 certifi==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
 cffi==1.17.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
 cfgv==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
-charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
+charset-normalizer==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 cleo==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
 cloudpickle==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
@@ -24,47 +24,47 @@ cycler==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 cython==3.0.11 ; python_version >= "3.10" and python_version < "4.0"
 decorator==5.1.1 ; python_version >= "3.10" and python_version < "4.0"
 defusedxml==0.7.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-distlib==0.3.8 ; python_version >= "3.10" and python_version < "4.0"
-drake==1.32.0 ; python_version >= "3.10" and python_version < "4.0"
+distlib==0.3.9 ; python_version >= "3.10" and python_version < "4.0"
+drake==1.33.0 ; python_version >= "3.10" and python_version < "4.0"
 dulwich==0.21.7 ; python_version >= "3.10" and python_version < "4.0"
 entrypoints==0.4 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 exceptiongroup==1.2.2 ; python_version >= "3.10" and python_version < "3.11"
 executing==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
 farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
 fastjsonschema==2.20.0 ; python_version >= "3.10" and python_version < "4.0"
-filelock==3.16.0 ; python_version >= "3.10" and python_version < "4.0"
-fonttools==4.53.1 ; python_version >= "3.10" and python_version < "4.0"
+filelock==3.16.1 ; python_version >= "3.10" and python_version < "4.0"
+fonttools==4.54.1 ; python_version >= "3.10" and python_version < "4.0"
 fsspec==2024.9.0 ; python_version >= "3.10" and python_version < "4.0"
 glooey==0.3.6 ; python_version >= "3.10" and python_version < "4.0"
 gradescope-utils==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 gymnasium==0.29.1 ; python_version >= "3.10" and python_version < "4.0"
-identify==2.6.0 ; python_version >= "3.10" and python_version < "4.0"
-idna==3.8 ; python_version >= "3.10" and python_version < "4.0"
+identify==2.6.1 ; python_version >= "3.10" and python_version < "4.0"
+idna==3.10 ; python_version >= "3.10" and python_version < "4.0"
 imageio==2.35.1 ; python_version >= "3.10" and python_version < "4.0"
 importlib-metadata==8.5.0 ; python_version >= "3.10" and python_version < "3.12"
 installer==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 intel-openmp==2021.4.0 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
-ipython==8.27.0 ; python_version >= "3.10" and python_version < "4.0"
+ipython==8.28.0 ; python_version >= "3.10" and python_version < "4.0"
 ipywidgets==8.1.5 ; python_version >= "3.10" and python_version < "4.0"
 jaraco-classes==3.4.0 ; python_version >= "3.10" and python_version < "4.0"
 jedi==0.19.1 ; python_version >= "3.10" and python_version < "4.0"
 jeepney==0.8.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 jinja2==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
 joblib==1.4.2 ; python_version >= "3.10" and python_version < "4.0"
-jsonschema-specifications==2023.12.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jsonschema-specifications==2024.10.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jsonschema==4.23.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
-jupyter-client==8.6.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
+jupyter-client==8.6.3 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyter-core==5.7.2 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-pygments==0.3.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 jupyterlab-widgets==3.0.13 ; python_version >= "3.10" and python_version < "4.0"
 keyring==24.3.1 ; python_version >= "3.10" and python_version < "4.0"
 kiwisolver==1.4.7 ; python_version >= "3.10" and python_version < "4.0"
 lazy-loader==0.4 ; python_version >= "3.10" and python_version < "4.0"
-lxml-html-clean==0.2.2 ; python_version >= "3.10" and python_version < "4.0"
+lxml-html-clean==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 lxml==5.3.0 ; python_version >= "3.10" and python_version < "4.0"
 manifold3d==2.5.1 ; python_version >= "3.10" and python_version < "4.0"
 markdown-it-py==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
-markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
+markupsafe==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib-inline==0.1.7 ; python_version >= "3.10" and python_version < "4.0"
 matplotlib==3.5.1 ; sys_platform == "linux"
 matplotlib==3.7.3 ; sys_platform == "darwin" and python_version < "4.0"
@@ -99,29 +99,29 @@ nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine
 nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nccl-cu12==2.20.5 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
-nvidia-nvjitlink-cu12==12.6.68 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvjitlink-cu12==12.6.77 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
 packaging==24.1 ; python_version >= "3.10" and python_version < "4.0"
-pandas==2.2.2 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 pandocfilters==1.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 parso==0.8.4 ; python_version >= "3.10" and python_version < "4.0"
 pathspec==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
 pexpect==4.9.0 ; python_version >= "3.10" and python_version < "4.0"
 pillow==10.4.0 ; python_version >= "3.10" and python_version < "4.0"
 pkginfo==1.11.1 ; python_version >= "3.10" and python_version < "4.0"
-platformdirs==4.3.2 ; python_version >= "3.10" and python_version < "4.0"
+platformdirs==4.3.6 ; python_version >= "3.10" and python_version < "4.0"
 pre-commit==3.8.0 ; python_version >= "3.10" and python_version < "4.0"
-prompt-toolkit==3.0.47 ; python_version >= "3.10" and python_version < "4.0"
+prompt-toolkit==3.0.48 ; python_version >= "3.10" and python_version < "4.0"
 psutil==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
 ptyprocess==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
 pure-eval==0.2.3 ; python_version >= "3.10" and python_version < "4.0"
 py==1.11.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux" and implementation_name == "pypy"
 pycparser==2.22 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux") and (implementation_name == "pypy" or sys_platform == "darwin" or platform_python_implementation != "PyPy")
-pydot==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
+pydot==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyglet==1.5.29 ; python_version >= "3.10" and python_version < "4.0"
 pygments==2.18.0 ; python_version >= "3.10" and python_version < "4.0"
 pyparsing==3.1.4 ; python_version >= "3.10" and python_version < "4.0"
-pyproject-hooks==1.1.0 ; python_version >= "3.10" and python_version < "4.0"
+pyproject-hooks==1.2.0 ; python_version >= "3.10" and python_version < "4.0"
 python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
 python-fcl==0.7.0.6 ; python_version >= "3.10" and python_version < "4.0"
 pytz==2024.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -130,11 +130,11 @@ pywin32-ctypes==0.2.3 ; python_version >= "3.10" and python_version < "4.0" and
 pyyaml==6.0.2 ; python_version >= "3.10" and python_version < "4.0"
 pyzmq==24.0.1 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 pyzmq==26.2.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-rapidfuzz==3.9.7 ; python_version >= "3.10" and python_version < "4.0"
+rapidfuzz==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
 referencing==0.35.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 requests-toolbelt==1.0.0 ; python_version >= "3.10" and python_version < "4.0"
 requests==2.32.3 ; python_version >= "3.10" and python_version < "4.0"
-rich==13.8.1 ; python_version >= "3.10" and python_version < "4.0"
+rich==13.9.2 ; python_version >= "3.10" and python_version < "4.0"
 rpds-py==0.20.0 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 scikit-image==0.24.0 ; python_version >= "3.10" and python_version < "4.0"
 scikit-learn==1.5.2 ; python_version >= "3.10" and python_version < "4.0"
@@ -146,15 +146,15 @@ six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
 soupsieve==2.6 ; python_version >= "3.10" and python_version < "4.0"
 stable-baselines3==2.3.2 ; python_version >= "3.10" and python_version < "4.0"
 stack-data==0.6.3 ; python_version >= "3.10" and python_version < "4.0"
-sympy==1.13.2 ; python_version >= "3.10" and python_version < "4.0"
+sympy==1.13.3 ; python_version >= "3.10" and python_version < "4.0"
 tbb==2021.13.1 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
 testpath==0.6.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "linux"
 threadpoolctl==3.5.0 ; python_version >= "3.10" and python_version < "4.0"
-tifffile==2024.8.30 ; python_version >= "3.10" and python_version < "4.0"
+tifffile==2024.9.20 ; python_version >= "3.10" and python_version < "4.0"
 timeout-decorator==0.5.0 ; python_version >= "3.10" and python_version < "4.0"
 tinycss2==1.3.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
 tokenize-rt==6.0.0 ; python_version >= "3.10" and python_version < "4.0"
-tomli==2.0.1 ; python_version >= "3.10" and python_version < "3.11"
+tomli==2.0.2 ; python_version >= "3.10" and python_version < "3.11"
 tomlkit==0.13.2 ; python_version >= "3.10" and python_version < "4.0"
 torch==2.3.1 ; python_version >= "3.10" and python_version < "4.0"
 torchvision==0.18.1 ; python_version >= "3.10" and python_version < "4.0"
@@ -163,16 +163,16 @@ tqdm==4.66.5 ; python_version >= "3.10" and python_version < "4.0"
 traitlets==5.14.3 ; python_version >= "3.10" and python_version < "4.0"
 trimesh[recommend]==4.1.8 ; python_version >= "3.10" and python_version < "4.0"
 triton==2.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version < "3.12" and python_version >= "3.10"
-trove-classifiers==2024.7.2 ; python_version >= "3.10" and python_version < "4.0"
+trove-classifiers==2024.9.12 ; python_version >= "3.10" and python_version < "4.0"
 typeguard==3.0.2 ; python_version >= "3.10" and python_version < "4.0"
 typing-extensions==4.12.2 ; python_version >= "3.10" and python_version < "4.0"
-tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+tzdata==2024.2 ; python_version >= "3.10" and python_version < "4.0"
 urllib3==2.2.3 ; python_version >= "3.10" and python_version < "4.0"
 vecrec==0.3.1 ; python_version >= "3.10" and python_version < "4.0"
 vhacdx==0.0.8.post1 ; python_version >= "3.10" and python_version < "4.0"
-virtualenv==20.26.4 ; python_version >= "3.10" and python_version < "4.0"
+virtualenv==20.26.6 ; python_version >= "3.10" and python_version < "4.0"
 wcwidth==0.2.13 ; python_version >= "3.10" and python_version < "4.0"
 webencodings==0.5.1 ; python_version >= "3.10" and python_version < "4.0" and (sys_platform == "darwin" or sys_platform == "linux")
 widgetsnbextension==4.0.13 ; python_version >= "3.10" and python_version < "4.0"
 xattr==1.1.0 ; python_version >= "3.10" and python_version < "4.0" and sys_platform == "darwin"
-zipp==3.20.1 ; python_version >= "3.10" and python_version < "3.12"
+zipp==3.20.2 ; python_version >= "3.10" and python_version < "3.12"
diff --git a/setup/mac/Brewfile b/setup/mac/Brewfile
index 84821e10..f4063b4d 100644
--- a/setup/mac/Brewfile
+++ b/setup/mac/Brewfile
@@ -2,6 +2,6 @@
 # vi: set ft=ruby :
 
 brew 'bazelisk'
-brew "python@3.11"
+brew "python@3.12"
 brew "tidy-html5"
 brew "gprof2dot" # Supplies dot for pydot
\ No newline at end of file