From fde7f8efe50db7150b8e78ce2f46145ec966b800 Mon Sep 17 00:00:00 2001
From: Edward Kim <ek65@berkeley.edu>
Date: Wed, 7 Oct 2020 00:58:39 -0700
Subject: [PATCH 1/4] local changes

---
 .../Carla_Challenge/carlaChallenge2.scenic    |   2 +-
 poetry.lock                                   | 917 +++++++++++++++++-
 pyproject.toml                                |   1 +
 3 files changed, 912 insertions(+), 8 deletions(-)

diff --git a/examples/driving/Carla_Challenge/carlaChallenge2.scenic b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
index b03b258e7..fdcae520c 100644
--- a/examples/driving/Carla_Challenge/carlaChallenge2.scenic
+++ b/examples/driving/Carla_Challenge/carlaChallenge2.scenic
@@ -46,7 +46,7 @@ behavior LeadingCarBehavior(speed=10):
 # Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
 # 'network' is the 'class Network' object in roads.py
 
-# make sure to put '*' to uniformly randomly select from all elements of the list, 'lanes'
+# make sure to put '*' to uniformly randomly select from all elements of the list, 'network.lanes'
 lane = Uniform(*network.lanes)
 
 ##OBJECT PLACEMENT
diff --git a/poetry.lock b/poetry.lock
index 40717d87a..1e246eb25 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -22,6 +22,32 @@ optional = true
 python-versions = "*"
 version = "1.4.4"
 
+[[package]]
+category = "main"
+description = "Disable App Nap on OS X 10.9"
+marker = "sys_platform == \"darwin\" or platform_system == \"Darwin\" or python_version >= \"3.3\" and sys_platform == \"darwin\""
+name = "appnope"
+optional = false
+python-versions = "*"
+version = "0.1.0"
+
+[[package]]
+category = "main"
+description = "The secure Argon2 password hashing algorithm."
+name = "argon2-cffi"
+optional = false
+python-versions = "*"
+version = "20.1.0"
+
+[package.dependencies]
+cffi = ">=1.0.0"
+six = "*"
+
+[package.extras]
+dev = ["coverage (>=5.0.2)", "hypothesis", "pytest", "sphinx", "wheel", "pre-commit"]
+docs = ["sphinx"]
+tests = ["coverage (>=5.0.2)", "hypothesis", "pytest"]
+
 [[package]]
 category = "main"
 description = "Read/rewrite/write Python ASTs"
@@ -30,6 +56,14 @@ optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
 version = "0.8.1"
 
+[[package]]
+category = "main"
+description = "Async generators and context managers for Python 3.5+"
+name = "async-generator"
+optional = false
+python-versions = ">=3.5"
+version = "1.10"
+
 [[package]]
 category = "main"
 description = "Atomic file writes."
@@ -64,6 +98,27 @@ version = "2.8.0"
 [package.dependencies]
 pytz = ">=2015.7"
 
+[[package]]
+category = "main"
+description = "Specifications for callback functions passed in to an API"
+name = "backcall"
+optional = false
+python-versions = "*"
+version = "0.2.0"
+
+[[package]]
+category = "main"
+description = "An easy safelist-based HTML-sanitizing tool."
+name = "bleach"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+version = "3.2.1"
+
+[package.dependencies]
+packaging = "*"
+six = ">=1.9.0"
+webencodings = "*"
+
 [[package]]
 category = "main"
 description = "Python package for providing Mozilla's CA Bundle."
@@ -72,6 +127,17 @@ optional = false
 python-versions = "*"
 version = "2020.6.20"
 
+[[package]]
+category = "main"
+description = "Foreign Function Interface for Python calling C code."
+name = "cffi"
+optional = false
+python-versions = "*"
+version = "1.14.3"
+
+[package.dependencies]
+pycparser = "*"
+
 [[package]]
 category = "main"
 description = "Universal encoding detector for Python 2 and 3"
@@ -83,9 +149,9 @@ version = "3.0.4"
 [[package]]
 category = "main"
 description = "Cross-platform colored terminal text."
-marker = "sys_platform == \"win32\" or platform_system == \"Windows\""
+marker = "sys_platform == \"win32\" or platform_system == \"Windows\" or python_version >= \"3.3\" and sys_platform == \"win32\""
 name = "colorama"
-optional = true
+optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 version = "0.4.3"
 
@@ -100,6 +166,22 @@ version = "0.10.0"
 [package.dependencies]
 six = "*"
 
+[[package]]
+category = "main"
+description = "Decorators for Humans"
+name = "decorator"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*"
+version = "4.4.2"
+
+[[package]]
+category = "main"
+description = "XML bomb protection for Python stdlib modules"
+name = "defusedxml"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+version = "0.6.0"
+
 [[package]]
 category = "main"
 description = "Distribution utilities"
@@ -124,6 +206,14 @@ optional = false
 python-versions = "*"
 version = "1.3.17"
 
+[[package]]
+category = "main"
+description = "Discover and load entry points from installed packages."
+name = "entrypoints"
+optional = false
+python-versions = ">=2.7"
+version = "0.3"
+
 [[package]]
 category = "main"
 description = "A platform independent file lock."
@@ -156,11 +246,105 @@ optional = true
 python-versions = "*"
 version = "1.0.1"
 
+[[package]]
+category = "main"
+description = "IPython Kernel for Jupyter"
+name = "ipykernel"
+optional = false
+python-versions = ">=3.5"
+version = "5.3.4"
+
+[package.dependencies]
+appnope = "*"
+ipython = ">=5.0.0"
+jupyter-client = "*"
+tornado = ">=4.2"
+traitlets = ">=4.1.0"
+
+[package.extras]
+test = ["pytest (!=5.3.4)", "pytest-cov", "flaky", "nose"]
+
+[[package]]
+category = "main"
+description = "IPython: Productive Interactive Computing"
+name = "ipython"
+optional = false
+python-versions = ">=3.7"
+version = "7.18.1"
+
+[package.dependencies]
+appnope = "*"
+backcall = "*"
+colorama = "*"
+decorator = "*"
+jedi = ">=0.10"
+pexpect = ">4.3"
+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"]
+doc = ["Sphinx (>=1.3)"]
+kernel = ["ipykernel"]
+nbconvert = ["nbconvert"]
+nbformat = ["nbformat"]
+notebook = ["notebook", "ipywidgets"]
+parallel = ["ipyparallel"]
+qtconsole = ["qtconsole"]
+test = ["nose (>=0.10.1)", "requests", "testpath", "pygments", "nbformat", "ipykernel", "numpy (>=1.14)"]
+
+[[package]]
+category = "main"
+description = "Vestigial utilities from IPython"
+name = "ipython-genutils"
+optional = false
+python-versions = "*"
+version = "0.2.0"
+
+[[package]]
+category = "main"
+description = "IPython HTML widgets for Jupyter"
+name = "ipywidgets"
+optional = false
+python-versions = "*"
+version = "7.5.1"
+
+[package.dependencies]
+ipykernel = ">=4.5.1"
+nbformat = ">=4.2.0"
+traitlets = ">=4.3.1"
+widgetsnbextension = ">=3.5.0,<3.6.0"
+
+[package.dependencies.ipython]
+python = ">=3.3"
+version = ">=4.0.0"
+
+[package.extras]
+test = ["pytest (>=3.6.0)", "pytest-cov", "mock"]
+
+[[package]]
+category = "main"
+description = "An autocompletion tool for Python that can be used for text editors."
+name = "jedi"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+version = "0.17.2"
+
+[package.dependencies]
+parso = ">=0.7.0,<0.8.0"
+
+[package.extras]
+qa = ["flake8 (3.7.9)"]
+testing = ["Django (<3.1)", "colorama", "docopt", "pytest (>=3.9.0,<5.0.0)"]
+
 [[package]]
 category = "main"
 description = "A very fast and expressive template engine."
 name = "jinja2"
-optional = true
+optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 version = "2.11.2"
 
@@ -170,6 +354,99 @@ MarkupSafe = ">=0.23"
 [package.extras]
 i18n = ["Babel (>=0.8)"]
 
+[[package]]
+category = "main"
+description = "An implementation of JSON Schema validation for Python"
+name = "jsonschema"
+optional = false
+python-versions = "*"
+version = "3.2.0"
+
+[package.dependencies]
+attrs = ">=17.4.0"
+pyrsistent = ">=0.14.0"
+setuptools = "*"
+six = ">=1.11.0"
+
+[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"]
+
+[[package]]
+category = "main"
+description = "Jupyter metapackage. Install all the Jupyter components in one go."
+name = "jupyter"
+optional = false
+python-versions = "*"
+version = "1.0.0"
+
+[package.dependencies]
+ipykernel = "*"
+ipywidgets = "*"
+jupyter-console = "*"
+nbconvert = "*"
+notebook = "*"
+qtconsole = "*"
+
+[[package]]
+category = "main"
+description = "Jupyter protocol implementation and client libraries"
+name = "jupyter-client"
+optional = false
+python-versions = ">=3.5"
+version = "6.1.7"
+
+[package.dependencies]
+jupyter-core = ">=4.6.0"
+python-dateutil = ">=2.1"
+pyzmq = ">=13"
+tornado = ">=4.1"
+traitlets = "*"
+
+[package.extras]
+test = ["ipykernel", "ipython", "mock", "pytest", "pytest-asyncio", "async-generator", "pytest-timeout"]
+
+[[package]]
+category = "main"
+description = "Jupyter terminal console"
+name = "jupyter-console"
+optional = false
+python-versions = ">=3.6"
+version = "6.2.0"
+
+[package.dependencies]
+ipykernel = "*"
+ipython = "*"
+jupyter-client = "*"
+prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0"
+pygments = "*"
+
+[package.extras]
+test = ["pexpect"]
+
+[[package]]
+category = "main"
+description = "Jupyter core package. A base package on which Jupyter projects rely."
+name = "jupyter-core"
+optional = false
+python-versions = "!=3.0,!=3.1,!=3.2,!=3.3,!=3.4,>=2.7"
+version = "4.6.3"
+
+[package.dependencies]
+pywin32 = ">=1.0"
+traitlets = "*"
+
+[[package]]
+category = "main"
+description = "Pygments theme using JupyterLab CSS variables"
+name = "jupyterlab-pygments"
+optional = false
+python-versions = "*"
+version = "0.1.2"
+
+[package.dependencies]
+pygments = ">=2.4.1,<3"
+
 [[package]]
 category = "main"
 description = "A fast implementation of the Cassowary constraint solver"
@@ -193,7 +470,7 @@ numpy = "*"
 category = "main"
 description = "Safely add untrusted strings to HTML/XML markup."
 name = "markupsafe"
-optional = true
+optional = false
 python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 version = "1.1.1"
 
@@ -214,6 +491,14 @@ 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"
 
+[[package]]
+category = "main"
+description = "The fastest markdown parser in pure Python"
+name = "mistune"
+optional = false
+python-versions = "*"
+version = "0.8.4"
+
 [[package]]
 category = "main"
 description = "More routines for operating on iterables, beyond itertools"
@@ -222,6 +507,109 @@ optional = true
 python-versions = ">=3.5"
 version = "8.5.0"
 
+[[package]]
+category = "main"
+description = "A client library for executing notebooks. Formally nbconvert's ExecutePreprocessor."
+name = "nbclient"
+optional = false
+python-versions = ">=3.6"
+version = "0.5.0"
+
+[package.dependencies]
+async-generator = "*"
+jupyter-client = ">=6.1.5"
+nbformat = ">=5.0"
+nest-asyncio = "*"
+traitlets = ">=4.2"
+
+[package.extras]
+dev = ["codecov", "coverage", "ipython", "ipykernel", "ipywidgets", "pytest (>=4.1)", "pytest-cov (>=2.6.1)", "check-manifest", "flake8", "mypy", "tox", "bumpversion", "xmltodict", "pip (>=18.1)", "wheel (>=0.31.0)", "setuptools (>=38.6.0)", "twine (>=1.11.0)", "black"]
+sphinx = ["Sphinx (>=1.7)", "sphinx-book-theme", "mock", "moto", "myst-parser"]
+test = ["codecov", "coverage", "ipython", "ipykernel", "ipywidgets", "pytest (>=4.1)", "pytest-cov (>=2.6.1)", "check-manifest", "flake8", "mypy", "tox", "bumpversion", "xmltodict", "pip (>=18.1)", "wheel (>=0.31.0)", "setuptools (>=38.6.0)", "twine (>=1.11.0)", "black"]
+
+[[package]]
+category = "main"
+description = "Converting Jupyter Notebooks"
+name = "nbconvert"
+optional = false
+python-versions = ">=3.6"
+version = "6.0.7"
+
+[package.dependencies]
+bleach = "*"
+defusedxml = "*"
+entrypoints = ">=0.2.2"
+jinja2 = ">=2.4"
+jupyter-core = "*"
+jupyterlab-pygments = "*"
+mistune = ">=0.8.1,<2"
+nbclient = ">=0.5.0,<0.6.0"
+nbformat = ">=4.4"
+pandocfilters = ">=1.4.1"
+pygments = ">=2.4.1"
+testpath = "*"
+traitlets = ">=4.2"
+
+[package.extras]
+all = ["pytest", "pytest-cov", "pytest-dependency", "ipykernel", "ipywidgets (>=7)", "pyppeteer (0.2.2)", "tornado (>=4.0)", "sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "ipython"]
+docs = ["sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "ipython"]
+serve = ["tornado (>=4.0)"]
+test = ["pytest", "pytest-cov", "pytest-dependency", "ipykernel", "ipywidgets (>=7)", "pyppeteer (0.2.2)"]
+webpdf = ["pyppeteer (0.2.2)"]
+
+[[package]]
+category = "main"
+description = "The Jupyter Notebook format"
+name = "nbformat"
+optional = false
+python-versions = ">=3.5"
+version = "5.0.7"
+
+[package.dependencies]
+ipython-genutils = "*"
+jsonschema = ">=2.4,<2.5.0 || >2.5.0"
+jupyter-core = "*"
+traitlets = ">=4.1"
+
+[package.extras]
+test = ["pytest", "pytest-cov", "testpath"]
+
+[[package]]
+category = "main"
+description = "Patch asyncio to allow nested event loops"
+name = "nest-asyncio"
+optional = false
+python-versions = ">=3.5"
+version = "1.4.1"
+
+[[package]]
+category = "main"
+description = "A web-based notebook environment for interactive computing"
+name = "notebook"
+optional = false
+python-versions = ">=3.5"
+version = "6.1.4"
+
+[package.dependencies]
+Send2Trash = "*"
+argon2-cffi = "*"
+ipykernel = "*"
+ipython-genutils = "*"
+jinja2 = "*"
+jupyter-client = ">=5.3.4"
+jupyter-core = ">=4.6.1"
+nbconvert = "*"
+nbformat = "*"
+prometheus-client = "*"
+pyzmq = ">=17"
+terminado = ">=0.8.3"
+tornado = ">=5.0"
+traitlets = ">=4.2.1"
+
+[package.extras]
+docs = ["sphinx", "nbsphinx", "sphinxcontrib-github-alt"]
+test = ["nose", "coverage", "requests", "nose-warnings-filters", "nbval", "nose-exclude", "selenium", "pytest", "pytest-cov", "requests-unixsocket"]
+
 [[package]]
 category = "main"
 description = "NumPy is the fundamental package for array computing with Python."
@@ -245,7 +633,7 @@ numpy = ">=1.11.1"
 category = "main"
 description = "Core utilities for Python packages"
 name = "packaging"
-optional = true
+optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "20.4"
 
@@ -253,6 +641,45 @@ version = "20.4"
 pyparsing = ">=2.0.2"
 six = "*"
 
+[[package]]
+category = "main"
+description = "Utilities for writing pandoc filters in python"
+name = "pandocfilters"
+optional = false
+python-versions = "*"
+version = "1.4.2"
+
+[[package]]
+category = "main"
+description = "A Python Parser"
+name = "parso"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+version = "0.7.1"
+
+[package.extras]
+testing = ["docopt", "pytest (>=3.0.7)"]
+
+[[package]]
+category = "main"
+description = "Pexpect allows easy control of interactive console applications."
+marker = "python_version >= \"3.3\" and sys_platform != \"win32\" or sys_platform != \"win32\""
+name = "pexpect"
+optional = false
+python-versions = "*"
+version = "4.8.0"
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
+[[package]]
+category = "main"
+description = "Tiny 'shelve'-like database with concurrency support"
+name = "pickleshare"
+optional = false
+python-versions = "*"
+version = "0.7.5"
+
 [[package]]
 category = "main"
 description = "Python Imaging Library (Fork)"
@@ -272,6 +699,37 @@ version = "0.13.1"
 [package.extras]
 dev = ["pre-commit", "tox"]
 
+[[package]]
+category = "main"
+description = "Python client for the Prometheus monitoring system."
+name = "prometheus-client"
+optional = false
+python-versions = "*"
+version = "0.8.0"
+
+[package.extras]
+twisted = ["twisted"]
+
+[[package]]
+category = "main"
+description = "Library for building powerful interactive command lines in Python"
+name = "prompt-toolkit"
+optional = false
+python-versions = ">=3.6.1"
+version = "3.0.7"
+
+[package.dependencies]
+wcwidth = "*"
+
+[[package]]
+category = "main"
+description = "Run a subprocess in a pseudo terminal"
+marker = "sys_platform != \"win32\" or os_name != \"nt\" or python_version >= \"3.3\" and sys_platform != \"win32\""
+name = "ptyprocess"
+optional = false
+python-versions = "*"
+version = "0.6.0"
+
 [[package]]
 category = "main"
 description = "library with cross-python path, ini-parsing, io, code, log facilities"
@@ -280,6 +738,14 @@ optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "1.9.0"
 
+[[package]]
+category = "main"
+description = "C parser in Python"
+name = "pycparser"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+version = "2.20"
+
 [[package]]
 category = "main"
 description = "Python Game Development"
@@ -292,7 +758,7 @@ version = "2.0.0.dev10"
 category = "main"
 description = "Pygments is a syntax highlighting package written in Python."
 name = "pygments"
-optional = true
+optional = false
 python-versions = ">=3.5"
 version = "2.7.0"
 
@@ -324,6 +790,14 @@ optional = true
 python-versions = ">=3.5"
 version = "2.6.1.post1"
 
+[[package]]
+category = "main"
+description = "Persistent/Functional/Immutable data structures"
+name = "pyrsistent"
+optional = false
+python-versions = ">=3.5"
+version = "0.17.3"
+
 [[package]]
 category = "main"
 description = "pytest: simple powerful testing with Python"
@@ -377,6 +851,62 @@ optional = true
 python-versions = "*"
 version = "2020.1"
 
+[[package]]
+category = "main"
+description = "Python for Window Extensions"
+marker = "sys_platform == \"win32\""
+name = "pywin32"
+optional = false
+python-versions = "*"
+version = "228"
+
+[[package]]
+category = "main"
+description = "Python bindings for the winpty library"
+marker = "os_name == \"nt\""
+name = "pywinpty"
+optional = false
+python-versions = "*"
+version = "0.5.7"
+
+[[package]]
+category = "main"
+description = "Python bindings for 0MQ"
+name = "pyzmq"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*"
+version = "19.0.2"
+
+[[package]]
+category = "main"
+description = "Jupyter Qt console"
+name = "qtconsole"
+optional = false
+python-versions = "*"
+version = "4.7.7"
+
+[package.dependencies]
+ipykernel = ">=4.1"
+ipython-genutils = "*"
+jupyter-client = ">=4.1"
+jupyter-core = "*"
+pygments = "*"
+pyzmq = ">=17.1"
+qtpy = "*"
+traitlets = "*"
+
+[package.extras]
+doc = ["Sphinx (>=1.3)"]
+test = ["pytest", "mock"]
+
+[[package]]
+category = "main"
+description = "Provides an abstraction layer on top of the various Qt bindings (PyQt5, PyQt4 and PySide) and additional custom QWidgets."
+name = "qtpy"
+optional = false
+python-versions = "*"
+version = "1.9.0"
+
 [[package]]
 category = "main"
 description = "Python HTTP for Humans."
@@ -406,6 +936,14 @@ version = "1.5.2"
 [package.dependencies]
 numpy = ">=1.14.5"
 
+[[package]]
+category = "main"
+description = "Send file to trash natively under Mac OS X, Windows and Linux."
+name = "send2trash"
+optional = false
+python-versions = "*"
+version = "1.5.0"
+
 [[package]]
 category = "main"
 description = "Geometric objects, predicates, and operations"
@@ -549,6 +1087,30 @@ version = "1.1.4"
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
+[[package]]
+category = "main"
+description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
+name = "terminado"
+optional = false
+python-versions = ">=3.6"
+version = "0.9.1"
+
+[package.dependencies]
+ptyprocess = "*"
+pywinpty = ">=0.5"
+tornado = ">=4"
+
+[[package]]
+category = "main"
+description = "Test utilities for code working with files and commands"
+name = "testpath"
+optional = false
+python-versions = "*"
+version = "0.4.4"
+
+[package.extras]
+test = ["pathlib2"]
+
 [[package]]
 category = "main"
 description = "Python Library for Tom's Obvious, Minimal Language"
@@ -557,6 +1119,14 @@ optional = true
 python-versions = "*"
 version = "0.10.1"
 
+[[package]]
+category = "main"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+name = "tornado"
+optional = false
+python-versions = ">= 3.5"
+version = "6.0.4"
+
 [[package]]
 category = "main"
 description = "tox is a generic virtualenv management and test command line tool"
@@ -579,6 +1149,20 @@ virtualenv = ">=16.0.0,<20.0.0 || >20.0.0,<20.0.1 || >20.0.1,<20.0.2 || >20.0.2,
 docs = ["pygments-github-lexers (>=0.0.5)", "sphinx (>=2.0.0)", "sphinxcontrib-autoprogram (>=0.1.5)", "towncrier (>=18.5.0)"]
 testing = ["flaky (>=3.4.0)", "freezegun (>=0.3.11)", "pathlib2 (>=2.3.3)", "psutil (>=5.6.1)", "pytest (>=4.0.0)", "pytest-cov (>=2.5.1)", "pytest-mock (>=1.10.0)", "pytest-randomly (>=1.0.0)", "pytest-xdist (>=1.22.2)"]
 
+[[package]]
+category = "main"
+description = "Traitlets Python configuration system"
+name = "traitlets"
+optional = false
+python-versions = ">=3.7"
+version = "5.0.4"
+
+[package.dependencies]
+ipython-genutils = "*"
+
+[package.extras]
+test = ["pytest"]
+
 [[package]]
 category = "main"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
@@ -610,6 +1194,33 @@ six = ">=1.9.0,<2"
 docs = ["proselint (>=0.10.2)", "sphinx (>=3)", "sphinx-argparse (>=0.2.5)", "sphinx-rtd-theme (>=0.4.3)", "towncrier (>=19.9.0rc1)"]
 testing = ["coverage (>=5)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "pytest-xdist (>=1.31.0)", "packaging (>=20.0)", "xonsh (>=0.9.16)"]
 
+[[package]]
+category = "main"
+description = "Measures the displayed width of unicode strings in a terminal"
+name = "wcwidth"
+optional = false
+python-versions = "*"
+version = "0.2.5"
+
+[[package]]
+category = "main"
+description = "Character encoding aliases for legacy web content"
+name = "webencodings"
+optional = false
+python-versions = "*"
+version = "0.5.1"
+
+[[package]]
+category = "main"
+description = "IPython HTML widgets for Jupyter"
+name = "widgetsnbextension"
+optional = false
+python-versions = "*"
+version = "3.5.1"
+
+[package.dependencies]
+notebook = ">=4.4.1"
+
 [[package]]
 category = "main"
 description = "Module for decorators, wrappers and monkey patching."
@@ -623,7 +1234,7 @@ dev = ["pytest-randomly", "pytest", "sphinx", "sphinx_rtd_theme", "tox", "astor"
 guideways = ["pyproj"]
 
 [metadata]
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+content-hash = "78cbf14f61dc00df33d2ff86c9606ede2481231970f6182aab91b30d64017968"
 python-versions = "^3.8"
 
 [metadata.files]
@@ -638,10 +1249,36 @@ appdirs = [
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 ]
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+]
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 ]
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+    {file = "async_generator-1.10.tar.gz", hash = "sha256:6ebb3d106c12920aaae42ccb6f787ef5eefdcdd166ea3d628fa8476abe712144"},
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@@ -654,10 +1291,56 @@ babel = [
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 ]
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+]
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+]
 certifi = [
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 ]
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 ]
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+    {file = "pyzmq-19.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:09d24a80ccb8cbda1af6ed8eb26b005b6743e58e9290566d2a6841f4e31fa8e0"},
+    {file = "pyzmq-19.0.2-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:c1a31cd42905b405530e92bdb70a8a56f048c8a371728b8acf9d746ecd4482c0"},
+    {file = "pyzmq-19.0.2-pp36-pypy36_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a7e7f930039ee0c4c26e4dfee015f20bd6919cd8b97c9cd7afbde2923a5167b6"},
+    {file = "pyzmq-19.0.2.tar.gz", hash = "sha256:296540a065c8c21b26d63e3cea2d1d57902373b16e4256afe46422691903a438"},
+]
+qtconsole = [
+    {file = "qtconsole-4.7.7-py2.py3-none-any.whl", hash = "sha256:7a42af4b1c51d870b41e4a1b67e2e71296c0edd1b2f46c647ad67dff421c2726"},
+    {file = "qtconsole-4.7.7.tar.gz", hash = "sha256:f236ead8711dba0702507dd8fad473c7216a86eefa6098eff8ec4b54f57d7804"},
+]
+qtpy = [
+    {file = "QtPy-1.9.0-py2.py3-none-any.whl", hash = "sha256:fa0b8363b363e89b2a6f49eddc162a04c0699ae95e109a6be3bb145a913190ea"},
+    {file = "QtPy-1.9.0.tar.gz", hash = "sha256:2db72c44b55d0fe1407be8fba35c838ad0d6d3bb81f23007886dc1fc0f459c8d"},
+]
 requests = [
     {file = "requests-2.24.0-py2.py3-none-any.whl", hash = "sha256:fe75cc94a9443b9246fc7049224f75604b113c36acb93f87b80ed42c44cbb898"},
     {file = "requests-2.24.0.tar.gz", hash = "sha256:b3559a131db72c33ee969480840fff4bb6dd111de7dd27c8ee1f820f4f00231b"},
@@ -993,6 +1857,10 @@ scipy = [
     {file = "scipy-1.5.2-cp38-cp38-win_amd64.whl", hash = "sha256:92eb04041d371fea828858e4fff182453c25ae3eaa8782d9b6c32b25857d23bc"},
     {file = "scipy-1.5.2.tar.gz", hash = "sha256:066c513d90eb3fd7567a9e150828d39111ebd88d3e924cdfc9f8ce19ab6f90c9"},
 ]
+send2trash = [
+    {file = "Send2Trash-1.5.0-py3-none-any.whl", hash = "sha256:f1691922577b6fa12821234aeb57599d887c4900b9ca537948d2dac34aea888b"},
+    {file = "Send2Trash-1.5.0.tar.gz", hash = "sha256:60001cc07d707fe247c94f74ca6ac0d3255aabcb930529690897ca2a39db28b2"},
+]
 shapely = [
     {file = "Shapely-1.7.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:4c10f317e379cc404f8fc510cd9982d5d3e7ba13a9cfd39aa251d894c6366798"},
     {file = "Shapely-1.7.1-cp35-cp35m-macosx_10_6_intel.whl", hash = "sha256:17df66e87d0fe0193910aeaa938c99f0b04f67b430edb8adae01e7be557b141b"},
@@ -1053,14 +1921,37 @@ sphinxcontrib-serializinghtml = [
     {file = "sphinxcontrib-serializinghtml-1.1.4.tar.gz", hash = "sha256:eaa0eccc86e982a9b939b2b82d12cc5d013385ba5eadcc7e4fed23f4405f77bc"},
     {file = "sphinxcontrib_serializinghtml-1.1.4-py2.py3-none-any.whl", hash = "sha256:f242a81d423f59617a8e5cf16f5d4d74e28ee9a66f9e5b637a18082991db5a9a"},
 ]
+terminado = [
+    {file = "terminado-0.9.1-py3-none-any.whl", hash = "sha256:c55f025beb06c2e2669f7ba5a04f47bb3304c30c05842d4981d8f0fc9ab3b4e3"},
+    {file = "terminado-0.9.1.tar.gz", hash = "sha256:3da72a155b807b01c9e8a5babd214e052a0a45a975751da3521a1c3381ce6d76"},
+]
+testpath = [
+    {file = "testpath-0.4.4-py2.py3-none-any.whl", hash = "sha256:bfcf9411ef4bf3db7579063e0546938b1edda3d69f4e1fb8756991f5951f85d4"},
+    {file = "testpath-0.4.4.tar.gz", hash = "sha256:60e0a3261c149755f4399a1fff7d37523179a70fdc3abdf78de9fc2604aeec7e"},
+]
 toml = [
     {file = "toml-0.10.1-py2.py3-none-any.whl", hash = "sha256:bda89d5935c2eac546d648028b9901107a595863cb36bae0c73ac804a9b4ce88"},
     {file = "toml-0.10.1.tar.gz", hash = "sha256:926b612be1e5ce0634a2ca03470f95169cf16f939018233a670519cb4ac58b0f"},
 ]
+tornado = [
+    {file = "tornado-6.0.4-cp35-cp35m-win32.whl", hash = "sha256:5217e601700f24e966ddab689f90b7ea4bd91ff3357c3600fa1045e26d68e55d"},
+    {file = "tornado-6.0.4-cp35-cp35m-win_amd64.whl", hash = "sha256:c98232a3ac391f5faea6821b53db8db461157baa788f5d6222a193e9456e1740"},
+    {file = "tornado-6.0.4-cp36-cp36m-win32.whl", hash = "sha256:5f6a07e62e799be5d2330e68d808c8ac41d4a259b9cea61da4101b83cb5dc673"},
+    {file = "tornado-6.0.4-cp36-cp36m-win_amd64.whl", hash = "sha256:c952975c8ba74f546ae6de2e226ab3cc3cc11ae47baf607459a6728585bb542a"},
+    {file = "tornado-6.0.4-cp37-cp37m-win32.whl", hash = "sha256:2c027eb2a393d964b22b5c154d1a23a5f8727db6fda837118a776b29e2b8ebc6"},
+    {file = "tornado-6.0.4-cp37-cp37m-win_amd64.whl", hash = "sha256:5618f72e947533832cbc3dec54e1dffc1747a5cb17d1fd91577ed14fa0dc081b"},
+    {file = "tornado-6.0.4-cp38-cp38-win32.whl", hash = "sha256:22aed82c2ea340c3771e3babc5ef220272f6fd06b5108a53b4976d0d722bcd52"},
+    {file = "tornado-6.0.4-cp38-cp38-win_amd64.whl", hash = "sha256:c58d56003daf1b616336781b26d184023ea4af13ae143d9dda65e31e534940b9"},
+    {file = "tornado-6.0.4.tar.gz", hash = "sha256:0fe2d45ba43b00a41cd73f8be321a44936dc1aba233dee979f17a042b83eb6dc"},
+]
 tox = [
     {file = "tox-3.20.0-py2.py3-none-any.whl", hash = "sha256:e6318f404aff16522ff5211c88cab82b39af121735a443674e4e2e65f4e4637b"},
     {file = "tox-3.20.0.tar.gz", hash = "sha256:eb629ddc60e8542fd4a1956b2462e3b8771d49f1ff630cecceacaa0fbfb7605a"},
 ]
+traitlets = [
+    {file = "traitlets-5.0.4-py3-none-any.whl", hash = "sha256:9664ec0c526e48e7b47b7d14cd6b252efa03e0129011de0a9c1d70315d4309c3"},
+    {file = "traitlets-5.0.4.tar.gz", hash = "sha256:86c9351f94f95de9db8a04ad8e892da299a088a64fd283f9f6f18770ae5eae1b"},
+]
 urllib3 = [
     {file = "urllib3-1.25.10-py2.py3-none-any.whl", hash = "sha256:e7983572181f5e1522d9c98453462384ee92a0be7fac5f1413a1e35c56cc0461"},
     {file = "urllib3-1.25.10.tar.gz", hash = "sha256:91056c15fa70756691db97756772bb1eb9678fa585d9184f24534b100dc60f4a"},
@@ -1069,6 +1960,18 @@ virtualenv = [
     {file = "virtualenv-20.0.31-py2.py3-none-any.whl", hash = "sha256:e0305af10299a7fb0d69393d8f04cb2965dda9351140d11ac8db4e5e3970451b"},
     {file = "virtualenv-20.0.31.tar.gz", hash = "sha256:43add625c53c596d38f971a465553f6318decc39d98512bc100fa1b1e839c8dc"},
 ]
+wcwidth = [
+    {file = "wcwidth-0.2.5-py2.py3-none-any.whl", hash = "sha256:beb4802a9cebb9144e99086eff703a642a13d6a0052920003a230f3294bbe784"},
+    {file = "wcwidth-0.2.5.tar.gz", hash = "sha256:c4d647b99872929fdb7bdcaa4fbe7f01413ed3d98077df798530e5b04f116c83"},
+]
+webencodings = [
+    {file = "webencodings-0.5.1-py2.py3-none-any.whl", hash = "sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78"},
+    {file = "webencodings-0.5.1.tar.gz", hash = "sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923"},
+]
+widgetsnbextension = [
+    {file = "widgetsnbextension-3.5.1-py2.py3-none-any.whl", hash = "sha256:bd314f8ceb488571a5ffea6cc5b9fc6cba0adaf88a9d2386b93a489751938bcd"},
+    {file = "widgetsnbextension-3.5.1.tar.gz", hash = "sha256:079f87d87270bce047512400efd70238820751a11d2d8cb137a5a5bdbaf255c7"},
+]
 wrapt = [
     {file = "wrapt-1.12.1.tar.gz", hash = "sha256:b62ffa81fb85f4332a4f609cab4ac40709470da05643a082ec1eb88e6d9b97d7"},
 ]
diff --git a/pyproject.toml b/pyproject.toml
index a0b7ec1ca..d65e61e8a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -45,6 +45,7 @@ sphinx = {version = "^3.1.0", optional = true}
 tox = {version = "^3.14.0", optional = true}
 sphinx_rtd_theme = {version = "^0.4.3", optional = true}
 astor = {version = "^0.8.1", optional = true}
+jupyter = "^1.0.0"
 
 [tool.poetry.extras]
 guideways = ["pyproj"]

From 830a64928678799b3bbf82ce75d2223acbd116ac Mon Sep 17 00:00:00 2001
From: Edward Kim <ek65@berkeley.edu>
Date: Wed, 7 Oct 2020 13:10:02 -0700
Subject: [PATCH 2/4] removed duplicate constantThrottleBehavior() function in
 behaviors.scenci

---
 src/scenic/domains/driving/behaviors.scenic | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic
index 121bb2702..81be27d12 100644
--- a/src/scenic/domains/driving/behaviors.scenic
+++ b/src/scenic/domains/driving/behaviors.scenic
@@ -51,9 +51,6 @@ behavior WalkForwardBehavior():
     normal_vec = Vector.normalized(end_vec)
     take WalkTowardsAction(goal_position=normal_vec), SetSpeedAction(speed=1)
 
-behavior ConstantThrottleBehavior(x):
-    take SetThrottleAction(x)
-
 behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTraffic=False):
     """ 
     Follow's the lane on which the vehicle is at, unless the laneToFollow is specified.

From 7835a4f4d83e646f6ba54f256cbc50fb02bac555 Mon Sep 17 00:00:00 2001
From: Daniel Fremont <dfremont@ucsc.edu>
Date: Thu, 22 Oct 2020 07:20:18 -0700
Subject: [PATCH 3/4] remove extraneous jupyter dependency; update dependencies

---
 docs/requirements.txt |   28 +-
 poetry.lock           | 1411 ++++++++---------------------------------
 pyproject.toml        |    1 -
 3 files changed, 271 insertions(+), 1169 deletions(-)

diff --git a/docs/requirements.txt b/docs/requirements.txt
index c205259d2..7ed0e3de7 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -7,43 +7,43 @@ attrs==19.3.0
 babel==2.8.0
 certifi==2020.6.20
 chardet==3.0.4
-colorama==0.4.3; sys_platform == "win32" or platform_system == "Windows"
+colorama==0.4.4; platform_system == "Windows"
+colorama==0.4.4; sys_platform == "win32"
 cycler==0.10.0
 distlib==0.3.1
 docutils==0.16
-dotmap==1.3.17
+dotmap==1.3.22
 filelock==3.0.12
 idna==2.10
 imagesize==1.2.0
-iniconfig==1.0.1
+iniconfig==1.1.1
 jinja2==2.11.2
 kiwisolver==1.2.0
 mapbox-earcut==0.12.10
 markupsafe==1.1.1
-matplotlib==3.3.1
-more-itertools==8.5.0
-numpy==1.19.1
+matplotlib==3.3.2
+numpy==1.19.2
 opencv-python==4.2.0.34
 packaging==20.4
 pillow==7.2.0
 pluggy==0.13.1
 py==1.9.0
-pygame==2.0.0.dev10
-pygments==2.6.1
+pygame==2.0.0.dev18
+pygments==2.7.1
 pynverse==0.1.4.4
 pyparsing==2.4.7
 pyproj==2.6.1.post1
-pytest==6.0.1
 pytest-randomly==3.4.1
+pytest==6.1.1
 python-dateutil==2.8.1
 pytz==2020.1
 requests==2.24.0
-scipy==1.5.2
+scipy==1.5.3
 shapely==1.7.1
 six==1.15.0
 snowballstemmer==2.0.0
-sphinx==3.2.1
 sphinx-rtd-theme==0.4.3
+sphinx==3.2.1
 sphinxcontrib-applehelp==1.0.2
 sphinxcontrib-devhelp==1.0.2
 sphinxcontrib-htmlhelp==1.0.3
@@ -51,7 +51,7 @@ sphinxcontrib-jsmath==1.0.1
 sphinxcontrib-qthelp==1.0.3
 sphinxcontrib-serializinghtml==1.1.4
 toml==0.10.1
-tox==3.20.0
-urllib3==1.25.10
-virtualenv==20.0.31
+tox==3.20.1
+urllib3==1.25.11
+virtualenv==20.0.35
 wrapt==1.12.1
diff --git a/poetry.lock b/poetry.lock
index 1e246eb25..76bc75d4e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,85 +1,50 @@
 [[package]]
-category = "main"
-description = "A configurable sidebar-enabled Sphinx theme"
 name = "alabaster"
-optional = true
-python-versions = "*"
 version = "0.7.12"
-
-[[package]]
-category = "main"
-description = "ANTLR 4.8 runtime for Python 3.7"
-name = "antlr4-python3-runtime"
-optional = false
-python-versions = "*"
-version = "4.8"
-
-[[package]]
+description = "A configurable sidebar-enabled Sphinx theme"
 category = "main"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-name = "appdirs"
 optional = true
 python-versions = "*"
-version = "1.4.4"
 
 [[package]]
+name = "antlr4-python3-runtime"
+version = "4.8"
+description = "ANTLR 4.8 runtime for Python 3.7"
 category = "main"
-description = "Disable App Nap on OS X 10.9"
-marker = "sys_platform == \"darwin\" or platform_system == \"Darwin\" or python_version >= \"3.3\" and sys_platform == \"darwin\""
-name = "appnope"
 optional = false
 python-versions = "*"
-version = "0.1.0"
 
 [[package]]
+name = "appdirs"
+version = "1.4.4"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "main"
-description = "The secure Argon2 password hashing algorithm."
-name = "argon2-cffi"
-optional = false
+optional = true
 python-versions = "*"
-version = "20.1.0"
-
-[package.dependencies]
-cffi = ">=1.0.0"
-six = "*"
-
-[package.extras]
-dev = ["coverage (>=5.0.2)", "hypothesis", "pytest", "sphinx", "wheel", "pre-commit"]
-docs = ["sphinx"]
-tests = ["coverage (>=5.0.2)", "hypothesis", "pytest"]
 
 [[package]]
-category = "main"
-description = "Read/rewrite/write Python ASTs"
 name = "astor"
-optional = true
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
 version = "0.8.1"
-
-[[package]]
+description = "Read/rewrite/write Python ASTs"
 category = "main"
-description = "Async generators and context managers for Python 3.5+"
-name = "async-generator"
-optional = false
-python-versions = ">=3.5"
-version = "1.10"
+optional = true
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
 
 [[package]]
-category = "main"
-description = "Atomic file writes."
-marker = "sys_platform == \"win32\""
 name = "atomicwrites"
+version = "1.4.0"
+description = "Atomic file writes."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.4.0"
 
 [[package]]
-category = "main"
-description = "Classes Without Boilerplate"
 name = "attrs"
+version = "19.3.0"
+description = "Classes Without Boilerplate"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "19.3.0"
 
 [package.extras]
 azure-pipelines = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface", "pytest-azurepipelines"]
@@ -88,265 +53,114 @@ docs = ["sphinx", "zope.interface"]
 tests = ["coverage", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface"]
 
 [[package]]
-category = "main"
-description = "Internationalization utilities"
 name = "babel"
+version = "2.8.0"
+description = "Internationalization utilities"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.8.0"
 
 [package.dependencies]
 pytz = ">=2015.7"
 
 [[package]]
-category = "main"
-description = "Specifications for callback functions passed in to an API"
-name = "backcall"
-optional = false
-python-versions = "*"
-version = "0.2.0"
-
-[[package]]
-category = "main"
-description = "An easy safelist-based HTML-sanitizing tool."
-name = "bleach"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "3.2.1"
-
-[package.dependencies]
-packaging = "*"
-six = ">=1.9.0"
-webencodings = "*"
-
-[[package]]
-category = "main"
-description = "Python package for providing Mozilla's CA Bundle."
 name = "certifi"
-optional = false
-python-versions = "*"
 version = "2020.6.20"
-
-[[package]]
+description = "Python package for providing Mozilla's CA Bundle."
 category = "main"
-description = "Foreign Function Interface for Python calling C code."
-name = "cffi"
 optional = false
 python-versions = "*"
-version = "1.14.3"
-
-[package.dependencies]
-pycparser = "*"
 
 [[package]]
-category = "main"
-description = "Universal encoding detector for Python 2 and 3"
 name = "chardet"
+version = "3.0.4"
+description = "Universal encoding detector for Python 2 and 3"
+category = "main"
 optional = true
 python-versions = "*"
-version = "3.0.4"
 
 [[package]]
-category = "main"
-description = "Cross-platform colored terminal text."
-marker = "sys_platform == \"win32\" or platform_system == \"Windows\" or python_version >= \"3.3\" and sys_platform == \"win32\""
 name = "colorama"
-optional = false
+version = "0.4.4"
+description = "Cross-platform colored terminal text."
+category = "main"
+optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.4.3"
 
 [[package]]
-category = "main"
-description = "Composable style cycles"
 name = "cycler"
+version = "0.10.0"
+description = "Composable style cycles"
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.10.0"
 
 [package.dependencies]
 six = "*"
 
 [[package]]
-category = "main"
-description = "Decorators for Humans"
-name = "decorator"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*"
-version = "4.4.2"
-
-[[package]]
-category = "main"
-description = "XML bomb protection for Python stdlib modules"
-name = "defusedxml"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.6.0"
-
-[[package]]
-category = "main"
-description = "Distribution utilities"
 name = "distlib"
+version = "0.3.1"
+description = "Distribution utilities"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.3.1"
 
 [[package]]
-category = "main"
-description = "Docutils -- Python Documentation Utilities"
 name = "docutils"
+version = "0.16"
+description = "Docutils -- Python Documentation Utilities"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.16"
 
 [[package]]
-category = "main"
-description = "ordered, dynamically-expandable dot-access dictionary"
 name = "dotmap"
-optional = false
-python-versions = "*"
-version = "1.3.17"
-
-[[package]]
+version = "1.3.22"
+description = "ordered, dynamically-expandable dot-access dictionary"
 category = "main"
-description = "Discover and load entry points from installed packages."
-name = "entrypoints"
 optional = false
-python-versions = ">=2.7"
-version = "0.3"
+python-versions = "*"
 
 [[package]]
-category = "main"
-description = "A platform independent file lock."
 name = "filelock"
+version = "3.0.12"
+description = "A platform independent file lock."
+category = "main"
 optional = true
 python-versions = "*"
-version = "3.0.12"
 
 [[package]]
-category = "main"
-description = "Internationalized Domain Names in Applications (IDNA)"
 name = "idna"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "2.10"
-
-[[package]]
+description = "Internationalized Domain Names in Applications (IDNA)"
 category = "main"
-description = "Getting image size from png/jpeg/jpeg2000/gif file"
-name = "imagesize"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.2.0"
 
 [[package]]
+name = "imagesize"
+version = "1.2.0"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
 category = "main"
-description = "iniconfig: brain-dead simple config-ini parsing"
-name = "iniconfig"
 optional = true
-python-versions = "*"
-version = "1.0.1"
-
-[[package]]
-category = "main"
-description = "IPython Kernel for Jupyter"
-name = "ipykernel"
-optional = false
-python-versions = ">=3.5"
-version = "5.3.4"
-
-[package.dependencies]
-appnope = "*"
-ipython = ">=5.0.0"
-jupyter-client = "*"
-tornado = ">=4.2"
-traitlets = ">=4.1.0"
-
-[package.extras]
-test = ["pytest (!=5.3.4)", "pytest-cov", "flaky", "nose"]
-
-[[package]]
-category = "main"
-description = "IPython: Productive Interactive Computing"
-name = "ipython"
-optional = false
-python-versions = ">=3.7"
-version = "7.18.1"
-
-[package.dependencies]
-appnope = "*"
-backcall = "*"
-colorama = "*"
-decorator = "*"
-jedi = ">=0.10"
-pexpect = ">4.3"
-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"]
-doc = ["Sphinx (>=1.3)"]
-kernel = ["ipykernel"]
-nbconvert = ["nbconvert"]
-nbformat = ["nbformat"]
-notebook = ["notebook", "ipywidgets"]
-parallel = ["ipyparallel"]
-qtconsole = ["qtconsole"]
-test = ["nose (>=0.10.1)", "requests", "testpath", "pygments", "nbformat", "ipykernel", "numpy (>=1.14)"]
-
-[[package]]
-category = "main"
-description = "Vestigial utilities from IPython"
-name = "ipython-genutils"
-optional = false
-python-versions = "*"
-version = "0.2.0"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
+name = "iniconfig"
+version = "1.1.1"
+description = "iniconfig: brain-dead simple config-ini parsing"
 category = "main"
-description = "IPython HTML widgets for Jupyter"
-name = "ipywidgets"
-optional = false
+optional = true
 python-versions = "*"
-version = "7.5.1"
-
-[package.dependencies]
-ipykernel = ">=4.5.1"
-nbformat = ">=4.2.0"
-traitlets = ">=4.3.1"
-widgetsnbextension = ">=3.5.0,<3.6.0"
-
-[package.dependencies.ipython]
-python = ">=3.3"
-version = ">=4.0.0"
-
-[package.extras]
-test = ["pytest (>=3.6.0)", "pytest-cov", "mock"]
 
 [[package]]
-category = "main"
-description = "An autocompletion tool for Python that can be used for text editors."
-name = "jedi"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.17.2"
-
-[package.dependencies]
-parso = ">=0.7.0,<0.8.0"
-
-[package.extras]
-qa = ["flake8 (3.7.9)"]
-testing = ["Django (<3.1)", "colorama", "docopt", "pytest (>=3.9.0,<5.0.0)"]
-
-[[package]]
-category = "main"
-description = "A very fast and expressive template engine."
 name = "jinja2"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 version = "2.11.2"
+description = "A very fast and expressive template engine."
+category = "main"
+optional = true
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [package.dependencies]
 MarkupSafe = ">=0.23"
@@ -355,132 +169,39 @@ MarkupSafe = ">=0.23"
 i18n = ["Babel (>=0.8)"]
 
 [[package]]
-category = "main"
-description = "An implementation of JSON Schema validation for Python"
-name = "jsonschema"
-optional = false
-python-versions = "*"
-version = "3.2.0"
-
-[package.dependencies]
-attrs = ">=17.4.0"
-pyrsistent = ">=0.14.0"
-setuptools = "*"
-six = ">=1.11.0"
-
-[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"]
-
-[[package]]
-category = "main"
-description = "Jupyter metapackage. Install all the Jupyter components in one go."
-name = "jupyter"
-optional = false
-python-versions = "*"
-version = "1.0.0"
-
-[package.dependencies]
-ipykernel = "*"
-ipywidgets = "*"
-jupyter-console = "*"
-nbconvert = "*"
-notebook = "*"
-qtconsole = "*"
-
-[[package]]
-category = "main"
-description = "Jupyter protocol implementation and client libraries"
-name = "jupyter-client"
-optional = false
-python-versions = ">=3.5"
-version = "6.1.7"
-
-[package.dependencies]
-jupyter-core = ">=4.6.0"
-python-dateutil = ">=2.1"
-pyzmq = ">=13"
-tornado = ">=4.1"
-traitlets = "*"
-
-[package.extras]
-test = ["ipykernel", "ipython", "mock", "pytest", "pytest-asyncio", "async-generator", "pytest-timeout"]
-
-[[package]]
-category = "main"
-description = "Jupyter terminal console"
-name = "jupyter-console"
-optional = false
-python-versions = ">=3.6"
-version = "6.2.0"
-
-[package.dependencies]
-ipykernel = "*"
-ipython = "*"
-jupyter-client = "*"
-prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0"
-pygments = "*"
-
-[package.extras]
-test = ["pexpect"]
-
-[[package]]
-category = "main"
-description = "Jupyter core package. A base package on which Jupyter projects rely."
-name = "jupyter-core"
-optional = false
-python-versions = "!=3.0,!=3.1,!=3.2,!=3.3,!=3.4,>=2.7"
-version = "4.6.3"
-
-[package.dependencies]
-pywin32 = ">=1.0"
-traitlets = "*"
-
-[[package]]
-category = "main"
-description = "Pygments theme using JupyterLab CSS variables"
-name = "jupyterlab-pygments"
-optional = false
-python-versions = "*"
-version = "0.1.2"
-
-[package.dependencies]
-pygments = ">=2.4.1,<3"
-
-[[package]]
-category = "main"
-description = "A fast implementation of the Cassowary constraint solver"
 name = "kiwisolver"
+version = "1.2.0"
+description = "A fast implementation of the Cassowary constraint solver"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.2.0"
 
 [[package]]
-category = "main"
-description = "Python bindings for the mapbox earcut C++ polygon triangulation library."
 name = "mapbox-earcut"
+version = "0.12.10"
+description = "Python bindings for the mapbox earcut C++ polygon triangulation library."
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.12.10"
 
 [package.dependencies]
 numpy = "*"
 
 [[package]]
-category = "main"
-description = "Safely add untrusted strings to HTML/XML markup."
 name = "markupsafe"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 version = "1.1.1"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "main"
+optional = true
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 
 [[package]]
-category = "main"
-description = "Python plotting package"
 name = "matplotlib"
+version = "3.3.2"
+description = "Python plotting package"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "3.3.2"
 
 [package.dependencies]
 certifi = ">=2020.06.20"
@@ -492,326 +213,120 @@ 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"
 
 [[package]]
-category = "main"
-description = "The fastest markdown parser in pure Python"
-name = "mistune"
-optional = false
-python-versions = "*"
-version = "0.8.4"
-
-[[package]]
-category = "main"
-description = "More routines for operating on iterables, beyond itertools"
-name = "more-itertools"
-optional = true
-python-versions = ">=3.5"
-version = "8.5.0"
-
-[[package]]
-category = "main"
-description = "A client library for executing notebooks. Formally nbconvert's ExecutePreprocessor."
-name = "nbclient"
-optional = false
-python-versions = ">=3.6"
-version = "0.5.0"
-
-[package.dependencies]
-async-generator = "*"
-jupyter-client = ">=6.1.5"
-nbformat = ">=5.0"
-nest-asyncio = "*"
-traitlets = ">=4.2"
-
-[package.extras]
-dev = ["codecov", "coverage", "ipython", "ipykernel", "ipywidgets", "pytest (>=4.1)", "pytest-cov (>=2.6.1)", "check-manifest", "flake8", "mypy", "tox", "bumpversion", "xmltodict", "pip (>=18.1)", "wheel (>=0.31.0)", "setuptools (>=38.6.0)", "twine (>=1.11.0)", "black"]
-sphinx = ["Sphinx (>=1.7)", "sphinx-book-theme", "mock", "moto", "myst-parser"]
-test = ["codecov", "coverage", "ipython", "ipykernel", "ipywidgets", "pytest (>=4.1)", "pytest-cov (>=2.6.1)", "check-manifest", "flake8", "mypy", "tox", "bumpversion", "xmltodict", "pip (>=18.1)", "wheel (>=0.31.0)", "setuptools (>=38.6.0)", "twine (>=1.11.0)", "black"]
-
-[[package]]
-category = "main"
-description = "Converting Jupyter Notebooks"
-name = "nbconvert"
-optional = false
-python-versions = ">=3.6"
-version = "6.0.7"
-
-[package.dependencies]
-bleach = "*"
-defusedxml = "*"
-entrypoints = ">=0.2.2"
-jinja2 = ">=2.4"
-jupyter-core = "*"
-jupyterlab-pygments = "*"
-mistune = ">=0.8.1,<2"
-nbclient = ">=0.5.0,<0.6.0"
-nbformat = ">=4.4"
-pandocfilters = ">=1.4.1"
-pygments = ">=2.4.1"
-testpath = "*"
-traitlets = ">=4.2"
-
-[package.extras]
-all = ["pytest", "pytest-cov", "pytest-dependency", "ipykernel", "ipywidgets (>=7)", "pyppeteer (0.2.2)", "tornado (>=4.0)", "sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "ipython"]
-docs = ["sphinx (>=1.5.1)", "sphinx-rtd-theme", "nbsphinx (>=0.2.12)", "ipython"]
-serve = ["tornado (>=4.0)"]
-test = ["pytest", "pytest-cov", "pytest-dependency", "ipykernel", "ipywidgets (>=7)", "pyppeteer (0.2.2)"]
-webpdf = ["pyppeteer (0.2.2)"]
-
-[[package]]
-category = "main"
-description = "The Jupyter Notebook format"
-name = "nbformat"
-optional = false
-python-versions = ">=3.5"
-version = "5.0.7"
-
-[package.dependencies]
-ipython-genutils = "*"
-jsonschema = ">=2.4,<2.5.0 || >2.5.0"
-jupyter-core = "*"
-traitlets = ">=4.1"
-
-[package.extras]
-test = ["pytest", "pytest-cov", "testpath"]
-
-[[package]]
-category = "main"
-description = "Patch asyncio to allow nested event loops"
-name = "nest-asyncio"
-optional = false
-python-versions = ">=3.5"
-version = "1.4.1"
-
-[[package]]
-category = "main"
-description = "A web-based notebook environment for interactive computing"
-name = "notebook"
-optional = false
-python-versions = ">=3.5"
-version = "6.1.4"
-
-[package.dependencies]
-Send2Trash = "*"
-argon2-cffi = "*"
-ipykernel = "*"
-ipython-genutils = "*"
-jinja2 = "*"
-jupyter-client = ">=5.3.4"
-jupyter-core = ">=4.6.1"
-nbconvert = "*"
-nbformat = "*"
-prometheus-client = "*"
-pyzmq = ">=17"
-terminado = ">=0.8.3"
-tornado = ">=5.0"
-traitlets = ">=4.2.1"
-
-[package.extras]
-docs = ["sphinx", "nbsphinx", "sphinxcontrib-github-alt"]
-test = ["nose", "coverage", "requests", "nose-warnings-filters", "nbval", "nose-exclude", "selenium", "pytest", "pytest-cov", "requests-unixsocket"]
-
-[[package]]
-category = "main"
-description = "NumPy is the fundamental package for array computing with Python."
 name = "numpy"
+version = "1.19.2"
+description = "NumPy is the fundamental package for array computing with Python."
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.19.2"
 
 [[package]]
-category = "main"
-description = "Wrapper package for OpenCV python bindings."
 name = "opencv-python"
+version = "4.2.0.34"
+description = "Wrapper package for OpenCV python bindings."
+category = "main"
 optional = false
 python-versions = "*"
-version = "4.2.0.34"
 
 [package.dependencies]
 numpy = ">=1.11.1"
 
 [[package]]
-category = "main"
-description = "Core utilities for Python packages"
 name = "packaging"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "20.4"
-
-[package.dependencies]
-pyparsing = ">=2.0.2"
-six = "*"
-
-[[package]]
-category = "main"
-description = "Utilities for writing pandoc filters in python"
-name = "pandocfilters"
-optional = false
-python-versions = "*"
-version = "1.4.2"
-
-[[package]]
+description = "Core utilities for Python packages"
 category = "main"
-description = "A Python Parser"
-name = "parso"
-optional = false
+optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "0.7.1"
-
-[package.extras]
-testing = ["docopt", "pytest (>=3.0.7)"]
-
-[[package]]
-category = "main"
-description = "Pexpect allows easy control of interactive console applications."
-marker = "python_version >= \"3.3\" and sys_platform != \"win32\" or sys_platform != \"win32\""
-name = "pexpect"
-optional = false
-python-versions = "*"
-version = "4.8.0"
 
 [package.dependencies]
-ptyprocess = ">=0.5"
-
-[[package]]
-category = "main"
-description = "Tiny 'shelve'-like database with concurrency support"
-name = "pickleshare"
-optional = false
-python-versions = "*"
-version = "0.7.5"
+pyparsing = ">=2.0.2"
+six = "*"
 
 [[package]]
-category = "main"
-description = "Python Imaging Library (Fork)"
 name = "pillow"
+version = "7.2.0"
+description = "Python Imaging Library (Fork)"
+category = "main"
 optional = false
 python-versions = ">=3.5"
-version = "7.2.0"
 
 [[package]]
-category = "main"
-description = "plugin and hook calling mechanisms for python"
 name = "pluggy"
+version = "0.13.1"
+description = "plugin and hook calling mechanisms for python"
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "0.13.1"
 
 [package.extras]
 dev = ["pre-commit", "tox"]
 
 [[package]]
-category = "main"
-description = "Python client for the Prometheus monitoring system."
-name = "prometheus-client"
-optional = false
-python-versions = "*"
-version = "0.8.0"
-
-[package.extras]
-twisted = ["twisted"]
-
-[[package]]
-category = "main"
-description = "Library for building powerful interactive command lines in Python"
-name = "prompt-toolkit"
-optional = false
-python-versions = ">=3.6.1"
-version = "3.0.7"
-
-[package.dependencies]
-wcwidth = "*"
-
-[[package]]
-category = "main"
-description = "Run a subprocess in a pseudo terminal"
-marker = "sys_platform != \"win32\" or os_name != \"nt\" or python_version >= \"3.3\" and sys_platform != \"win32\""
-name = "ptyprocess"
-optional = false
-python-versions = "*"
-version = "0.6.0"
-
-[[package]]
-category = "main"
-description = "library with cross-python path, ini-parsing, io, code, log facilities"
 name = "py"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "1.9.0"
-
-[[package]]
+description = "library with cross-python path, ini-parsing, io, code, log facilities"
 category = "main"
-description = "C parser in Python"
-name = "pycparser"
-optional = false
+optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.20"
 
 [[package]]
-category = "main"
-description = "Python Game Development"
 name = "pygame"
+version = "2.0.0.dev18"
+description = "Python Game Development"
+category = "main"
 optional = false
 python-versions = "*"
-version = "2.0.0.dev10"
 
 [[package]]
-category = "main"
-description = "Pygments is a syntax highlighting package written in Python."
 name = "pygments"
-optional = false
+version = "2.7.1"
+description = "Pygments is a syntax highlighting package written in Python."
+category = "main"
+optional = true
 python-versions = ">=3.5"
-version = "2.7.0"
 
 [[package]]
-category = "main"
-description = "A library for calculating the numerical inverse of a function"
 name = "pynverse"
+version = "0.1.4.4"
+description = "A library for calculating the numerical inverse of a function"
+category = "main"
 optional = false
 python-versions = "*"
-version = "0.1.4.4"
 
 [package.dependencies]
 numpy = ">=1.6"
 scipy = ">=0.11"
 
 [[package]]
-category = "main"
-description = "Python parsing module"
 name = "pyparsing"
+version = "2.4.7"
+description = "Python parsing module"
+category = "main"
 optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "2.4.7"
 
 [[package]]
-category = "main"
-description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
 name = "pyproj"
-optional = true
-python-versions = ">=3.5"
-version = "2.6.1.post1"
-
-[[package]]
+version = "2.6.1.post1"
+description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
 category = "main"
-description = "Persistent/Functional/Immutable data structures"
-name = "pyrsistent"
-optional = false
+optional = true
 python-versions = ">=3.5"
-version = "0.17.3"
 
 [[package]]
-category = "main"
-description = "pytest: simple powerful testing with Python"
 name = "pytest"
+version = "6.1.1"
+description = "pytest: simple powerful testing with Python"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "6.0.2"
 
 [package.dependencies]
-atomicwrites = ">=1.0"
+atomicwrites = {version = ">=1.0", markers = "sys_platform == \"win32\""}
 attrs = ">=17.4.0"
-colorama = "*"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
 iniconfig = "*"
-more-itertools = ">=4.0.0"
 packaging = "*"
 pluggy = ">=0.12,<1.0"
 py = ">=1.8.2"
@@ -822,98 +337,42 @@ checkqa_mypy = ["mypy (0.780)"]
 testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "requests", "xmlschema"]
 
 [[package]]
-category = "main"
-description = "Pytest plugin to randomly order tests and control random.seed."
 name = "pytest-randomly"
+version = "3.4.1"
+description = "Pytest plugin to randomly order tests and control random.seed."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "3.4.1"
 
 [package.dependencies]
 pytest = "*"
 
 [[package]]
-category = "main"
-description = "Extensions to the standard Python datetime module"
 name = "python-dateutil"
+version = "2.8.1"
+description = "Extensions to the standard Python datetime module"
+category = "main"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
-version = "2.8.1"
 
 [package.dependencies]
 six = ">=1.5"
 
 [[package]]
-category = "main"
-description = "World timezone definitions, modern and historical"
 name = "pytz"
-optional = true
-python-versions = "*"
 version = "2020.1"
-
-[[package]]
-category = "main"
-description = "Python for Window Extensions"
-marker = "sys_platform == \"win32\""
-name = "pywin32"
-optional = false
-python-versions = "*"
-version = "228"
-
-[[package]]
-category = "main"
-description = "Python bindings for the winpty library"
-marker = "os_name == \"nt\""
-name = "pywinpty"
-optional = false
-python-versions = "*"
-version = "0.5.7"
-
-[[package]]
-category = "main"
-description = "Python bindings for 0MQ"
-name = "pyzmq"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*"
-version = "19.0.2"
-
-[[package]]
-category = "main"
-description = "Jupyter Qt console"
-name = "qtconsole"
-optional = false
-python-versions = "*"
-version = "4.7.7"
-
-[package.dependencies]
-ipykernel = ">=4.1"
-ipython-genutils = "*"
-jupyter-client = ">=4.1"
-jupyter-core = "*"
-pygments = "*"
-pyzmq = ">=17.1"
-qtpy = "*"
-traitlets = "*"
-
-[package.extras]
-doc = ["Sphinx (>=1.3)"]
-test = ["pytest", "mock"]
-
-[[package]]
+description = "World timezone definitions, modern and historical"
 category = "main"
-description = "Provides an abstraction layer on top of the various Qt bindings (PyQt5, PyQt4 and PySide) and additional custom QWidgets."
-name = "qtpy"
-optional = false
+optional = true
 python-versions = "*"
-version = "1.9.0"
 
 [[package]]
-category = "main"
-description = "Python HTTP for Humans."
 name = "requests"
+version = "2.24.0"
+description = "Python HTTP for Humans."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.24.0"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
@@ -926,31 +385,23 @@ security = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7)", "win-inet-pton"]
 
 [[package]]
-category = "main"
-description = "SciPy: Scientific Library for Python"
 name = "scipy"
+version = "1.5.3"
+description = "SciPy: Scientific Library for Python"
+category = "main"
 optional = false
 python-versions = ">=3.6"
-version = "1.5.2"
 
 [package.dependencies]
 numpy = ">=1.14.5"
 
 [[package]]
-category = "main"
-description = "Send file to trash natively under Mac OS X, Windows and Linux."
-name = "send2trash"
-optional = false
-python-versions = "*"
-version = "1.5.0"
-
-[[package]]
-category = "main"
-description = "Geometric objects, predicates, and operations"
 name = "shapely"
+version = "1.7.1"
+description = "Geometric objects, predicates, and operations"
+category = "main"
 optional = false
 python-versions = "*"
-version = "1.7.1"
 
 [package.extras]
 all = ["numpy", "pytest", "pytest-cov"]
@@ -958,40 +409,39 @@ test = ["pytest", "pytest-cov"]
 vectorized = ["numpy"]
 
 [[package]]
-category = "main"
-description = "Python 2 and 3 compatibility utilities"
 name = "six"
+version = "1.15.0"
+description = "Python 2 and 3 compatibility utilities"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "1.15.0"
 
 [[package]]
-category = "main"
-description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
 name = "snowballstemmer"
+version = "2.0.0"
+description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
+category = "main"
 optional = true
 python-versions = "*"
-version = "2.0.0"
 
 [[package]]
-category = "main"
-description = "Python documentation generator"
 name = "sphinx"
+version = "3.2.1"
+description = "Python documentation generator"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "3.2.1"
 
 [package.dependencies]
-Jinja2 = ">=2.3"
-Pygments = ">=2.0"
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3"
-colorama = ">=0.3.5"
+colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
 docutils = ">=0.12"
 imagesize = "*"
+Jinja2 = ">=2.3"
 packaging = "*"
+Pygments = ">=2.0"
 requests = ">=2.5.0"
-setuptools = "*"
 snowballstemmer = ">=1.1"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
@@ -1006,137 +456,105 @@ lint = ["flake8 (>=3.5.0)", "flake8-import-order", "mypy (>=0.780)", "docutils-s
 test = ["pytest", "pytest-cov", "html5lib", "typed-ast", "cython"]
 
 [[package]]
-category = "main"
-description = "Read the Docs theme for Sphinx"
 name = "sphinx-rtd-theme"
+version = "0.4.3"
+description = "Read the Docs theme for Sphinx"
+category = "main"
 optional = true
 python-versions = "*"
-version = "0.4.3"
 
 [package.dependencies]
 sphinx = "*"
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
 name = "sphinxcontrib-applehelp"
+version = "1.0.2"
+description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.2"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
 name = "sphinxcontrib-devhelp"
+version = "1.0.2"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.2"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 name = "sphinxcontrib-htmlhelp"
+version = "1.0.3"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.3"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest", "html5lib"]
 
 [[package]]
-category = "main"
-description = "A sphinx extension which renders display math in HTML via JavaScript"
 name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.1"
 
 [package.extras]
 test = ["pytest", "flake8", "mypy"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
 name = "sphinxcontrib-qthelp"
+version = "1.0.3"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.0.3"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
 name = "sphinxcontrib-serializinghtml"
+version = "1.1.4"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
+category = "main"
 optional = true
 python-versions = ">=3.5"
-version = "1.1.4"
 
 [package.extras]
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
 [[package]]
-category = "main"
-description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
-name = "terminado"
-optional = false
-python-versions = ">=3.6"
-version = "0.9.1"
-
-[package.dependencies]
-ptyprocess = "*"
-pywinpty = ">=0.5"
-tornado = ">=4"
-
-[[package]]
-category = "main"
-description = "Test utilities for code working with files and commands"
-name = "testpath"
-optional = false
-python-versions = "*"
-version = "0.4.4"
-
-[package.extras]
-test = ["pathlib2"]
-
-[[package]]
-category = "main"
-description = "Python Library for Tom's Obvious, Minimal Language"
 name = "toml"
-optional = true
-python-versions = "*"
 version = "0.10.1"
-
-[[package]]
+description = "Python Library for Tom's Obvious, Minimal Language"
 category = "main"
-description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
-name = "tornado"
-optional = false
-python-versions = ">= 3.5"
-version = "6.0.4"
+optional = true
+python-versions = "*"
 
 [[package]]
-category = "main"
-description = "tox is a generic virtualenv management and test command line tool"
 name = "tox"
+version = "3.20.1"
+description = "tox is a generic virtualenv management and test command line tool"
+category = "main"
 optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
-version = "3.20.0"
 
 [package.dependencies]
-colorama = ">=0.4.1"
+colorama = {version = ">=0.4.1", markers = "platform_system == \"Windows\""}
 filelock = ">=3.0.0"
 packaging = ">=14"
 pluggy = ">=0.12.0"
@@ -1150,39 +568,25 @@ docs = ["pygments-github-lexers (>=0.0.5)", "sphinx (>=2.0.0)", "sphinxcontrib-a
 testing = ["flaky (>=3.4.0)", "freezegun (>=0.3.11)", "pathlib2 (>=2.3.3)", "psutil (>=5.6.1)", "pytest (>=4.0.0)", "pytest-cov (>=2.5.1)", "pytest-mock (>=1.10.0)", "pytest-randomly (>=1.0.0)", "pytest-xdist (>=1.22.2)"]
 
 [[package]]
-category = "main"
-description = "Traitlets Python configuration system"
-name = "traitlets"
-optional = false
-python-versions = ">=3.7"
-version = "5.0.4"
-
-[package.dependencies]
-ipython-genutils = "*"
-
-[package.extras]
-test = ["pytest"]
-
-[[package]]
-category = "main"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
 name = "urllib3"
+version = "1.25.11"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "main"
 optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
-version = "1.25.10"
 
 [package.extras]
 brotli = ["brotlipy (>=0.6.0)"]
-secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "pyOpenSSL (>=0.14)", "ipaddress"]
+secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]
 
 [[package]]
-category = "main"
-description = "Virtual Python Environment builder"
 name = "virtualenv"
+version = "20.0.35"
+description = "Virtual Python Environment builder"
+category = "main"
 optional = true
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
-version = "20.0.31"
 
 [package.dependencies]
 appdirs = ">=1.4.3,<2"
@@ -1192,50 +596,24 @@ six = ">=1.9.0,<2"
 
 [package.extras]
 docs = ["proselint (>=0.10.2)", "sphinx (>=3)", "sphinx-argparse (>=0.2.5)", "sphinx-rtd-theme (>=0.4.3)", "towncrier (>=19.9.0rc1)"]
-testing = ["coverage (>=5)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "pytest-xdist (>=1.31.0)", "packaging (>=20.0)", "xonsh (>=0.9.16)"]
-
-[[package]]
-category = "main"
-description = "Measures the displayed width of unicode strings in a terminal"
-name = "wcwidth"
-optional = false
-python-versions = "*"
-version = "0.2.5"
-
-[[package]]
-category = "main"
-description = "Character encoding aliases for legacy web content"
-name = "webencodings"
-optional = false
-python-versions = "*"
-version = "0.5.1"
-
-[[package]]
-category = "main"
-description = "IPython HTML widgets for Jupyter"
-name = "widgetsnbextension"
-optional = false
-python-versions = "*"
-version = "3.5.1"
-
-[package.dependencies]
-notebook = ">=4.4.1"
+testing = ["coverage (>=4)", "coverage-enable-subprocess (>=1)", "flaky (>=3)", "pytest (>=4)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.1)", "pytest-mock (>=2)", "pytest-randomly (>=1)", "pytest-timeout (>=1)", "pytest-xdist (>=1.31.0)", "packaging (>=20.0)", "xonsh (>=0.9.16)"]
 
 [[package]]
-category = "main"
-description = "Module for decorators, wrappers and monkey patching."
 name = "wrapt"
+version = "1.12.1"
+description = "Module for decorators, wrappers and monkey patching."
+category = "main"
 optional = false
 python-versions = "*"
-version = "1.12.1"
 
 [extras]
 dev = ["pytest-randomly", "pytest", "sphinx", "sphinx_rtd_theme", "tox", "astor", "pyproj"]
 guideways = ["pyproj"]
 
 [metadata]
-content-hash = "78cbf14f61dc00df33d2ff86c9606ede2481231970f6182aab91b30d64017968"
+lock-version = "1.1"
 python-versions = "^3.8"
+content-hash = "b6bcc270c5d61e45fd8f67afb605c8afea5c84fefe64801c81803835514f6132"
 
 [metadata.files]
 alabaster = [
@@ -1249,36 +627,10 @@ appdirs = [
     {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
     {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
 ]
-appnope = [
-    {file = "appnope-0.1.0-py2.py3-none-any.whl", hash = "sha256:5b26757dc6f79a3b7dc9fab95359328d5747fcb2409d331ea66d0272b90ab2a0"},
-    {file = "appnope-0.1.0.tar.gz", hash = "sha256:8b995ffe925347a2138d7ac0fe77155e4311a0ea6d6da4f5128fe4b3cbe5ed71"},
-]
-argon2-cffi = [
-    {file = "argon2-cffi-20.1.0.tar.gz", hash = "sha256:d8029b2d3e4b4cea770e9e5a0104dd8fa185c1724a0f01528ae4826a6d25f97d"},
-    {file = "argon2_cffi-20.1.0-cp27-cp27m-macosx_10_6_intel.whl", hash = "sha256:6ea92c980586931a816d61e4faf6c192b4abce89aa767ff6581e6ddc985ed003"},
-    {file = "argon2_cffi-20.1.0-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:05a8ac07c7026542377e38389638a8a1e9b78f1cd8439cd7493b39f08dd75fbf"},
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@@ -1921,56 +1059,21 @@ sphinxcontrib-serializinghtml = [
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+    {file = "virtualenv-20.0.35-py2.py3-none-any.whl", hash = "sha256:0ebc633426d7468664067309842c81edab11ae97fcaf27e8ad7f5748c89b431b"},
+    {file = "virtualenv-20.0.35.tar.gz", hash = "sha256:2a72c80fa2ad8f4e2985c06e6fc12c3d60d060e410572f553c90619b0f6efaf3"},
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diff --git a/pyproject.toml b/pyproject.toml
index d65e61e8a..a0b7ec1ca 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -45,7 +45,6 @@ sphinx = {version = "^3.1.0", optional = true}
 tox = {version = "^3.14.0", optional = true}
 sphinx_rtd_theme = {version = "^0.4.3", optional = true}
 astor = {version = "^0.8.1", optional = true}
-jupyter = "^1.0.0"
 
 [tool.poetry.extras]
 guideways = ["pyproj"]

From 6edf8dfc88553b7caa75deb30e44da2f1f8f7368 Mon Sep 17 00:00:00 2001
From: Daniel Fremont <dfremont@ucsc.edu>
Date: Thu, 22 Oct 2020 07:36:10 -0700
Subject: [PATCH 4/4] added note about SDL error; minor docs fix

---
 docs/quickstart.rst                         | 6 ++++++
 src/scenic/domains/driving/behaviors.scenic | 8 +++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/docs/quickstart.rst b/docs/quickstart.rst
index bfe4389b3..8a6a46e0a 100644
--- a/docs/quickstart.rst
+++ b/docs/quickstart.rst
@@ -43,6 +43,12 @@ Installing via either :command:`pip` or Poetry will install all of the dependenc
 	In the past, the ``shapely`` package did not install properly on Windows.
 	If you encounter this issue, try installing it manually following the instructions `here <https://github.com/Toblerity/Shapely#built-distributions>`__.
 
+.. note::
+
+	On some platforms, in particular OS X, you may get an error during the installation of `pygame <https://www.pygame.org/>`_ due to missing SDL files.
+	Try installing `SDL <https://www.libsdl.org/>`_: on OS X, if you use `Homebrew <https://brew.sh/>`_ you can simply run :command:`brew install sdl`.
+
+
 Trying Some Examples
 --------------------
 
diff --git a/src/scenic/domains/driving/behaviors.scenic b/src/scenic/domains/driving/behaviors.scenic
index 81be27d12..21d2b2045 100644
--- a/src/scenic/domains/driving/behaviors.scenic
+++ b/src/scenic/domains/driving/behaviors.scenic
@@ -61,9 +61,11 @@ behavior FollowLaneBehavior(target_speed = 10, laneToFollow=None, is_oppositeTra
     This behavior does not terminate. A recommended use of the behavior is to accompany it with condition,
     e.g. do FollowLaneBehavior() until ...
 
-    :param target_speed: Its unit is in m/s. By default, it is set to 10 m/s
-    :param laneToFollow: If the lane to follow is different from the lane that the vehicle is on, this parameter can be used to specify that lane. 
-    By default, this variable will be set to None, which means that the vehicle will follow the lane that it is currently on.
+    Arguments:
+        target_speed: Its unit is in m/s. By default, it is set to 10 m/s
+        laneToFollow: If the lane to follow is different from the lane that the vehicle is on,
+            this parameter can be used to specify that lane. By default, this variable will be
+            set to None, which means that the vehicle will follow the lane that it is currently on.
     """
 
     past_steer_angle = 0