diff --git a/Pipfile b/Pipfile
index 5a0ef77d4e..a647cead9e 100644
--- a/Pipfile
+++ b/Pipfile
@@ -92,7 +92,7 @@ requests = "*"
 setproctitle = "*"
 six = "*"
 smbus2 = "*"
-sympy = "*"
+sympy = "!=1.6.1"
 tqdm = "*"
 Cython = "*"
 PyYAML = "*"
diff --git a/Pipfile.lock b/Pipfile.lock
index 138e3c42c3..1d5027371a 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "b65256d0b4dedee753a145abd1aff2f81d98ddb4015f69baa8ccb374121bb4c4"
+            "sha256": "484ec3309452d56769b732b3c5d3d49023fe696220c07f81862b8bbf8283cedf"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -34,10 +34,10 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:5ad7e9a056d25ffa5082862e36f119f7f7cec6457fa07ee2f8c339814b80c9b1",
-                "sha256:9cd41137dc19af6a5e03b630eefe7d1f458d964d406342dd3edf625839b944cc"
+                "sha256:5930595817496dd21bb8dc35dad090f1c2cd0adfaf21204bf6732ca5d8ee34d3",
+                "sha256:8fc0819f1f30ba15bdb34cceffb9ef04d99f420f68eb75d901e9560b8749fc41"
             ],
-            "version": "==2020.4.5.2"
+            "version": "==2020.6.20"
         },
         "cffi": {
             "hashes": [
@@ -100,28 +100,28 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:091d31c42f444c6f519485ed528d8b451d1a0c7bf30e8ca583a0cac44b8a0df6",
-                "sha256:18452582a3c85b96014b45686af264563e3e5d99d226589f057ace56196ec78b",
-                "sha256:1dfa985f62b137909496e7fc182dac687206d8d089dd03eaeb28ae16eec8e7d5",
-                "sha256:1e4014639d3d73fbc5ceff206049c5a9a849cefd106a49fa7aaaa25cc0ce35cf",
-                "sha256:22e91636a51170df0ae4dcbd250d318fd28c9f491c4e50b625a49964b24fe46e",
-                "sha256:3b3eba865ea2754738616f87292b7f29448aec342a7c720956f8083d252bf28b",
-                "sha256:651448cd2e3a6bc2bb76c3663785133c40d5e1a8c1a9c5429e4354201c6024ae",
-                "sha256:726086c17f94747cedbee6efa77e99ae170caebeb1116353c6cf0ab67ea6829b",
-                "sha256:844a76bc04472e5135b909da6aed84360f522ff5dfa47f93e3dd2a0b84a89fa0",
-                "sha256:88c881dd5a147e08d1bdcf2315c04972381d026cdb803325c03fe2b4a8ed858b",
-                "sha256:96c080ae7118c10fcbe6229ab43eb8b090fccd31a09ef55f83f690d1ef619a1d",
-                "sha256:a0c30272fb4ddda5f5ffc1089d7405b7a71b0b0f51993cb4e5dbb4590b2fc229",
-                "sha256:bb1f0281887d89617b4c68e8db9a2c42b9efebf2702a3c5bf70599421a8623e3",
-                "sha256:c447cf087cf2dbddc1add6987bbe2f767ed5317adb2d08af940db517dd704365",
-                "sha256:c4fd17d92e9d55b84707f4fd09992081ba872d1a0c610c109c18e062e06a2e55",
-                "sha256:d0d5aeaedd29be304848f1c5059074a740fa9f6f26b84c5b63e8b29e73dfc270",
-                "sha256:daf54a4b07d67ad437ff239c8a4080cfd1cc7213df57d33c97de7b4738048d5e",
-                "sha256:e993468c859d084d5579e2ebee101de8f5a27ce8e2159959b6673b418fd8c785",
-                "sha256:f118a95c7480f5be0df8afeb9a11bd199aa20afab7a96bcf20409b411a3a85f0"
-            ],
-            "index": "pypi",
-            "version": "==2.9.2"
+                "sha256:0c608ff4d4adad9e39b5057de43657515c7da1ccb1807c3a27d4cf31fc923b4b",
+                "sha256:0cbfed8ea74631fe4de00630f4bb592dad564d57f73150d6f6796a24e76c76cd",
+                "sha256:124af7255ffc8e964d9ff26971b3a6153e1a8a220b9a685dc407976ecb27a06a",
+                "sha256:384d7c681b1ab904fff3400a6909261cae1d0939cc483a68bdedab282fb89a07",
+                "sha256:45741f5499150593178fc98d2c1a9c6722df88b99c821ad6ae298eff0ba1ae71",
+                "sha256:4b9303507254ccb1181d1803a2080a798910ba89b1a3c9f53639885c90f7a756",
+                "sha256:4d355f2aee4a29063c10164b032d9fa8a82e2c30768737a2fd56d256146ad559",
+                "sha256:51e40123083d2f946794f9fe4adeeee2922b581fa3602128ce85ff813d85b81f",
+                "sha256:8713ddb888119b0d2a1462357d5946b8911be01ddbf31451e1d07eaa5077a261",
+                "sha256:8e924dbc025206e97756e8903039662aa58aa9ba357d8e1d8fc29e3092322053",
+                "sha256:8ecef21ac982aa78309bb6f092d1677812927e8b5ef204a10c326fc29f1367e2",
+                "sha256:8ecf9400d0893836ff41b6f977a33972145a855b6efeb605b49ee273c5e6469f",
+                "sha256:9367d00e14dee8d02134c6c9524bb4bd39d4c162456343d07191e2a0b5ec8b3b",
+                "sha256:a09fd9c1cca9a46b6ad4bea0a1f86ab1de3c0c932364dbcf9a6c2a5eeb44fa77",
+                "sha256:ab49edd5bea8d8b39a44b3db618e4783ef84c19c8b47286bf05dfdb3efb01c83",
+                "sha256:bea0b0468f89cdea625bb3f692cd7a4222d80a6bdafd6fb923963f2b9da0e15f",
+                "sha256:bec7568c6970b865f2bcebbe84d547c52bb2abadf74cefce396ba07571109c67",
+                "sha256:ce82cc06588e5cbc2a7df3c8a9c778f2cb722f56835a23a68b5a7264726bb00c",
+                "sha256:dea0ba7fe6f9461d244679efa968d215ea1f989b9c1957d7f10c21e5c7c09ad6"
+            ],
+            "index": "pypi",
+            "version": "==3.0"
         },
         "cysignals": {
             "hashes": [
@@ -132,42 +132,42 @@
         },
         "cython": {
             "hashes": [
-                "sha256:0754ec9d45518d0dbb5da72db2c8b063d40c4c51779618c68431054de179387f",
-                "sha256:0bb201124f67b8d5e6a3e7c02257ca56a90204611971ecca76c02897096f097d",
-                "sha256:0f3488bf2a9e049d1907d35ad8834f542f8c03d858d1bca6d0cbc06b719163e0",
-                "sha256:1024714b0f7829b0f712db9cebec92c2782b1f42409b8575cacc340aa438d4ba",
-                "sha256:10b6d2e2125169158128b7f11dad8bb0d8f5fba031d5d4f8492f3afbd06491d7",
-                "sha256:16ed0260d031d90dda43997e9b0f0eebc3cf18e6ece91cad7b0fb17cd4bfb29b",
-                "sha256:22d91af5fc2253f717a1b80b8bb45acb655f643611983fd6f782b9423f8171c7",
-                "sha256:2d84e8d2a0c698c1bce7c2a4677f9f03b076e9f0af7095947ecd2a900ffceea5",
-                "sha256:34dd57f5ac5a0e3d53da964994fc1b7e7ee3f86172d7a1f0bde8a1f90739e04d",
-                "sha256:384582b5024007dfdabc9753e3e0f85d61837b0103b0ee3f8acf04a4bcfad175",
-                "sha256:4473f169d6dd02174eb76396cb38ce469f377c08b21965ddf4f88bbbebd5816e",
-                "sha256:57f32d1095ad7fad1e7f2ff6e8c6a7197fa532c8e6f4d044ff69212e0bf05461",
-                "sha256:5dfe519e400a1672a3ac5bdfb5e957a9c14c52caafb01f4a923998ec9ae77736",
-                "sha256:60def282839ed81a2ffae29d2df0a6777fd74478c6e82c6c3f4b54e698b9d11c",
-                "sha256:7089fb2be9a9869b9aa277bc6de401928954ce70e139c3cf9b244ae5f490b8f2",
-                "sha256:714b8926a84e3e39c5278e43fb8823598db82a4b015cff263b786dc609a5e7d6",
-                "sha256:7352b88f2213325c1e111561496a7d53b0326e7f07e6f81f9b8b21420e40851c",
-                "sha256:809f0a3f647052c4bcbc34a15f53a5dab90de1a83ebd77add37ed5d3e6ee5d97",
-                "sha256:8598b09f7973ccb15c03b21d3185dc129ae7c60d0a6caf8176b7099a4b83483e",
-                "sha256:8dc68f93b257718ea0e2bc9be8e3c61d70b6e49ab82391125ba0112a30a21025",
-                "sha256:9bfd42c1d40aa26bf76186cba0d89be66ba47e36fa7ea56d71f377585a53f7c4",
-                "sha256:a21cb3423acd6dbf383c9e41e8e60c93741987950434c85145864458d30099f3",
-                "sha256:a49d0f5c55ad0f4aacad32f058a71d0701cb8936d6883803e50698fa04cac8d2",
-                "sha256:a985a7e3c7f1663af398938029659a4381cfe9d1bd982cf19c46b01453e81775",
-                "sha256:b3233341c3fe352b1090168bd087686880b582b635d707b2c8f5d4f1cc1fa533",
-                "sha256:b32965445b8dbdc36c69fba47e024060f9b39b1b4ceb816da5028eea01924505",
-                "sha256:b553473c31297e4ca77fbaea2eb2329889d898c03941d90941679247c17e38fb",
-                "sha256:b56c02f14f1708411d95679962b742a1235d33a23535ce4a7f75425447701245",
-                "sha256:b7bb0d54ff453c7516d323c3c78b211719f39a506652b79b7e85ba447d5fa9e7",
-                "sha256:c5df2c42d4066cda175cd4d075225501e1842cfdbdaeeb388eb7685c367cc3ce",
-                "sha256:c5e29333c9e20df384645902bed7a67a287b979da1886c8f10f88e57b69e0f4b",
-                "sha256:d0b445def03b4cd33bd2d1ae6fbbe252b6d1ef7077b3b5ba3f2c698a190d26e5",
-                "sha256:d490a54814b69d814b157ac86ada98c15fd77fabafc23732818ed9b9f1f0af80"
-            ],
-            "index": "pypi",
-            "version": "==0.29.20"
+                "sha256:0ac10bf476476a9f7ef61ec6e44c280ef434473124ad31d3132b720f7b0e8d2a",
+                "sha256:0e25c209c75df8785480dcef85db3d36c165dbc0f4c503168e8763eb735704f2",
+                "sha256:171b9f70ceafcec5852089d0f9c1e75b0d554f46c882cd4e2e4acaba9bd7d148",
+                "sha256:23f3a00b843a19de8bb4468b087db5b413a903213f67188729782488d67040e0",
+                "sha256:2922e3031ba9ebbe7cb9200b585cc33b71d66023d78450dcb883f824f4969371",
+                "sha256:31c71a615f38401b0dc1f2a5a9a6c421ffd8908c4cd5bbedc4014c1b876488e8",
+                "sha256:473df5d5e400444a36ed81c6596f56a5b52a3481312d0a48d68b777790f730ae",
+                "sha256:497841897942f734b0abc2dead2d4009795ee992267a70a23485fd0e937edc0b",
+                "sha256:539e59949aab4955c143a468810123bf22d3e8556421e1ce2531ed4893914ca0",
+                "sha256:540b3bee0711aac2e99bda4fa0a46dbcd8c74941666bfc1ef9236b1a64eeffd9",
+                "sha256:57ead89128dee9609119c93d3926c7a2add451453063147900408a50144598c6",
+                "sha256:5c4276fdcbccdf1e3c1756c7aeb8395e9a36874fa4d30860e7694f43d325ae13",
+                "sha256:5da187bebe38030325e1c0b5b8a804d489410be2d384c0ef3ba39493c67eb51e",
+                "sha256:5e545a48f919e40079b0efe7b0e081c74b96f9ef25b9c1ff4cdbd95764426b58",
+                "sha256:603b9f1b8e93e8b494d3e89320c410679e21018e48b6cbc77280f5db71f17dc0",
+                "sha256:695a6bcaf9e12b1e471dfce96bbecf22a1487adc2ac6106b15960a2b51b97f5d",
+                "sha256:715294cd2246b39a8edca464a8366eb635f17213e4a6b9e74e52d8b877a8cb63",
+                "sha256:856c7fb31d247ce713d60116375e1f8153d0291ab5e92cca7d8833a524ba9991",
+                "sha256:8c6e25e9cc4961bb2abb1777c6fa9d0fa2d9b014beb3276cebe69996ff162b78",
+                "sha256:9207fdedc7e789a3dcaca628176b80c82fbed9ae0997210738cbb12536a56699",
+                "sha256:93f5fed1c9445fb7afe20450cdaf94b0e0356d47cc75008105be89c6a2e417b1",
+                "sha256:9ce5e5209f8406ffc2b058b1293cce7a954911bb7991e623564d489197c9ba30",
+                "sha256:a0674f246ad5e1571ef29d4c5ec1d6ecabe9e6c424ad0d6fee46b914d5d24d69",
+                "sha256:b2f9172e4d6358f33ecce6a4339b5960f9f83eab67ea244baa812737793826b7",
+                "sha256:b8a8a31b9e8860634adbca30fea1d0c7f08e208b3d7611f3e580e5f20992e5d7",
+                "sha256:b8d8497091c1dc8705d1575c71e908a93b1f127a174b2d472020f3d84263ac28",
+                "sha256:c4b78356074fcaac04ecb4de289f11d506e438859877670992ece11f9c90f37b",
+                "sha256:c541b2b49c6638f2b5beb9316726db84a8d1c132bf31b942dae1f9c7f6ad3b92",
+                "sha256:c8435959321cf8aec867bbad54b83b7fb8343204b530d85d9ea7a1f5329d5ac2",
+                "sha256:ccb77faeaad99e99c6c444d04862c6cf604204fe0a07d4c8f9cbf2c9012d7d5a",
+                "sha256:e272ed97d20b026f4f25a012b25d7d7672a60e4f72b9ca385239d693cd91b2d5",
+                "sha256:e57acb89bd55943c8d8bf813763d20b9099cc7165c0f16b707631a7654be9cad",
+                "sha256:e93acd1f603a0c1786e0841f066ae7cef014cf4750e3cd06fd03cfdf46361419"
+            ],
+            "index": "pypi",
+            "version": "==0.29.21"
         },
         "flake8": {
             "hashes": [
@@ -202,11 +202,11 @@
         },
         "idna": {
             "hashes": [
-                "sha256:7588d1c14ae4c77d74036e8c22ff447b26d0fde8f007354fd48a7814db15b7cb",
-                "sha256:a068a21ceac8a4d63dbfd964670474107f541babbd2250d61922f029858365fa"
+                "sha256:b307872f855b18632ce0c21c5e45be78c0ea7ae4c15c828c20788b26921eb3f6",
+                "sha256:b97d804b1e9b523befed77c48dacec60e6dcb0b5391d57af6a65a312a90648c0"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==2.9"
+            "version": "==2.10"
         },
         "isort": {
             "hashes": [
@@ -342,76 +342,84 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:0172304e7d8d40e9e49553901903dc5f5a49a703363ed756796f5808a06fc233",
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-                "sha256:cae14a01a159b1ed91a324722d746523ec757357260c6804d11d6147a9e53e3f",
-                "sha256:cd49930af1d1e49a812d987c2620ee63965b619257bd76eaaa95870ca08837cf",
-                "sha256:e15b382603c58f24265c9c931c9a45eebf44fe2e6b4eaedbb0d025ab3255228b",
-                "sha256:e91d31b34fc7c2c8f756b4e902f901f856ae53a93399368d9a0dc7be17ed2ca0",
-                "sha256:ef627986941b5edd1ed74ba89ca43196ed197f1a206a3f18cc9faf2fb84fd675",
-                "sha256:f718a7949d1c4f622ff548c572e0c03440b49b9531ff00e4ed5738b459f011e8"
-            ],
-            "index": "pypi",
-            "version": "==1.18.5"
+                "sha256:13af0184177469192d80db9bd02619f6fa8b922f9f327e077d6f2a6acb1ce1c0",
+                "sha256:26a45798ca2a4e168d00de75d4a524abf5907949231512f372b217ede3429e98",
+                "sha256:26f509450db547e4dfa3ec739419b31edad646d21fb8d0ed0734188b35ff6b27",
+                "sha256:30a59fb41bb6b8c465ab50d60a1b298d1cd7b85274e71f38af5a75d6c475d2d2",
+                "sha256:33c623ef9ca5e19e05991f127c1be5aeb1ab5cdf30cb1c5cf3960752e58b599b",
+                "sha256:356f96c9fbec59974a592452ab6a036cd6f180822a60b529a975c9467fcd5f23",
+                "sha256:3c40c827d36c6d1c3cf413694d7dc843d50997ebffbc7c87d888a203ed6403a7",
+                "sha256:4d054f013a1983551254e2379385e359884e5af105e3efe00418977d02f634a7",
+                "sha256:63d971bb211ad3ca37b2adecdd5365f40f3b741a455beecba70fd0dde8b2a4cb",
+                "sha256:658624a11f6e1c252b2cd170d94bf28c8f9410acab9f2fd4369e11e1cd4e1aaf",
+                "sha256:76766cc80d6128750075378d3bb7812cf146415bd29b588616f72c943c00d598",
+                "sha256:7b57f26e5e6ee2f14f960db46bd58ffdca25ca06dd997729b1b179fddd35f5a3",
+                "sha256:7b852817800eb02e109ae4a9cef2beda8dd50d98b76b6cfb7b5c0099d27b52d4",
+                "sha256:8cde829f14bd38f6da7b2954be0f2837043e8b8d7a9110ec5e318ae6bf706610",
+                "sha256:a2e3a39f43f0ce95204beb8fe0831199542ccab1e0c6e486a0b4947256215632",
+                "sha256:a86c962e211f37edd61d6e11bb4df7eddc4a519a38a856e20a6498c319efa6b0",
+                "sha256:a8705c5073fe3fcc297fb8e0b31aa794e05af6a329e81b7ca4ffecab7f2b95ef",
+                "sha256:b6aaeadf1e4866ca0fdf7bb4eed25e521ae21a7947c59f78154b24fc7abbe1dd",
+                "sha256:be62aeff8f2f054eff7725f502f6228298891fd648dc2630e03e44bf63e8cee0",
+                "sha256:c2edbb783c841e36ca0fa159f0ae97a88ce8137fb3a6cd82eae77349ba4b607b",
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-                "sha256:ee94fce8d003ac9fd206496f2707efe9eadcb278d94c271f129ab36aa7181344",
-                "sha256:f455efb7a98557412dc6f8e463c1faf1f1911ec2432059fa3e582b6000fc90e2",
-                "sha256:f46e0e024346e1474083c729d50de909974237c72daca05393ee32389dabe457",
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-                "sha256:f784aad988f12c80aacfa5b381ec21fd3f38f851720f652b9f33facc5101cf4d"
-            ],
-            "index": "pypi",
-            "version": "==7.1.2"
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+                "sha256:6edb5446f44d901e8683ffb25ebdfc26988ee813da3bf91e12252b57ac163727",
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+                "sha256:8dad18b69f710bf3a001d2bf3afab7c432785d94fcf819c16b5207b1cfd17d38",
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+                "sha256:97f9e7953a77d5a70f49b9a48da7776dc51e9b738151b22dacf101641594a626",
+                "sha256:9ad7f865eebde135d526bb3163d0b23ffff365cf87e767c649550964ad72785d",
+                "sha256:a060cf8aa332052df2158e5a119303965be92c3da6f2d93b6878f0ebca80b2f6",
+                "sha256:c79f9c5fb846285f943aafeafda3358992d64f0ef58566e23484132ecd8d7d63",
+                "sha256:c92302a33138409e8f1ad16731568c55c9053eee71bb05b6b744067e1b62380f",
+                "sha256:d08b23fdb388c0715990cbc06866db554e1822c4bdcf6d4166cf30ac82df8c41",
+                "sha256:d350f0f2c2421e65fbc62690f26b59b0bcda1b614beb318c81e38647e0f673a1",
+                "sha256:ec29604081f10f16a7aea809ad42e27764188fc258b02259a03a8ff7ded3808d",
+                "sha256:edf31f1150778abd4322444c393ab9c7bd2af271dd4dafb4208fb613b1f3cdc9",
+                "sha256:f7e30c27477dffc3e85c2463b3e649f751789e0f6c8456099eea7ddd53be4a8a",
+                "sha256:ffe538682dc19cc542ae7c3e504fdf54ca7f86fb8a135e59dd6bc8627eae6cce"
+            ],
+            "index": "pypi",
+            "version": "==7.2.0"
         },
         "psutil": {
             "hashes": [
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-                "sha256:f344ca230dd8e8d5eee16827596f1c22ec0876127c28e800d7ae20ed44c4b310"
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+                "sha256:4080869ed93cce662905b029a1770fe89c98787e543fa7347f075ade761b19d6",
+                "sha256:5e9d0f26d4194479a13d5f4b3798260c20cecf9ac9a461e718eb59ea520a360c",
+                "sha256:66c18ca7680a31bf16ee22b1d21b6397869dda8059dbdb57d9f27efa6615f195",
+                "sha256:68d36986ded5dac7c2dcd42f2682af1db80d4bce3faa126a6145c1637e1b559f",
+                "sha256:90990af1c3c67195c44c9a889184f84f5b2320dce3ee3acbd054e3ba0b4a7beb",
+                "sha256:a5b120bb3c0c71dfe27551f9da2f3209a8257a178ed6c628a819037a8df487f1",
+                "sha256:d8a82162f23c53b8525cf5f14a355f5d1eea86fa8edde27287dd3a98399e4fdf",
+                "sha256:f2018461733b23f308c298653c8903d32aaad7873d25e1d228765e91ae42c3f2",
+                "sha256:ff1977ba1a5f71f89166d5145c3da1cea89a0fdb044075a12c720ee9123ec818"
             ],
             "index": "pypi",
-            "version": "==5.7.0"
+            "version": "==5.7.2"
         },
         "pycapnp": {
             "hashes": [
@@ -438,39 +446,39 @@
         },
         "pycryptodome": {
             "hashes": [
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-                "sha256:f011cd0062e54658b7086a76f8cf0f4222812acc66e219e196ea2d0a8849d0ed",
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-                "sha256:f655addaaaa9974108d4808f4150652589cada96074c87115c52e575bfcd87d5"
-            ],
-            "index": "pypi",
-            "version": "==3.9.7"
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+                "sha256:4350a42028240c344ee855f032c7d4ad6ff4f813bfbe7121547b7dc579ecc876",
+                "sha256:50348edd283afdccddc0938cdc674484533912ba8a99a27c7bfebb75030aa856",
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+                "sha256:55eb61aca2c883db770999f50d091ff7c14016f2769ad7bca3d9b75d1d7c1b68",
+                "sha256:6276478ada411aca97c0d5104916354b3d740d368407912722bd4d11aa9ee4c2",
+                "sha256:67dcad1b8b201308586a8ca2ffe89df1e4f731d5a4cdd0610cc4ea790351c739",
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+                "sha256:80d57177a0b7c14d4594c62bbb47fe2f6309ad3b0a34348a291d570925c97a82",
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+                "sha256:abc2e126c9490e58a36a0f83516479e781d83adfb134576a5cbe5c6af2a3e93c",
+                "sha256:b56638d58a3a4be13229c6a815cd448f9e3ce40c00880a5398471b42ee86f50e",
+                "sha256:bcd5b8416e73e4b0d48afba3704d8c826414764dafaed7a1a93c442188d90ccc",
+                "sha256:bec2bcdf7c9ce7f04d718e51887f3b05dc5c1cfaf5d2c2e9065ecddd1b2f6c9a",
+                "sha256:c8bf40cf6e281a4378e25846924327e728a887e8bf0ee83b2604a0f4b61692e8",
+                "sha256:d8074c8448cfd0705dfa71ca333277fce9786d0b9cac75d120545de6253f996a",
+                "sha256:dd302b6ae3965afeb5ef1b0d92486f986c0e65183cd7835973f0b593800590e6",
+                "sha256:de6e1cd75677423ff64712c337521e62e3a7a4fc84caabbd93207752e831a85a",
+                "sha256:ef39c98d9b8c0736d91937d193653e47c3b19ddf4fc3bccdc5e09aaa4b0c5d21",
+                "sha256:f521178e5a991ffd04182ed08f552daca1affcb826aeda0e1945cd989a9d4345",
+                "sha256:f78a68c2c820e4731e510a2df3eef0322f24fde1781ced970bf497b6c7d92982",
+                "sha256:fbe65d5cfe04ff2f7684160d50f5118bdefb01e3af4718eeb618bfed40f19d94"
+            ],
+            "index": "pypi",
+            "version": "==3.9.8"
         },
         "pyflakes": {
             "hashes": [
@@ -573,19 +581,19 @@
         },
         "requests": {
             "hashes": [
-                "sha256:43999036bfa82904b6af1d99e4882b560e5e2c68e5c4b0aa03b655f3d7d73fee",
-                "sha256:b3f43d496c6daba4493e7c431722aeb7dbc6288f52a6e04e7b6023b0247817e6"
+                "sha256:b3559a131db72c33ee969480840fff4bb6dd111de7dd27c8ee1f820f4f00231b",
+                "sha256:fe75cc94a9443b9246fc7049224f75604b113c36acb93f87b80ed42c44cbb898"
             ],
             "index": "pypi",
-            "version": "==2.23.0"
+            "version": "==2.24.0"
         },
         "scons": {
             "hashes": [
-                "sha256:0f860678cd96fc943ff2294389b0f33cbe51080801591497bc652e72237f0176",
-                "sha256:8aaa483c303efeb678e6f7c776c8444a482f8ddc3ad891f8b6cdd35264da9a1f"
+                "sha256:722ed104b5c624ecdc89bd4e02b094d2b14d99d47b5d0501961e47f579a2007c",
+                "sha256:9b4696a806fb73f402fbf5e37ab0e8b6cd0dcef990a91210d7ed4aacbcc5231d"
             ],
             "index": "pypi",
-            "version": "==3.1.2"
+            "version": "==4.0.1"
         },
         "setproctitle": {
             "hashes": [
@@ -627,11 +635,11 @@
         },
         "tqdm": {
             "hashes": [
-                "sha256:07c06493f1403c1380b630ae3dcbe5ae62abcf369a93bbc052502279f189ab8c",
-                "sha256:cd140979c2bebd2311dfb14781d8f19bd5a9debb92dcab9f6ef899c987fcf71f"
+                "sha256:6baa75a88582b1db6d34ce4690da5501d2a1cb65c34664840a456b2c9f794d29",
+                "sha256:fcb7cb5b729b60a27f300b15c1ffd4744f080fb483b88f31dc8654b082cc8ea5"
             ],
             "index": "pypi",
-            "version": "==4.46.1"
+            "version": "==4.48.0"
         },
         "urllib3": {
             "hashes": [
@@ -728,10 +736,10 @@
         },
         "argcomplete": {
             "hashes": [
-                "sha256:5ae7b601be17bf38a749ec06aa07fb04e7b6b5fc17906948dc1866e7facf3740",
-                "sha256:890bdd1fcbb973ed73db241763e78b6d958580e588c2910b508c770a59ef37d7"
+                "sha256:2fbe5ed09fd2c1d727d4199feca96569a5b50d44c71b16da9c742201f7cc295c",
+                "sha256:91dc7f9c7f6281d5a0dce5e73d2e33283aaef083495c13974a7dd197a1cdc949"
             ],
-            "version": "==1.11.1"
+            "version": "==1.12.0"
         },
         "astroid": {
             "hashes": [
@@ -766,11 +774,11 @@
         },
         "azure-cli-core": {
             "hashes": [
-                "sha256:28f89203a61441916b442d423767e23d06b662d50ed19a850492ccaf992e4ef5",
-                "sha256:a9ff22a09fc5f546750d0735123320ff9841cfb1e1e36cdcb56005effe61cd4e"
+                "sha256:28bad5b4a8d90e98af4b556cbe560517a9be7187b0ea05bebe449c6838a03756",
+                "sha256:8618a30f7ea2188506f29801220c06396d731c26e4de92c327e6b0e8cc790db5"
             ],
             "index": "pypi",
-            "version": "==2.7.0"
+            "version": "==2.9.1"
         },
         "azure-cli-nspkg": {
             "hashes": [
@@ -798,11 +806,11 @@
         },
         "azure-core": {
             "hashes": [
-                "sha256:7bf695b017acea3da28e0390a2dea5b7e15a9fa3ef1af50ff020bcfe7dacb6a4",
-                "sha256:d10b74e783cff90d56360e61162afdd22276d62dc9467e657ae866449eae7648"
+                "sha256:2d1aade2795ea0ac2a903af940c3e0dfe75d25351ec4fc44edf747e97d703dfb",
+                "sha256:a66da240a287f447f9867f54ba09ea235895cec13ea38c5f490ce4eedefdd75c"
             ],
             "index": "pypi",
-            "version": "==1.6.0"
+            "version": "==1.7.0"
         },
         "azure-mgmt-core": {
             "hashes": [
@@ -907,33 +915,33 @@
         },
         "boto3": {
             "hashes": [
-                "sha256:aa8370f4ba58ffc1d68960fe42689dd716e8159f27f6b86b2211c130d19f9724",
-                "sha256:acaabe139ac605cfd4bf22f5edc15dbdcad20a020284d168421ab37df21a6319"
+                "sha256:542fa3499624dfa3312fd5a6f45bc221d0871c73c5d91c57e5c6435b6f4463cc",
+                "sha256:6bf841797d5ec9f7770a335d919c5ea20d1980c1eb39b009e58f6de2879ff2cd"
             ],
             "index": "pypi",
-            "version": "==1.14.1"
+            "version": "==1.14.24"
         },
         "botocore": {
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-                "sha256:cd4bb2d96ff2ec6bf4fbcdb2f241d0fb6ba1e7955b4721cf1d81f13db02768b6"
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+                "sha256:2e07c0b88563d793cca8186c7fa42cfd5b8ece4fed31c928e0676091f3bb815d"
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-            "version": "==1.17.9"
+            "version": "==1.17.24"
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         "cachetools": {
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-                "sha256:de5d88f87781602201cde465d3afe837546663b168e8b39df67411b0bf10cefc"
+                "sha256:513d4ff98dd27f85743a8dc0e92f55ddb1b49e060c2d5961512855cda2c01a98",
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             ],
             "markers": "python_version ~= '3.5'",
-            "version": "==4.1.0"
+            "version": "==4.1.1"
         },
         "certifi": {
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-            "version": "==2020.4.5.2"
+            "version": "==2020.6.20"
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@@ -1009,65 +1017,68 @@
         },
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+            ],
+            "index": "pypi",
+            "version": "==3.0"
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         "cycler": {
             "hashes": [
@@ -1078,11 +1089,11 @@
         },
         "datadog": {
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-                "sha256:398c612f8fb8e1988be897fda920ffb3b8a1ec70d430730e3b71a269df31b486",
-                "sha256:3fe197587db49d808ba88e40f431fb2d256be3c428419ac2984609d67fd66bce"
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-            "version": "==0.36.0"
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@@ -1109,9 +1120,10 @@
         },
         "distlib": {
             "hashes": [
-                "sha256:2e166e231a26b36d6dfe35a48c4464346620f8645ed0ace01ee31822b288de21"
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-            "version": "==0.3.0"
+            "version": "==0.3.1"
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@@ -1131,11 +1143,11 @@
         },
         "elasticsearch": {
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-                "sha256:9bfcb2bd137d6d7ca123e252b9d7261cfe4f7723f7b749a99c52b47766cf387c",
-                "sha256:e9138aa9de7624a6c6fbf5d0300bb11617cfe0a056fc6731665748731961d693"
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-            "version": "==7.7.1"
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@@ -1199,11 +1211,11 @@
         },
         "flask-socketio": {
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-                "sha256:5969e1d4ead37ec9164f82779ec86239f0f394a08b20477d2056903010920f36",
-                "sha256:7f9b54ac9cd92e28a657c58f51943d97e76b988840c8795784e7b2bafb13103f"
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-            "version": "==4.3.0"
+            "version": "==4.3.1"
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@@ -1237,11 +1249,11 @@
         },
         "google-auth": {
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-                "sha256:5e3f540b7b0b892000d542cea6b818b837c230e9a4db9337bb2973bcae0fc078",
-                "sha256:d6b390d3bb0969061ffec7e5766c45c1b39e13c302691e35029f1ad1ccd8ca3b"
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             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==1.18.0"
+            "version": "==1.19.2"
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         "google-auth-oauthlib": {
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@@ -1354,43 +1366,43 @@
         },
         "identify": {
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-            "version": "==1.4.20"
+            "version": "==1.4.24"
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-            "version": "==2.9"
+            "version": "==2.10"
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         "imageio": {
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+                "sha256:3604d751f03002e8e0e7650aa71d8d9148144a87daf17cb1f3228e80747f2e6b",
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-            "version": "==2.8.0"
+            "version": "==2.9.0"
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         "ipykernel": {
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-                "sha256:a8362e3ae365023ca458effe93b026b8cdadc0b73ff3031472128dd8a2cf0289"
+                "sha256:09bac6473a593f61a3ae036035b81a2d30457ff157163562796560516a2f67d8",
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-            "version": "==5.3.0"
+            "version": "==5.3.3"
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-                "sha256:1b85d65632211bf5d3e6f1406f3393c8c429a47d7b947b9a87812aa5bce6595c"
+                "sha256:2dbcc8c27ca7d3cfe4fcdff7f45b27f9a8d3edfa70ff8024a71c7a8eb5f09d64",
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-            "version": "==7.15.0"
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@@ -1431,11 +1443,11 @@
         },
         "jedi": {
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-            "version": "==0.17.1"
+            "version": "==0.17.2"
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         "jinja2": {
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@@ -1455,11 +1467,11 @@
         },
         "joblib": {
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-            "version": "==0.15.1"
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@@ -1486,11 +1498,11 @@
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         "jupyter-client": {
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@@ -1528,12 +1540,15 @@
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                 "sha256:247800260cd38160c362d211dcaf4ed0f7816afb5efe56544748b21d6ad6d17f",
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                 "sha256:60a78858580761fe611d22127868f3dc9f98871e6fdf0a15cc4203ed9ba6179b",
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                 "sha256:7cc095a4661bdd8a5742aaf7c10ea9fac142d76ff1770a0f84394038126d8fc7",
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@@ -1642,23 +1657,30 @@
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         "matplotlib": {
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-            "version": "==3.2.1"
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@@ -1684,10 +1706,10 @@
         },
         "mpld3": {
             "hashes": [
-                "sha256:4d455884a211bf99b37ecc760759435c7bb6a5955de47d8daf4967e301878ab7"
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-            "version": "==0.3"
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@@ -1712,17 +1734,17 @@
         },
         "msrest": {
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         "msrestazure": {
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-            "version": "==0.6.3"
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@@ -1749,23 +1771,23 @@
         },
         "mypy": {
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@@ -1814,30 +1836,35 @@
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+                "sha256:dd53d7c4a69e766e4900f29db5872f5824a06827d594427cf1a4aa542818b796",
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+            ],
+            "index": "pypi",
+            "version": "==1.19.0"
         },
         "oauthlib": {
             "hashes": [
@@ -1849,37 +1876,36 @@
         },
         "opencv-python": {
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-            "index": "pypi",
-            "version": "==4.2.0.34"
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+            "index": "pypi",
+            "version": "==4.3.0.36"
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             "hashes": [
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             "markers": "python_version >= '3.5'",
-            "version": "==3.2.1"
+            "version": "==3.3.0"
         },
         "osmium": {
             "hashes": [
@@ -1988,32 +2014,35 @@
         },
         "pillow": {
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-                "sha256:eaa83729eab9c60884f362ada982d3a06beaa6cc8b084cf9f76cae7739481dfa",
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-            "index": "pypi",
-            "version": "==7.1.2"
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+                "sha256:97f9e7953a77d5a70f49b9a48da7776dc51e9b738151b22dacf101641594a626",
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+                "sha256:d08b23fdb388c0715990cbc06866db554e1822c4bdcf6d4166cf30ac82df8c41",
+                "sha256:d350f0f2c2421e65fbc62690f26b59b0bcda1b614beb318c81e38647e0f673a1",
+                "sha256:ec29604081f10f16a7aea809ad42e27764188fc258b02259a03a8ff7ded3808d",
+                "sha256:edf31f1150778abd4322444c393ab9c7bd2af271dd4dafb4208fb613b1f3cdc9",
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+                "sha256:ffe538682dc19cc542ae7c3e504fdf54ca7f86fb8a135e59dd6bc8627eae6cce"
+            ],
+            "index": "pypi",
+            "version": "==7.2.0"
         },
         "pkginfo": {
             "hashes": [
@@ -2024,25 +2053,25 @@
         },
         "portalocker": {
             "hashes": [
-                "sha256:091364838ed6fbb68ea291c28982d1e56125c0d9e3fad5a4ac001db54dd862dc",
-                "sha256:874d6063c6ceb185fe4771da41b01872d2c56d292db746698f8ad7bf1833c905"
+                "sha256:34cb36c618d88bcd9079beb36dcdc1848a3e3d92ac4eac59055bdeafc39f9d4a",
+                "sha256:6d6f5de5a3e68c4dd65a98ec1babb26d28ccc5e770e07b672d65d5a35e4b2d8a"
             ],
-            "version": "==1.7.0"
+            "version": "==1.7.1"
         },
         "pprofile": {
             "hashes": [
-                "sha256:2036522d201188641ab6766b3fea105ddeb72d3b752a7d6da695be7e7ba21656"
+                "sha256:c2787af57c44c48e6c7e518d522fd0f93983892bfaae74ed340da02ed500ec5f"
             ],
             "index": "pypi",
-            "version": "==2.0.4"
+            "version": "==2.0.5"
         },
         "pre-commit": {
             "hashes": [
-                "sha256:c5c8fd4d0e1c363723aaf0a8f9cba0f434c160b48c4028f4bae6d219177945b3",
-                "sha256:da463cf8f0e257f9af49047ba514f6b90dbd9b4f92f4c8847a3ccd36834874c7"
+                "sha256:1657663fdd63a321a4a739915d7d03baedd555b25054449090f97bb0cb30a915",
+                "sha256:e8b1315c585052e729ab7e99dcca5698266bedce9067d21dc909c23e3ceed626"
             ],
             "index": "pypi",
-            "version": "==2.5.1"
+            "version": "==2.6.0"
         },
         "prometheus-client": {
             "hashes": [
@@ -2292,11 +2321,11 @@
         },
         "pymysql": {
             "hashes": [
-                "sha256:3943fbbbc1e902f41daf7f9165519f140c4451c179380677e6a848587042561a",
-                "sha256:d8c059dcd81dedb85a9f034d5e22dcb4442c0b201908bede99e306d65ea7c8e7"
+                "sha256:adef15ceccf1ff544a23a6f46609f65187261dc8b0cf94c9644189c173b0a451",
+                "sha256:e14070bc84e050e0f80bf6063e31d276f03a0bb4d46b9eca2854566c4ae19837"
             ],
             "index": "pypi",
-            "version": "==0.9.3"
+            "version": "==0.10.0"
         },
         "pynacl": {
             "hashes": [
@@ -2395,10 +2424,10 @@
         },
         "python-engineio": {
             "hashes": [
-                "sha256:2da5e1e5565e170a17169d1a76eb6a099cc96f0a25a5b1e0f9785f151485daea",
-                "sha256:5423045623f094df67ace05d53737b88e39395ac3b1129798a31be2dbc6011cf"
+                "sha256:133bdb5fb89f43a53f8612fb1ddbb3a453318713dea18a9ecf5346ed0c0f793c",
+                "sha256:41353c2539493e9e30e0e75e53f9cbb670f09a5ebcf82fe738081a9ba28fe55c"
             ],
-            "version": "==3.13.0"
+            "version": "==3.13.1"
         },
         "python-logstash": {
             "hashes": [
@@ -2531,11 +2560,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:43999036bfa82904b6af1d99e4882b560e5e2c68e5c4b0aa03b655f3d7d73fee",
-                "sha256:b3f43d496c6daba4493e7c431722aeb7dbc6288f52a6e04e7b6023b0247817e6"
+                "sha256:b3559a131db72c33ee969480840fff4bb6dd111de7dd27c8ee1f820f4f00231b",
+                "sha256:fe75cc94a9443b9246fc7049224f75604b113c36acb93f87b80ed42c44cbb898"
             ],
             "index": "pypi",
-            "version": "==2.23.0"
+            "version": "==2.24.0"
         },
         "requests-oauthlib": {
             "hashes": [
@@ -2663,37 +2692,54 @@
         },
         "simplejson": {
             "hashes": [
-                "sha256:0fe3994207485efb63d8f10a833ff31236ed27e3b23dadd0bf51c9900313f8f2",
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-                "sha256:7cce4bac7e0d66f3a080b80212c2238e063211fe327f98d764c6acbc214497fc",
-                "sha256:8027bd5f1e633eb61b8239994e6fc3aba0346e76294beac22a892eb8faa92ba1",
-                "sha256:86afc5b5cbd42d706efd33f280fec7bd7e2772ef54e3f34cf6b30777cd19a614",
-                "sha256:87d349517b572964350cc1adc5a31b493bbcee284505e81637d0174b2758ba17",
-                "sha256:8de378d589eccbc75941e480b4d5b4db66f22e4232f87543b136b1f093fff342",
-                "sha256:926bcbef9eb60e798eabda9cd0bbcb0fca70d2779aa0aa56845749d973eb7ad5",
-                "sha256:9a126c3a91df5b1403e965ba63b304a50b53d8efc908a8c71545ed72535374a3",
-                "sha256:ad8dd3454d0c65c0f92945ac86f7b9efb67fa2040ba1b0189540e984df904378",
-                "sha256:d140e9376e7f73c1f9e0a8e3836caf5eec57bbafd99259d56979da05a6356388",
-                "sha256:da00675e5e483ead345429d4f1374ab8b949fba4429d60e71ee9d030ced64037",
-                "sha256:daaf4d11db982791be74b23ff4729af2c7da79316de0bebf880fa2d60bcc8c5a",
-                "sha256:f4b64a1031acf33e281fd9052336d6dad4d35eee3404c95431c8c6bc7a9c0588",
-                "sha256:fc046afda0ed8f5295212068266c92991ab1f4a50c6a7144b69364bdee4a0159",
-                "sha256:fc9051d249dd5512e541f20330a74592f7a65b2d62e18122ca89bf71f94db748"
-            ],
-            "index": "pypi",
-            "version": "==3.17.0"
+                "sha256:034550078a11664d77bc1a8364c90bb7eef0e44c2dbb1fd0a4d92e3997088667",
+                "sha256:05b43d568300c1cd43f95ff4bfcff984bc658aa001be91efb3bb21df9d6288d3",
+                "sha256:0dd9d9c738cb008bfc0862c9b8fa6743495c03a0ed543884bf92fb7d30f8d043",
+                "sha256:10fc250c3edea4abc15d930d77274ddb8df4803453dde7ad50c2f5565a18a4bb",
+                "sha256:2862beabfb9097a745a961426fe7daf66e1714151da8bb9a0c430dde3d59c7c0",
+                "sha256:292c2e3f53be314cc59853bd20a35bf1f965f3bc121e007ab6fd526ed412a85d",
+                "sha256:2d3eab2c3fe52007d703a26f71cf649a8c771fcdd949a3ae73041ba6797cfcf8",
+                "sha256:2e7b57c2c146f8e4dadf84977a83f7ee50da17c8861fd7faf694d55e3274784f",
+                "sha256:311f5dc2af07361725033b13cc3d0351de3da8bede3397d45650784c3f21fbcf",
+                "sha256:344e2d920a7f27b4023c087ab539877a1e39ce8e3e90b867e0bfa97829824748",
+                "sha256:3fabde09af43e0cbdee407555383063f8b45bfb52c361bc5da83fcffdb4fd278",
+                "sha256:42b8b8dd0799f78e067e2aaae97e60d58a8f63582939af60abce4c48631a0aa4",
+                "sha256:4b3442249d5e3893b90cb9f72c7d6ce4d2ea144d2c0d9f75b9ae1e5460f3121a",
+                "sha256:55d65f9cc1b733d85ef95ab11f559cce55c7649a2160da2ac7a078534da676c8",
+                "sha256:5c659a0efc80aaaba57fcd878855c8534ecb655a28ac8508885c50648e6e659d",
+                "sha256:72d8a3ffca19a901002d6b068cf746be85747571c6a7ba12cbcf427bfb4ed971",
+                "sha256:75ecc79f26d99222a084fbdd1ce5aad3ac3a8bd535cd9059528452da38b68841",
+                "sha256:76ac9605bf2f6d9b56abf6f9da9047a8782574ad3531c82eae774947ae99cc3f",
+                "sha256:7d276f69bfc8c7ba6c717ba8deaf28f9d3c8450ff0aa8713f5a3280e232be16b",
+                "sha256:7f10f8ba9c1b1430addc7dd385fc322e221559d3ae49b812aebf57470ce8de45",
+                "sha256:8042040af86a494a23c189b5aa0ea9433769cc029707833f261a79c98e3375f9",
+                "sha256:813846738277729d7db71b82176204abc7fdae2f566e2d9fcf874f9b6472e3e6",
+                "sha256:845a14f6deb124a3bcb98a62def067a67462a000e0508f256f9c18eff5847efc",
+                "sha256:869a183c8e44bc03be1b2bbcc9ec4338e37fa8557fc506bf6115887c1d3bb956",
+                "sha256:8acf76443cfb5c949b6e781c154278c059b09ac717d2757a830c869ba000cf8d",
+                "sha256:8f713ea65958ef40049b6c45c40c206ab363db9591ff5a49d89b448933fa5746",
+                "sha256:934115642c8ba9659b402c8bdbdedb48651fb94b576e3b3efd1ccb079609b04a",
+                "sha256:9551f23e09300a9a528f7af20e35c9f79686d46d646152a0c8fc41d2d074d9b0",
+                "sha256:9a2b7543559f8a1c9ed72724b549d8cc3515da7daf3e79813a15bdc4a769de25",
+                "sha256:a55c76254d7cf8d4494bc508e7abb993a82a192d0db4552421e5139235604625",
+                "sha256:ad8f41c2357b73bc9e8606d2fa226233bf4d55d85a8982ecdfd55823a6959995",
+                "sha256:af4868da7dd53296cd7630687161d53a7ebe2e63814234631445697bd7c29f46",
+                "sha256:afebfc3dd3520d37056f641969ce320b071bc7a0800639c71877b90d053e087f",
+                "sha256:b59aa298137ca74a744c1e6e22cfc0bf9dca3a2f41f51bc92eb05695155d905a",
+                "sha256:bc00d1210567a4cdd215ac6e17dc00cb9893ee521cee701adfd0fa43f7c73139",
+                "sha256:c1cb29b1fced01f97e6d5631c3edc2dadb424d1f4421dad079cb13fc97acb42f",
+                "sha256:c94dc64b1a389a416fc4218cd4799aa3756f25940cae33530a4f7f2f54f166da",
+                "sha256:ceaa28a5bce8a46a130cd223e895080e258a88d51bf6e8de2fc54a6ef7e38c34",
+                "sha256:cff6453e25204d3369c47b97dd34783ca820611bd334779d22192da23784194b",
+                "sha256:d0b64409df09edb4c365d95004775c988259efe9be39697d7315c42b7a5e7e94",
+                "sha256:d4813b30cb62d3b63ccc60dd12f2121780c7a3068db692daeb90f989877aaf04",
+                "sha256:da3c55cdc66cfc3fffb607db49a42448785ea2732f055ac1549b69dcb392663b",
+                "sha256:e058c7656c44fb494a11443191e381355388443d543f6fc1a245d5d238544396",
+                "sha256:fed0f22bf1313ff79c7fc318f7199d6c2f96d4de3234b2f12a1eab350e597c06",
+                "sha256:ffd4e4877a78c84d693e491b223385e0271278f5f4e1476a4962dca6824ecfeb"
+            ],
+            "index": "pypi",
+            "version": "==3.17.2"
         },
         "six": {
             "hashes": [
@@ -2705,41 +2751,42 @@
         },
         "sqlalchemy": {
             "hashes": [
-                "sha256:128bc917ed20d78143a45024455ff0aed7d3b96772eba13d5dbaf9cc57e5c41b",
-                "sha256:156a27548ba4e1fed944ff9fcdc150633e61d350d673ae7baaf6c25c04ac1f71",
-                "sha256:27e2efc8f77661c9af2681755974205e7462f1ae126f498f4fe12a8b24761d15",
-                "sha256:2a12f8be25b9ea3d1d5b165202181f2b7da4b3395289000284e5bb86154ce87c",
-                "sha256:31c043d5211aa0e0773821fcc318eb5cbe2ec916dfbc4c6eea0c5188971988eb",
-                "sha256:65eb3b03229f684af0cf0ad3bcc771970c1260a82a791a8d07bffb63d8c95bcc",
-                "sha256:6cd157ce74a911325e164441ff2d9b4e244659a25b3146310518d83202f15f7a",
-                "sha256:703c002277f0fbc3c04d0ae4989a174753a7554b2963c584ce2ec0cddcf2bc53",
-                "sha256:869bbb637de58ab0a912b7f20e9192132f9fbc47fc6b5111cd1e0f6cdf5cf9b0",
-                "sha256:8a0e0cd21da047ea10267c37caf12add400a92f0620c8bc09e4a6531a765d6d7",
-                "sha256:8d01e949a5d22e5c4800d59b50617c56125fc187fbeb8fa423e99858546de616",
-                "sha256:925b4fe5e7c03ed76912b75a9a41dfd682d59c0be43bce88d3b27f7f5ba028fb",
-                "sha256:9cb1819008f0225a7c066cac8bb0cf90847b2c4a6eb9ebb7431dbd00c56c06c5",
-                "sha256:a87d496884f40c94c85a647c385f4fd5887941d2609f71043e2b73f2436d9c65",
-                "sha256:a9030cd30caf848a13a192c5e45367e3c6f363726569a56e75dc1151ee26d859",
-                "sha256:a9e75e49a0f1583eee0ce93270232b8e7bb4b1edc89cc70b07600d525aef4f43",
-                "sha256:b50f45d0e82b4562f59f0e0ca511f65e412f2a97d790eea5f60e34e5f1aabc9a",
-                "sha256:b7878e59ec31f12d54b3797689402ee3b5cfcb5598f2ebf26491732758751908",
-                "sha256:ce1ddaadee913543ff0154021d31b134551f63428065168e756d90bdc4c686f5",
-                "sha256:ce2646e4c0807f3461be0653502bb48c6e91a5171d6e450367082c79e12868bf",
-                "sha256:ce6c3d18b2a8ce364013d47b9cad71db815df31d55918403f8db7d890c9d07ae",
-                "sha256:e4e2664232005bd306f878b0f167a31f944a07c4de0152c444f8c61bbe3cfb38",
-                "sha256:e8aa395482728de8bdcca9cc0faf3765ab483e81e01923aaa736b42f0294f570",
-                "sha256:eb4fcf7105bf071c71068c6eee47499ab8d4b8f5a11fc35147c934f0faa60f23",
-                "sha256:ed375a79f06cad285166e5be74745df1ed6845c5624aafadec4b7a29c25866ef",
-                "sha256:f35248f7e0d63b234a109dd72fbfb4b5cb6cb6840b221d0df0ecbf54ab087654",
-                "sha256:f502ef245c492b391e0e23e94cba030ab91722dcc56963c85bfd7f3441ea2bbe",
-                "sha256:fe01bac7226499aedf472c62fa3b85b2c619365f3f14dd222ffe4f3aa91e5f98"
-            ],
-            "index": "pypi",
-            "version": "==1.3.17"
+                "sha256:0942a3a0df3f6131580eddd26d99071b48cfe5aaf3eab2783076fbc5a1c1882e",
+                "sha256:0ec575db1b54909750332c2e335c2bb11257883914a03bc5a3306a4488ecc772",
+                "sha256:109581ccc8915001e8037b73c29590e78ce74be49ca0a3630a23831f9e3ed6c7",
+                "sha256:16593fd748944726540cd20f7e83afec816c2ac96b082e26ae226e8f7e9688cf",
+                "sha256:427273b08efc16a85aa2b39892817e78e3ed074fcb89b2a51c4979bae7e7ba98",
+                "sha256:50c4ee32f0e1581828843267d8de35c3298e86ceecd5e9017dc45788be70a864",
+                "sha256:512a85c3c8c3995cc91af3e90f38f460da5d3cade8dc3a229c8e0879037547c9",
+                "sha256:57aa843b783179ab72e863512e14bdcba186641daf69e4e3a5761d705dcc35b1",
+                "sha256:621f58cd921cd71ba6215c42954ffaa8a918eecd8c535d97befa1a8acad986dd",
+                "sha256:6ac2558631a81b85e7fb7a44e5035347938b0a73f5fdc27a8566777d0792a6a4",
+                "sha256:716754d0b5490bdcf68e1e4925edc02ac07209883314ad01a137642ddb2056f1",
+                "sha256:736d41cfebedecc6f159fc4ac0769dc89528a989471dc1d378ba07d29a60ba1c",
+                "sha256:8619b86cb68b185a778635be5b3e6018623c0761dde4df2f112896424aa27bd8",
+                "sha256:87fad64529cde4f1914a5b9c383628e1a8f9e3930304c09cf22c2ae118a1280e",
+                "sha256:89494df7f93b1836cae210c42864b292f9b31eeabca4810193761990dc689cce",
+                "sha256:8cac7bb373a5f1423e28de3fd5fc8063b9c8ffe8957dc1b1a59cb90453db6da1",
+                "sha256:8fd452dc3d49b3cc54483e033de6c006c304432e6f84b74d7b2c68afa2569ae5",
+                "sha256:adad60eea2c4c2a1875eb6305a0b6e61a83163f8e233586a4d6a55221ef984fe",
+                "sha256:c26f95e7609b821b5f08a72dab929baa0d685406b953efd7c89423a511d5c413",
+                "sha256:cbe1324ef52ff26ccde2cb84b8593c8bf930069dfc06c1e616f1bfd4e47f48a3",
+                "sha256:d05c4adae06bd0c7f696ae3ec8d993ed8ffcc4e11a76b1b35a5af8a099bd2284",
+                "sha256:d98bc827a1293ae767c8f2f18be3bb5151fd37ddcd7da2a5f9581baeeb7a3fa1",
+                "sha256:da2fb75f64792c1fc64c82313a00c728a7c301efe6a60b7a9fe35b16b4368ce7",
+                "sha256:e4624d7edb2576cd72bb83636cd71c8ce544d8e272f308bd80885056972ca299",
+                "sha256:e89e0d9e106f8a9180a4ca92a6adde60c58b1b0299e1b43bd5e0312f535fbf33",
+                "sha256:f11c2437fb5f812d020932119ba02d9e2bc29a6eca01a055233a8b449e3e1e7d",
+                "sha256:f57be5673e12763dd400fea568608700a63ce1c6bd5bdbc3cc3a2c5fdb045274",
+                "sha256:fc728ece3d5c772c196fd338a99798e7efac7a04f9cb6416299a3638ee9a94cd"
+            ],
+            "index": "pypi",
+            "version": "==1.3.18"
         },
         "subprocess32": {
             "hashes": [
                 "sha256:88e37c1aac5388df41cc8a8456bb49ebffd321a3ad4d70358e3518176de3a56b",
+                "sha256:e45d985aef903c5b7444d34350b05da91a9e0ea015415ab45a21212786c649d0",
                 "sha256:eb2937c80497978d181efa1b839ec2d9622cf9600a039a79d0e108d1f9aec79d"
             ],
             "index": "pypi",
@@ -2769,10 +2816,9 @@
         },
         "tensorboard-plugin-wit": {
             "hashes": [
-                "sha256:1fdf4ac343f1665453205aef8bb227b0204893bb5ffb792d2ed4509b1daf3d4f",
-                "sha256:243f117d117f9e81a21dc64b602b2bcb256ca5ba038867b96022d02271b17106"
+                "sha256:ee775f04821185c90d9a0e9c56970ee43d7c41403beb6629385b39517129685b"
             ],
-            "version": "==1.6.0.post3"
+            "version": "==1.7.0"
         },
         "tensorflow": {
             "hashes": [
@@ -2821,11 +2867,11 @@
         },
         "tifffile": {
             "hashes": [
-                "sha256:66d90f05eec5e62336d87d0d09e6a218012afdf834c22d66abc62ba88b355e39",
-                "sha256:e79403a8b98b0df7ade8d43469151b959fd56239001471fac62beabca6f56377"
+                "sha256:5bcad7e2e1d88c7923da662bf85ca2a1302ceaea04198d4ca696e0f7e7908576",
+                "sha256:9664322ba8d685905c43bf247c03b5c31fe1e9d7dc9b5b099ec6c52bab482151"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2020.6.3"
+            "version": "==2020.7.17"
         },
         "toml": {
             "hashes": [
@@ -2900,11 +2946,11 @@
         },
         "virtualenv": {
             "hashes": [
-                "sha256:f332ba0b2dfbac9f6b1da9f11224f0036b05cdb4df23b228527c2a2d5504aeed",
-                "sha256:ffffcb3c78a671bb3d590ac3bc67c081ea2188befeeb058870cba13e7f82911b"
+                "sha256:26cdd725a57fef4c7c22060dba4647ebd8ca377e30d1c1cf547b30a0b79c43b4",
+                "sha256:c51f1ba727d1614ce8fd62457748b469fbedfdab2c7e5dd480c9ae3fbe1233f1"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==20.0.25"
+            "version": "==20.0.27"
         },
         "wcwidth": {
             "hashes": [
diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py
index 3f7d049cc5..d11770faf6 100644
--- a/common/kalman/simple_kalman_old.py
+++ b/common/kalman/simple_kalman_old.py
@@ -8,7 +8,7 @@ class KF1D:
   def __init__(self, x0, A, C, K):
     self.x = x0
     self.A = A
-    self.C = C
+    self.C = np.atleast_2d(C)
     self.K = K
 
     self.A_K = self.A - np.dot(self.K, self.C)
diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py
index 9b947a4320..6308759984 100644
--- a/common/kalman/tests/test_simple_kalman.py
+++ b/common/kalman/tests/test_simple_kalman.py
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
     K0_0 = 0.12287673
     K1_0 = 0.29666309
 
-    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.matrix([C0_0, C0_1]),
-                           K=np.matrix([[K0_0], [K1_0]]))
+    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.array([C0_0, C0_1]),
+                           K=np.array([[K0_0], [K1_0]]))
 
     self.kf = KF1D(x0=[[x0_0], [x1_0]],
                    A=[[A0_0, A0_1], [A1_0, A1_1]],
@@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
       x = self.kf.update(v_wheel)
 
       # Compare the output x, verify that the error is less than 1e-4
-      self.assertAlmostEqual(x_old[0], x[0])
-      self.assertAlmostEqual(x_old[1], x[1])
+      np.testing.assert_almost_equal(x_old[0], x[0])
+      np.testing.assert_almost_equal(x_old[1], x[1])
 
   def test_new_is_faster(self):
     setup = """
@@ -69,10 +69,10 @@ C0_1 = 0.0
 K0_0 = 0.12287673
 K1_0 = 0.29666309
 
-kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.matrix([C0_0, C0_1]),
-                  K=np.matrix([[K0_0], [K1_0]]))
+kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.array([C0_0, C0_1]),
+                  K=np.array([[K0_0], [K1_0]]))
 
 kf = KF1D(x0=[[x0_0], [x1_0]],
           A=[[A0_0, A0_1], [A1_0, A1_1]],