diff --git a/Cargo.lock b/Cargo.lock
index 59f891c..94d6f6a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -26,7 +26,7 @@ version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fcb51a0695d8f838b1ee009b3fbf66bda078cd64590202a864a8f3e8c4315c47"
 dependencies = [
- "getrandom 0.2.7",
+ "getrandom 0.2.8",
  "once_cell",
  "version_check",
 ]
@@ -38,7 +38,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8c4afb09dd642feec8408e33f92f3ffc4052946f6b20f32fb99c1f58cd4fa7cf"
 dependencies = [
  "bitflags",
- "rusttype 0.9.2",
+ "rusttype 0.9.3",
  "walkdir",
  "xdg",
  "xml-rs",
@@ -46,9 +46,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.65"
+version = "1.0.66"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98161a4e3e2184da77bb14f02184cdd111e83bbbcc9979dfee3c44b9a85f5602"
+checksum = "216261ddc8289130e551ddcd5ce8a064710c0d064a4d2895c67151c92b5443f6"
 
 [[package]]
 name = "approx"
@@ -86,14 +86,14 @@ version = "0.33.3+1.2.191"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc4f1d82f164f838ae413296d1131aa6fa79b917d25bebaa7033d25620c09219"
 dependencies = [
- "libloading 0.7.3",
+ "libloading 0.7.4",
 ]
 
 [[package]]
 name = "async-trait"
-version = "0.1.57"
+version = "0.1.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76464446b8bc32758d7e88ee1a804d9914cd9b1cb264c029899680b0be29826f"
+checksum = "1e805d94e6b5001b651426cf4cd446b1ab5f319d27bab5c644f61de0a804360c"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -153,15 +153,15 @@ checksum = "0d8c1fef690941d3e7788d328517591fecc684c084084702d6ff1641e993699a"
 
 [[package]]
 name = "bumpalo"
-version = "3.11.0"
+version = "3.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1ad822118d20d2c234f427000d5acc36eabe1e29a348c89b63dd60b13f28e5d"
+checksum = "572f695136211188308f16ad2ca5c851a712c464060ae6974944458eb83880ba"
 
 [[package]]
 name = "bytemuck"
-version = "1.12.1"
+version = "1.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f5715e491b5a1598fc2bef5a606847b5dc1d48ea625bd3c02c00de8285591da"
+checksum = "aaa3a8d9a1ca92e282c96a32d6511b695d7d994d1d102ba85d279f9b2756947f"
 
 [[package]]
 name = "byteorder"
@@ -217,9 +217,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.73"
+version = "1.0.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fff2a6927b3bb87f9595d67196a70493f627687a71d87a0d692242c33f58c11"
+checksum = "76a284da2e6fe2092f2353e51713435363112dfd60030e22add80be333fb928f"
 
 [[package]]
 name = "cfg-if"
@@ -241,9 +241,9 @@ checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
 [[package]]
 name = "cocoa"
-version = "0.24.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f63902e9223530efb4e26ccd0cf55ec30d592d3b42e21a28defc42a9586e832"
+checksum = "f425db7937052c684daec3bd6375c8abe2d146dca4b8b143d6db777c39138f3a"
 dependencies = [
  "bitflags",
  "block",
@@ -496,6 +496,12 @@ dependencies = [
  "cfg-if 1.0.0",
 ]
 
+[[package]]
+name = "crunchy"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
+
 [[package]]
 name = "cty"
 version = "0.2.2"
@@ -515,7 +521,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2daefd788d1e96e0a9d66dee4b828b883509bc3ea9ce30665f04c3246372690c"
 dependencies = [
  "bitflags",
- "libloading 0.7.3",
+ "libloading 0.7.4",
  "winapi",
 ]
 
@@ -651,7 +657,7 @@ version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ac1b7517328c04c2aa68422fc60a41b92208182142ed04a25879c26c8f878794"
 dependencies = [
- "libloading 0.7.3",
+ "libloading 0.7.4",
 ]
 
 [[package]]
@@ -677,15 +683,15 @@ dependencies = [
 
 [[package]]
 name = "exr"
-version = "1.5.1"
+version = "1.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c9a7880199e74c6d3fe45579df2f436c5913a71405494cb89d59234d86b47dc5"
+checksum = "8eb5f255b5980bb0c8cf676b675d1a99be40f316881444f44e0462eaf5df5ded"
 dependencies = [
  "bit_field",
  "flume",
  "half",
  "lebe",
- "miniz_oxide 0.5.4",
+ "miniz_oxide 0.6.2",
  "smallvec",
  "threadpool",
 ]
@@ -751,9 +757,9 @@ checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
 
 [[package]]
 name = "futures"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f21eda599937fba36daeb58a22e8f5cee2d14c4a17b5b7739c7c8e5e3b8230c"
+checksum = "38390104763dc37a5145a53c29c63c1290b5d316d6086ec32c293f6736051bb0"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -766,9 +772,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30bdd20c28fadd505d0fd6712cdfcb0d4b5648baf45faef7f852afb2399bb050"
+checksum = "52ba265a92256105f45b719605a571ffe2d1f0fea3807304b522c1d778f79eed"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -776,15 +782,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e5aa3de05362c3fb88de6531e6296e85cde7739cccad4b9dfeeb7f6ebce56bf"
+checksum = "04909a7a7e4633ae6c4a9ab280aeb86da1236243a77b694a49eacd659a4bd3ac"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ff63c23854bee61b6e9cd331d523909f238fc7636290b96826e9cfa5faa00ab"
+checksum = "7acc85df6714c176ab5edf386123fafe217be88c0840ec11f199441134a074e2"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -794,15 +800,15 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbf4d2a7a308fd4578637c0b17c7e1c7ba127b8f6ba00b29f717e9655d85eb68"
+checksum = "00f5fb52a06bdcadeb54e8d3671f8888a39697dcb0b81b23b55174030427f4eb"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42cd15d1c7456c04dbdf7e88bcd69760d74f3a798d6444e16974b505b0e62f17"
+checksum = "bdfb8ce053d86b91919aad980c220b1fb8401a9394410e1c289ed7e66b61835d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -811,21 +817,21 @@ dependencies = [
 
 [[package]]
 name = "futures-sink"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21b20ba5a92e727ba30e72834706623d94ac93a725410b6a6b6fbc1b07f7ba56"
+checksum = "39c15cf1a4aa79df40f1bb462fb39676d0ad9e366c2a33b590d7c66f4f81fcf9"
 
 [[package]]
 name = "futures-task"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6508c467c73851293f390476d4491cf4d227dbabcd4170f3bb6044959b294f1"
+checksum = "2ffb393ac5d9a6eaa9d3fdf37ae2776656b706e200c8e16b1bdb227f5198e6ea"
 
 [[package]]
 name = "futures-util"
-version = "0.3.24"
+version = "0.3.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44fb6cb1be61cc1d2e43b262516aafcf63b241cffdb1d3fa115f91d9c7b09c90"
+checksum = "197676987abd2f9cadff84926f410af1c183608d36641465df73ae8211dc65d6"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -872,9 +878,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.7"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eb1a864a501629691edf6c15a593b7a51eebaa1e8468e9ddc623de7c9b58ec6"
+checksum = "c05aeb6a22b8f62540c194aac980f2115af067bfe15a0734d7277a768d396b31"
 dependencies = [
  "cfg-if 1.0.0",
  "js-sys",
@@ -957,9 +963,12 @@ dependencies = [
 
 [[package]]
 name = "half"
-version = "1.8.2"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
+checksum = "ad6a9459c9c30b177b925162351f97e7d967c7ea8bab3b8352805327daf45554"
+dependencies = [
+ "crunchy",
+]
 
 [[package]]
 name = "hashbrown"
@@ -1024,9 +1033,9 @@ dependencies = [
  "jpeg-decoder 0.2.6",
  "num-rational 0.4.1",
  "num-traits 0.2.15",
- "png 0.17.6",
+ "png 0.17.7",
  "scoped_threadpool",
- "tiff 0.7.3",
+ "tiff 0.7.4",
 ]
 
 [[package]]
@@ -1044,7 +1053,7 @@ dependencies = [
  "rand 0.7.3",
  "rand_distr 0.2.2",
  "rayon",
- "rusttype 0.9.2",
+ "rusttype 0.9.3",
 ]
 
 [[package]]
@@ -1086,9 +1095,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c8af84674fe1f223a982c933a0ee1086ac4d4052aa0fb8060c12c6ad838e754"
+checksum = "4217ad341ebadf8d8e724e264f13e593e0648f5b3e94b3896a5df283be015ecc"
 
 [[package]]
 name = "jni-sys"
@@ -1130,7 +1139,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8c2352bd1d0bceb871cb9d40f24360c8133c11d7486b68b5381c1dd1a32015e3"
 dependencies = [
  "libc",
- "libloading 0.7.3",
+ "libloading 0.7.4",
 ]
 
 [[package]]
@@ -1147,9 +1156,9 @@ checksum = "03087c2bad5e1034e8cace5926dec053fb3790248370865f5117a7d0213354c8"
 
 [[package]]
 name = "libc"
-version = "0.2.134"
+version = "0.2.137"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "329c933548736bc49fd575ee68c89e8be4d260064184389a5b77517cddd99ffb"
+checksum = "fc7fcc620a3bff7cdd7a365be3376c97191aeaccc2a603e600951e452615bf89"
 
 [[package]]
 name = "libloading"
@@ -1163,9 +1172,9 @@ dependencies = [
 
 [[package]]
 name = "libloading"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "efbc0f03f9a775e9f6aed295c6a1ba2253c5757a9e03d55c6caa46a681abcddd"
+checksum = "b67380fd3b2fbe7527a606e18729d21c6f3951633d0500574c4dc22d2d638b9f"
 dependencies = [
  "cfg-if 1.0.0",
  "winapi",
@@ -1173,9 +1182,9 @@ dependencies = [
 
 [[package]]
 name = "libm"
-version = "0.2.5"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "292a948cd991e376cf75541fe5b97a1081d713c618b4f1b9500f8844e49eb565"
+checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
 
 [[package]]
 name = "line_drawing"
@@ -1283,18 +1292,18 @@ dependencies = [
 [[package]]
 name = "mapf"
 version = "0.1.0"
-source = "git+https://github.com/open-rmf/mapf.git?branch=arjo/maybe_fix/visibility_timepoint#f24133320590045166bff01cfd4f5d3f7c0e9f9e"
+source = "git+https://github.com/open-rmf/mapf.git?branch=arjo/fix/update_gat_syntax#17aa773bf4773df92a8ef5f32aabfc3e9dbd3346"
 dependencies = [
  "anyhow",
- "approx 0.5.1",
+ "approx 0.3.2",
  "arrayvec 0.7.2",
  "bitfield",
  "cached",
  "derivative",
- "nalgebra 0.31.1",
+ "nalgebra 0.31.3",
  "num",
  "num-complex",
- "simba 0.7.2",
+ "simba 0.5.1",
  "sorted-vec",
  "thiserror",
  "time-point",
@@ -1396,6 +1405,15 @@ dependencies = [
  "adler",
 ]
 
+[[package]]
+name = "miniz_oxide"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b275950c28b37e794e8c55d88aeb5e139d0ce23fdbbeda68f8d7174abdf9e8fa"
+dependencies = [
+ "adler",
+]
+
 [[package]]
 name = "mio"
 version = "0.7.14"
@@ -1477,15 +1495,15 @@ dependencies = [
  "num-complex",
  "num-rational 0.4.1",
  "num-traits 0.2.15",
- "simba 0.7.2",
+ "simba 0.7.3",
  "typenum",
 ]
 
 [[package]]
 name = "nalgebra"
-version = "0.31.1"
+version = "0.31.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9e0a04ce089f9401aac565c740ed30c46291260f27d4911fdbaa6ca65fa3044"
+checksum = "0eef2ccf9aefdae3334ad5911b5414724b9047bfe145b3353d5878732cc7b86b"
 dependencies = [
  "approx 0.5.1",
  "matrixmultiply",
@@ -1493,7 +1511,7 @@ dependencies = [
  "num-complex",
  "num-rational 0.4.1",
  "num-traits 0.2.15",
- "simba 0.7.2",
+ "simba 0.7.3",
  "typenum",
 ]
 
@@ -1577,7 +1595,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6a51313c5820b0b02bd422f4b44776fbf47961755c74ce64afc73bfad10226c3"
 dependencies = [
- "getrandom 0.2.7",
+ "getrandom 0.2.8",
 ]
 
 [[package]]
@@ -1784,9 +1802,9 @@ dependencies = [
 
 [[package]]
 name = "num_cpus"
-version = "1.13.1"
+version = "1.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19e64526ebdee182341572e50e9ad03965aa510cd94427a4549448f285e957a1"
+checksum = "f6058e64324c71e02bc2b150e4f3bc8286db6c83092132ffa3f6b1eab0f9def5"
 dependencies = [
  "hermit-abi",
  "libc",
@@ -1834,9 +1852,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.15.0"
+version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e82dad04139b71a90c080c8463fe0dc7902db5192d939bd0950f074d014339e1"
+checksum = "86f0b0d4bf799edbc74508c1e8bf170ff5f41238e5f8225603ca7caaae2b7860"
 
 [[package]]
 name = "ordered-float"
@@ -1849,9 +1867,9 @@ dependencies = [
 
 [[package]]
 name = "owned_ttf_parser"
-version = "0.6.0"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f923fb806c46266c02ab4a5b239735c144bdeda724a50ed058e5226f594cde3"
+checksum = "05e6affeb1632d6ff6a23d2cd40ffed138e82f1532571a26f527c8a284bb2fbb"
 dependencies = [
  "ttf-parser",
 ]
@@ -1959,9 +1977,9 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "pkg-config"
-version = "0.3.25"
+version = "0.3.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1df8c4ec4b0627e53bdf214615ad287367e482558cf84b109250b37464dc03ae"
+checksum = "6ac9a59f73473f1b8d852421e59e64809f025994837ef743615c6d0c5b305160"
 
 [[package]]
 name = "png"
@@ -1977,21 +1995,21 @@ dependencies = [
 
 [[package]]
 name = "png"
-version = "0.17.6"
+version = "0.17.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f0e7f4c94ec26ff209cee506314212639d6c91b80afb82984819fafce9df01c"
+checksum = "5d708eaf860a19b19ce538740d2b4bdeeb8337fa53f7738455e706623ad5c638"
 dependencies = [
  "bitflags",
  "crc32fast",
  "flate2",
- "miniz_oxide 0.5.4",
+ "miniz_oxide 0.6.2",
 ]
 
 [[package]]
 name = "ppv-lite86"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb9f9e6e233e5c4a35559a617bf40a4ec447db2e84c20b55a6f83167b7e57872"
+checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro-crate"
@@ -2015,18 +2033,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.46"
+version = "1.0.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94e2ef8dbfc347b10c094890f778ee2e36ca9bb4262e86dc99cd217e35f3470b"
+checksum = "5ea3d908b0e36316caf9e9e2c4625cdde190a7e6f440d794667ed17a1855e725"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "profiling"
-version = "1.0.6"
+version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f61dcf0b917cd75d4521d7343d1ffff3d1583054133c9b5cbea3375c703c40d"
+checksum = "74605f360ce573babfe43964cbe520294dcb081afbf8c108fc6e23036b4da2df"
 
 [[package]]
 name = "quote"
@@ -2096,7 +2114,7 @@ version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 dependencies = [
- "getrandom 0.2.7",
+ "getrandom 0.2.8",
 ]
 
 [[package]]
@@ -2206,7 +2224,7 @@ version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b033d837a7cf162d7993aded9304e30a83213c648b6e389db233191f891e5c2b"
 dependencies = [
- "getrandom 0.2.7",
+ "getrandom 0.2.8",
  "redox_syscall",
  "thiserror",
 ]
@@ -2226,7 +2244,7 @@ dependencies = [
  "line_drawing",
  "line_intersection",
  "mapf",
- "nalgebra 0.31.1",
+ "nalgebra 0.31.3",
  "rand 0.8.5",
  "statrs",
  "yaml-rust",
@@ -2264,9 +2282,9 @@ dependencies = [
 
 [[package]]
 name = "rusttype"
-version = "0.9.2"
+version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc7c727aded0be18c5b80c1640eae0ac8e396abf6fa8477d96cb37d18ee5ec59"
+checksum = "3ff8374aa04134254b7995b63ad3dc41c7f7236f69528b28553da7d72efaa967"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -2298,9 +2316,9 @@ dependencies = [
 
 [[package]]
 name = "scoped-tls"
-version = "1.0.0"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea6a9290e3c9cf0f18145ef7ffa62d68ee0bf5fcd651017e586dc7fd5da448c2"
+checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
 
 [[package]]
 name = "scoped_threadpool"
@@ -2316,18 +2334,18 @@ checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
 
 [[package]]
 name = "serde"
-version = "1.0.145"
+version = "1.0.147"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "728eb6351430bccb993660dfffc5a72f91ccc1295abaa8ce19b27ebe4f75568b"
+checksum = "d193d69bae983fc11a79df82342761dfbf28a99fc8d203dca4c3c1b590948965"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.145"
+version = "1.0.147"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81fa1584d3d1bcacd84c277a0dfe21f5b0f6accf4a23d04d4c6d61f1af522b4c"
+checksum = "4f1d362ca8fc9c3e3a7484440752472d68a6caa98f1ab81d99b5dfe517cec852"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2336,9 +2354,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.85"
+version = "1.0.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e55a28e3aaef9d5ce0506d0a14dbba8054ddc7e499ef522dd8b26859ec9d4a44"
+checksum = "6ce777b7b150d76b9cf60d28b55f5847135a003f7d7350c6be7a773508ce7d45"
 dependencies = [
  "itoa",
  "ryu",
@@ -2368,9 +2386,9 @@ dependencies = [
 
 [[package]]
 name = "simba"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c48e45e5961033db030b56ad67aef22e9c908c493a6e8348c0a0f6b93433cd77"
+checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
 dependencies = [
  "approx 0.5.1",
  "num-complex",
@@ -2399,9 +2417,9 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.9.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fd0db749597d91ff862fd1d55ea87f7855a744a8425a64695b6fca237d1dad1"
+checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
 
 [[package]]
 name = "smithay-client-toolkit"
@@ -2482,9 +2500,9 @@ checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
 
 [[package]]
 name = "syn"
-version = "1.0.101"
+version = "1.0.103"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e90cde112c4b9690b8cbe810cba9ddd8bc1d7472e2cae317b69e9438c1cba7d2"
+checksum = "a864042229133ada95abf3b54fdc62ef5ccabe9515b64717bcb9a1919e59445d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2542,9 +2560,9 @@ dependencies = [
 
 [[package]]
 name = "tiff"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7259662e32d1e219321eb309d5f9d898b779769d81b76e762c07c8e5d38fcb65"
+checksum = "9f71e422515e83e3ab8a03d4781d05ebf864fc61f4546e6ecffa58cbd34181a0"
 dependencies = [
  "flate2",
  "jpeg-decoder 0.2.6",
@@ -2591,9 +2609,9 @@ dependencies = [
 
 [[package]]
 name = "ttf-parser"
-version = "0.6.2"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e5d7cd7ab3e47dda6e56542f4bbf3824c15234958c6e1bd6aaa347e93499fdc"
+checksum = "7b3e06c9b9d80ed6b745c7159c40b311ad2916abb34a49e9be2653b90db0d8dd"
 
 [[package]]
 name = "typenum"
@@ -2603,9 +2621,9 @@ checksum = "dcf81ac59edc17cc8697ff311e8f5ef2d99fcbd9817b34cec66f90b6c3dfd987"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.4"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcc811dc4066ac62f84f11307873c4850cb653bfa9b1719cee2bd2204a4bc5dd"
+checksum = "6ceab39d59e4c9499d4e5a8ee0e2735b891bb7308ac83dfb4e80cad195c9f6f3"
 
 [[package]]
 name = "unicode-width"
@@ -2860,7 +2878,7 @@ dependencies = [
  "inplace_it",
  "js-sys",
  "khronos-egl",
- "libloading 0.7.3",
+ "libloading 0.7.4",
  "log",
  "metal",
  "naga",
@@ -2888,9 +2906,9 @@ dependencies = [
 
 [[package]]
 name = "wide"
-version = "0.7.4"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3aba2d1dac31ac7cae82847ac5b8be822aee8f99a4e100f279605016b185c5f"
+checksum = "ae41ecad2489a1655c8ef8489444b0b113c0a0c795944a3572a0931cf7d2525c"
 dependencies = [
  "bytemuck",
  "safe_arch",
diff --git a/rmf_crowdsim/Cargo.toml b/rmf_crowdsim/Cargo.toml
index 1a7e1d8..595bd34 100644
--- a/rmf_crowdsim/Cargo.toml
+++ b/rmf_crowdsim/Cargo.toml
@@ -9,7 +9,7 @@ edition = "2021"
 nalgebra = "0.31.1"
 rand = "0.8.5"
 statrs = "0.15.0"
-mapf = { git = "https://github.com/open-rmf/mapf.git", branch = "arjo/maybe_fix/visibility_timepoint"}
+mapf = { git = "https://github.com/open-rmf/mapf.git", branch = "arjo/fix/update_gat_syntax"}
 line_intersection = "0.4.0"
 image = "0.24.3"
 imageproc = "0.23.0"