diff --git a/src/dorna_example/gripper/gripper_simulator/Cargo.lock b/src/dorna_example/gripper/gripper_simulator/Cargo.lock
index 0649799..1a4444d 100644
--- a/src/dorna_example/gripper/gripper_simulator/Cargo.lock
+++ b/src/dorna_example/gripper/gripper_simulator/Cargo.lock
@@ -45,9 +45,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.0.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
 
 [[package]]
 name = "bindgen"
@@ -305,15 +305,6 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
-[[package]]
-name = "instant"
-version = "0.1.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bee0328b1209d157ef001c94dd85b4f8f64139adb0eac2659f4b08382b2f474d"
-dependencies = [
- "cfg-if",
-]
-
 [[package]]
 name = "itertools"
 version = "0.10.1"
@@ -343,9 +334,9 @@ checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
 [[package]]
 name = "libc"
-version = "0.2.99"
+version = "0.2.139"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7f823d141fe0a24df1e23b4af4e3c7ba9e5966ec514ea068c93024aa7deb765"
+checksum = "201de327520df007757c1f0adce6e827fe8562fbc28bfd9c15571c66ca1f5f79"
 
 [[package]]
 name = "libloading"
@@ -359,10 +350,11 @@ dependencies = [
 
 [[package]]
 name = "lock_api"
-version = "0.4.4"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0382880606dff6d15c9476c416d18690b72742aa7b605bb6dd6ec9030fbf07eb"
+checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
 dependencies = [
+ "autocfg",
  "scopeguard",
 ]
 
@@ -383,24 +375,14 @@ checksum = "b16bd47d9e329435e309c58469fe0791c2d0d1ba96ec0954152a5ae2b04387dc"
 
 [[package]]
 name = "mio"
-version = "0.7.13"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c2bdb6314ec10835cd3293dd268473a835c02b7b352e788be788b3c6ca6bb16"
+checksum = "e5d732bc30207a6423068df043e3d02e0735b155ad7ce1a6f76fe2baa5b158de"
 dependencies = [
  "libc",
  "log",
- "miow",
- "ntapi",
- "winapi",
-]
-
-[[package]]
-name = "miow"
-version = "0.3.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9f1c5b025cda876f66ef43a113f91ebc9f4ccef34843000e0adf6ebbab84e21"
-dependencies = [
- "winapi",
+ "wasi 0.11.0+wasi-snapshot-preview1",
+ "windows-sys 0.42.0",
 ]
 
 [[package]]
@@ -425,15 +407,6 @@ dependencies = [
  "version_check",
 ]
 
-[[package]]
-name = "ntapi"
-version = "0.3.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f6bb902e437b6d86e03cce10a7e2af662292c5dfef23b65899ea3ac9354ad44"
-dependencies = [
- "winapi",
-]
-
 [[package]]
 name = "num_cpus"
 version = "1.13.0"
@@ -444,35 +417,27 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "once_cell"
-version = "1.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
-
 [[package]]
 name = "parking_lot"
-version = "0.11.1"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d7744ac029df22dca6284efe4e898991d28e3085c706c972bcd7da4a27a15eb"
+checksum = "3742b2c103b9f06bc9fff0a37ff4912935851bee6d36f3c02bcc755bcfec228f"
 dependencies = [
- "instant",
  "lock_api",
  "parking_lot_core",
 ]
 
 [[package]]
 name = "parking_lot_core"
-version = "0.8.3"
+version = "0.9.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa7a782938e745763fe6907fc6ba86946d72f49fe7e21de074e08128a99fb018"
+checksum = "9069cbb9f99e3a5083476ccb29ceb1de18b9118cafa53e90c9551235de2b9521"
 dependencies = [
  "cfg-if",
- "instant",
  "libc",
  "redox_syscall",
  "smallvec",
- "winapi",
+ "windows-sys 0.45.0",
 ]
 
 [[package]]
@@ -714,6 +679,16 @@ version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fe0f37c9e8f3c5a4a66ad655a93c74daac4ad00c441533bf5c6e7990bb42604e"
 
+[[package]]
+name = "socket2"
+version = "0.4.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02e2d2db9033d13a1567121ddd7a095ee144db4e1ca1b1bda3419bc0da294ebd"
+dependencies = [
+ "libc",
+ "winapi",
+]
+
 [[package]]
 name = "strsim"
 version = "0.8.0"
@@ -771,29 +746,28 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.10.0"
+version = "1.18.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01cf844b23c6131f624accf65ce0e4e9956a8bb329400ea5bcc26ae3a5c20b0b"
+checksum = "0e050c618355082ae5a89ec63bbf897225d5ffe84c7c4e036874e4d185a5044e"
 dependencies = [
- "autocfg",
  "bytes",
  "libc",
  "memchr",
  "mio",
  "num_cpus",
- "once_cell",
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
+ "socket2",
  "tokio-macros",
  "winapi",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "1.3.0"
+version = "1.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54473be61f4ebe4efd09cec9bd5d16fa51d70ea0192213d754d2d500457db110"
+checksum = "d266c00fde287f55d3f1c3e96c500c362a2b8c695076ec180f27918820bc6df8"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -852,6 +826,12 @@ version = "0.10.2+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
 
+[[package]]
+name = "wasi"
+version = "0.11.0+wasi-snapshot-preview1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+
 [[package]]
 name = "which"
 version = "3.1.1"
@@ -897,3 +877,84 @@ name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "windows-sys"
+version = "0.42.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a3e1820f08b8513f676f7ab6c1f99ff312fb97b553d30ff4dd86f9f15728aa7"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.45.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75283be5efb2831d37ea142365f009c02ec203cd29a3ebecbc093d52315b66d0"
+dependencies = [
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e2522491fbfcd58cc84d47aeb2958948c4b8982e9a2d8a2a35bbaed431390e7"
+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c9864e83243fdec7fc9c5444389dcbbfd258f745e7853198f365e3c4968a608"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c8b1b673ffc16c47a9ff48570a9d85e25d265735c503681332589af6253c6c7"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de3887528ad530ba7bdbb1faa8275ec7a1155a45ffa57c37993960277145d640"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf4d1122317eddd6ff351aa852118a2418ad4214e6613a50e0191f7004372605"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1040f221285e17ebccbc2591ffdc2d44ee1f9186324dd3e84e99ac68d699c45"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "628bfdf232daa22b0d64fdb62b09fcc36bb01f05a3939e20ab73aaf9470d0463"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.42.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "447660ad36a13288b1db4d4248e857b510e8c3a225c822ba4fb748c0aafecffd"