diff --git a/A/Altro/Compat.toml b/A/Altro/Compat.toml
index 153f2b7ce0117ec..19a7dee82f89a26 100644
--- a/A/Altro/Compat.toml
+++ b/A/Altro/Compat.toml
@@ -1,19 +1,30 @@
 [0]
 BenchmarkTools = "0.5"
 DocStringExtensions = "0.8"
-Interpolations = "0.12"
 Parameters = "0.12"
 RobotZoo = "0.1"
 Rotations = "1"
 SolverLogging = "0.1"
-StaticArrays = "0.12"
-TrajectoryOptimization = "0.3"
 UnsafeArrays = "1"
 julia = "1"
 
 ["0-0.1"]
 RobotDynamics = "0.1"
 
+["0-0.2"]
+Interpolations = "0.12"
+StaticArrays = "0.12"
+TrajectoryOptimization = "0.3"
+
+["0.2"]
+RobotDynamics = "0.1-0.2"
+
 ["0.2-0"]
 Crayons = "4"
-RobotDynamics = "0.1-0.2"
+
+["0.3-0"]
+Interpolations = "0.12-0.13"
+RobotDynamics = "0.1-0.3"
+StaticArrays = "1"
+TimerOutputs = "0.5"
+TrajectoryOptimization = "0.4.1-0.4"
diff --git a/A/Altro/Deps.toml b/A/Altro/Deps.toml
index 97c6b9855022a55..fb34941d62b4d60 100644
--- a/A/Altro/Deps.toml
+++ b/A/Altro/Deps.toml
@@ -17,3 +17,6 @@ UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 
 ["0.2-0"]
 Crayons = "a8cc5b0e-0ffa-5ad4-8c14-923d3ee1735f"
+
+["0.3-0"]
+TimerOutputs = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f"
diff --git a/A/Altro/Versions.toml b/A/Altro/Versions.toml
index a85eca1ffdee919..8a45128cf8adf26 100644
--- a/A/Altro/Versions.toml
+++ b/A/Altro/Versions.toml
@@ -3,3 +3,6 @@ git-tree-sha1 = "bc837df3ccb0fc2aecad5512eb83c6cb6548b4a5"
 
 ["0.2.0"]
 git-tree-sha1 = "c33b970aa12d5d437bf8010a1d096f0edcd91a5d"
+
+["0.3.0"]
+git-tree-sha1 = "3616f09f93bc28287d3688e7c240470685b0f27b"