diff --git a/R/RigidBodyTools/Compat.toml b/R/RigidBodyTools/Compat.toml
index 3aff59c3ed00566..6a09a9320aaa558 100644
--- a/R/RigidBodyTools/Compat.toml
+++ b/R/RigidBodyTools/Compat.toml
@@ -1,6 +1,3 @@
-[0]
-julia = "1"
-
 ["0-0.1.2"]
 Dierckx = "0.0.0-0.4"
 DocStringExtensions = "0.0.0-0.8"
@@ -9,6 +6,9 @@ ForwardDiff = "0.0.0-0.10"
 ["0-0.5.1"]
 Statistics = "1"
 
+["0-0.5.5"]
+julia = "1"
+
 ["0.1.1-0"]
 LaTeXStrings = "1"
 
@@ -44,9 +44,17 @@ DocStringExtensions = "0.8.1-0.8"
 ["0.5-0"]
 ColorTypes = "0.0.0-0.11"
 DocStringExtensions = "0.8.1-0.9"
-SpaceTimeFields = "0.1.2-0.1"
 StaticArrays = "1.5.0-1"
 UnPack = "1"
 
+["0.5-0.5.5"]
+SpaceTimeFields = "0.1.2-0.1"
+
 ["0.5.2-0"]
 Roots = "1-2"
+
+["0.5.6-0"]
+LinearAlgebra = "1.6.0-1"
+SpaceTimeFields = "0.1.2-0.2"
+Statistics = "1.6.0-1"
+julia = "1.6.0-1"
diff --git a/R/RigidBodyTools/Versions.toml b/R/RigidBodyTools/Versions.toml
index 20b210383aaa3bc..226fe3359615efc 100644
--- a/R/RigidBodyTools/Versions.toml
+++ b/R/RigidBodyTools/Versions.toml
@@ -90,3 +90,6 @@ git-tree-sha1 = "70de921d96e8c64f6aaf1aec55f97b861517a76f"
 
 ["0.5.5"]
 git-tree-sha1 = "51290330041b0b9a9a9a7706198190d25a322038"
+
+["0.5.6"]
+git-tree-sha1 = "8d523496365c5100319814a30ffecf4ffc2cb720"