diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fb5a6fe2..ebeb50c4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,10 +9,11 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
-    continue-on-error: ${{ matrix.version == 'nightly' }}
+    continue-on-error: ${{ matrix.version == 'nightly'}}
     strategy:
       matrix:
         version:
+          - '1.3'
           - '1.4'
           - 'nightly'
         os:
diff --git a/Project.toml b/Project.toml
index b9b4ae5e..f13916eb 100644
--- a/Project.toml
+++ b/Project.toml
@@ -23,13 +23,13 @@ Colors = "0.11.2"
 CoordinateTransformations = "0.5.1"
 FileIO = "1.3.0"
 GeometryTypes = "0.7.10"
-LightXML = "0.9.0"
+LightXML = "0.8.1, 0.9.0"
 MeshCat = "0.9.1"
 MeshIO = "0.3.2"
 Plots = "1.0.14"
 Rotations = "0.13.0"
 StaticArrays = "0.12.3"
-julia = "1.4"
+julia = "1.3, 1.4"
 
 [extras]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
diff --git a/benchmark/Project.toml b/benchmark/Project.toml
index 88c0dd90..9cf5ecdf 100644
--- a/benchmark/Project.toml
+++ b/benchmark/Project.toml
@@ -1,3 +1,4 @@
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
-PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
\ No newline at end of file
+PkgBenchmark = "32113eaa-f34f-5b0d-bd6c-c81e245fc73d"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
\ No newline at end of file
diff --git a/benchmark/benchmarks.jl b/benchmark/benchmarks.jl
index f4e44152..3f4f6d27 100644
--- a/benchmark/benchmarks.jl
+++ b/benchmark/benchmarks.jl
@@ -1,4 +1,5 @@
 using BenchmarkTools
 
 SUITE = BenchmarkGroup()
-SUITE["sum"] = @benchmarkable sum($(randn(10_000)))
\ No newline at end of file
+
+include("example_benchmark.jl")
\ No newline at end of file
diff --git a/benchmark/example_benchmark.jl b/benchmark/example_benchmark.jl
new file mode 100644
index 00000000..737fe939
--- /dev/null
+++ b/benchmark/example_benchmark.jl
@@ -0,0 +1,47 @@
+files = [
+    "atlas"
+    "axes"
+    "chain_in_chain"
+    "dice_nofriction"
+    "dice_tiltedplane"
+    "dice"
+    "disconnected_bodies"
+    "doublependulum_3d"
+    "doublependulum_urdf"
+    "football"
+    "inverted_pyramid_plane"
+    "joint_force"
+    "joint_torque"
+    "n_fourbars"
+    "n_pendulum"
+    "nutation"
+    "pendulum_forced"
+    "pendulum"
+    "planar_example"
+    "scissor_lift"
+    "slider_crank"
+    "slider_crank3d"
+    "wheel"
+]
+
+for i=1:length(files)-1
+    include("../test/examples/"*files[i]*".jl")
+    mech.g = 0.0
+
+    steps = Base.OneTo(100)
+    storage = Storage{Float64}(steps,length(mech.bodies))
+
+    if files[i]=="joint_force" 
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $joint_force_control!) samples=1
+    elseif files[i]=="pendulum_forced"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $pendulum_forced_control!) samples=1
+    elseif files[i]=="football"
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $football_control!) samples=1
+    # elseif files[i]=="nutation"
+    #     SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage, $nutation_control!) samples=1
+    # elseif files[i]=="chain_in_chain"
+    #     #
+    else
+        SUITE[files[i]] = @benchmarkable simulate!($mech, $steps, $storage) samples=1
+    end
+end
diff --git a/test/allocation_test.jl b/test/allocation_test.jl
deleted file mode 100644
index ad10d4aa..00000000
--- a/test/allocation_test.jl
+++ /dev/null
@@ -1,83 +0,0 @@
-using BenchmarkTools
-
-files = [
-    "atlas"
-    "axes"
-    "chain_in_chain"
-    "dice_nofriction"
-    "dice_tiltedplane"
-    "dice"
-    "disconnected_bodies"
-    "doublependulum_3d"
-    "doublependulum_urdf"
-    "football"
-    "inverted_pyramid_plane"
-    "joint_force"
-    "joint_torque"
-    "n_fourbars"
-    "n_pendulum"
-    "nutation"
-    "pendulum_forced"
-    "pendulum"
-    "planar_example"
-    "scissor_lift"
-    "slider_crank"
-    "slider_crank3d"
-    "wheel"
-]
-
-warningtimes = [
-    1000.0 # 562.9592
-    50.0 # 24.4849
-    500.0 # 275.3259
-    4000.0 # 873.5784
-    5000.0 # 1249.2964
-    4000.0 # 900.5005
-    50.0 # 18.3757
-    100.0 # 30.044299
-    100.0 # 37.420599
-    4000.0 # 1688.237801
-    500.0 # 227.109
-    100.0 # 32.286301
-    100.0 # 26.4995
-    4000.0 # 2069.365999
-    1000.0 # 519.0557
-    25.0 # 4.226299
-    25.0 # 11.376999
-    25.0 # 11.785099
-    100.0 # 45.874299
-    100.0 # 42.6032
-    100.0 # 59.4295
-    500.0 # 173.376601
-    10.0 # 0.0
-]*10
-
-time = zeros(length(files))
-
-c1 = maximum(length.(files))+2
-c2 = 9
-
-for i=1:length(files)-1
-    include("examples/"*files[i]*".jl")
-    steps = Base.OneTo(1000)
-    storage = Storage{Float64}(steps,length(mech.bodies))
-    if false        
-    # elseif files[i]=="joint_force" || files[i]=="pendulum_forced" || files[i]=="football" || files[i]=="nutation"
-        # TODO once zero alloc works
-        # t = @benchmarkable simulate!($mech, $steps, $storage, $control!)
-    else
-        t = @benchmarkable simulate!($mech, $steps, $storage)
-    end
-    r = BenchmarkTools.minimum(run(t, samples=1))
-    @test r.memory == 0
-    time[i] = r.time/1e6
-    @test time[i] < warningtimes[i]
-end
-
-println(" "^(c1-7)*" Files | Time")
-println("-"^(c1+c2+1))
-for i=1:length(files)
-    l = length(files[i])
-    println((" "^(c1-l-1))*files[i]*" | "*string(time[i]))
-end
-
diff --git a/test/example_test.jl b/test/example_test.jl
index 53cd9945..a0389f48 100644
--- a/test/example_test.jl
+++ b/test/example_test.jl
@@ -27,10 +27,10 @@ files = [
 ]
 
 for file in files
-    println(file)
+    # println(file)
     include("examples/"*file*".jl")
     if file=="joint_force" || file=="pendulum_forced" || file=="nutation" || file=="football"
-        storage = simulate!(mech, 10., control!, record = true)
+        storage = simulate!(mech, 10., eval(Meta.parse(file*"_control!")), record = true)
     else
         storage = simulate!(mech, 10., record = true)
     end
diff --git a/test/examples/football.jl b/test/examples/football.jl
index 1497b4a3..0dfc6d06 100644
--- a/test/examples/football.jl
+++ b/test/examples/football.jl
@@ -46,7 +46,7 @@ setPosition!(link4,link5,Δx = [0.;0.;0.03])
 
 spin = 0.35
 
-function control!(mechanism, k)
+function football_control!(mechanism, k)
     if k<25
         setForce!(link3, F = SA[0.;25.;25.], τ=spin*SA[0.2;0.2;1.])
     elseif k==40
diff --git a/test/examples/joint_force.jl b/test/examples/joint_force.jl
index 9a5c2f87..543fb7f7 100644
--- a/test/examples/joint_force.jl
+++ b/test/examples/joint_force.jl
@@ -34,7 +34,7 @@ links = [link1; link2]
 constraints = [joint0to1;joint1to2]
 shapes = [b1;b2]
 
-function control!(mechanism, k)
+function joint_force_control!(mechanism, k)
     F = SVector{2,Float64}(0.1,0.)
     setForce!(mechanism, joint1to2, F)
     return
diff --git a/test/examples/nutation.jl b/test/examples/nutation.jl
index a3048edb..345f0f6d 100644
--- a/test/examples/nutation.jl
+++ b/test/examples/nutation.jl
@@ -23,12 +23,12 @@ shapes = [b1]
 mech = Mechanism(origin, links, constraints, g = 0., shapes = shapes)
 
 axis = [0;0;1.]
-speed = 20pi #*0
+speed = 2pi #*0
 setVelocity!(link1, ω = speed*axis)
 
-function control!(mechanism, k)
+function nutation_control!(mechanism, k)
     if k==1
-        setForce!(mechanism.bodies[1], F = SA[0;0;2.], p=SA[0;1.;0])
+        setForce!(mechanism.bodies[1], F = SA[0;0;0.2], p=SA[0;1.;0])
     else
         setForce!(mechanism.bodies[1], F = SA[0;0;0.], p=SA[0;0.0;0])
     end
diff --git a/test/examples/pendulum_forced.jl b/test/examples/pendulum_forced.jl
index d328a4b9..33d5c25d 100644
--- a/test/examples/pendulum_forced.jl
+++ b/test/examples/pendulum_forced.jl
@@ -31,7 +31,7 @@ mech = Mechanism(origin, links, constraints, shapes = shapes)
 setPosition!(origin,link1,p2 = p2,Δq = q1)
 
 jointid = constraints[1].id
-function control!(mechanism, k)
+function pendulum_forced_control!(mechanism, k)
     τ = SVector{1,Float64}(cos(0.5 * k*0.01 * 2pi))
     setForce!(mechanism, geteqconstraint(mechanism,jointid), τ)
 end
diff --git a/test/runtests.jl b/test/runtests.jl
index 4a3bc78a..ff92c61a 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -24,8 +24,4 @@ end
 
 @safetestset "Example Tests" begin
     include("example_test.jl")
-end
-
-@safetestset "Allocation Tests" begin
-    include("allocation_test.jl")
 end
\ No newline at end of file