update project

Author: thowell

Project.toml

@@ -13,11 +13,9 @@ ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 GeometryBasics = "5c1252a2-5f33-56bf-86c9-59e7332b4326"
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
-Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
-MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
 MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
 MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
 MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
@@ -43,9 +41,7 @@ FileIO = "1.9"
 ForwardDiff = "0.10"
 GeometryBasics = "0.3"
 IfElse = "0.1"
-Ipopt = "0.6"
 JLD2 = "0.4"
-MathOptInterface = "0.9"
 MeshCat = "0.13"
 MeshCatMechanisms = "0.8"
 MeshIO = "0.4"
@@ -58,3 +54,4 @@ RigidBodyDynamics = "2.3"
 Rotations = "1.0"
 StaticArrays = "1.2"
 Symbolics = "0.1.29 - 0.1.29"
+julia = "1.6"

src/ContactImplicitMPC.jl

@@ -10,12 +10,10 @@ using ForwardDiff
 using GeometryBasics
 using IfElse
 using InteractiveUtils
-using Ipopt
 using JLD2
 using LinearAlgebra
 using Logging
 using QDLDL
-using MathOptInterface
 using MeshCat
 using MeshCatMechanisms
 using Meshing