diff --git a/Project.toml b/Project.toml
index 4cc7cee1..5b4dc169 100644
--- a/Project.toml
+++ b/Project.toml
@@ -7,22 +7,18 @@ DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
 RobotDynamics = "38ceca67-d8d3-44e8-9852-78a5596522e1"
 RobotZoo = "74be38bb-dcc2-4b9e-baf3-d6373cd95f10"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
-UnsafeArrays = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6"
 
 [compat]
 DocStringExtensions = "0.8"
 FiniteDiff = "2"
 ForwardDiff = "0.10"
-# MathOptInterface = "0.9"
 RobotDynamics = "0.4.3"
 RobotZoo = "0.3"
 Rotations = "~1.0"
 StaticArrays = "1"
-# UnsafeArrays = "1"
 julia = "1"
diff --git a/src/TrajectoryOptimization.jl b/src/TrajectoryOptimization.jl
index 4f15977e..923e4107 100644
--- a/src/TrajectoryOptimization.jl
+++ b/src/TrajectoryOptimization.jl
@@ -6,11 +6,8 @@ using LinearAlgebra
 using DocStringExtensions
 using ForwardDiff
 using FiniteDiff
-using UnsafeArrays
 using SparseArrays
-using MathOptInterface
 using Rotations
-const MOI = MathOptInterface
 
 import RobotDynamics
 const RD = RobotDynamics