diff --git a/src/dynamics.jl b/src/dynamics.jl
index e1eeacb..f5b85bc 100644
--- a/src/dynamics.jl
+++ b/src/dynamics.jl
@@ -163,46 +163,8 @@ function xuy_indices(cons::Vector{Dynamics{T}}) where T
     [collect((t > 1 ? sum([cons[s].nx + cons[s].nu for s = 1:(t-1)]) : 0) .+ (1:(+ cons[t].nx + cons[t].nu + cons[t].ny))) for t = 1:length(cons)]
 end
 
-# struct DynamicsIndices 
-#     x::Vector{Vector{Int}}
-#     u::Vector{Vector{Int}}
-#     xu::Vector{Vector{Int}}
-#     xuy::Vector{Vector{Int}}
-# end
-
-# struct DynamicsDimensions
-#     x::Vector{Int} 
-#     u::Vector{Int}
-#     w::Vector{Int}
-# end
-
-# function DynamicsDimensions(cons::Vector{Dynamics{T}}; 
-#     w_dim=[0 for t = 1:(length(cons) + 1)]) where T 
-#     x_dim = [[con.nx for con in cons]..., cons[end].ny]
-#     u_dim = [con.nu for con in cons] 
-#     return DynamicsDimensions(x_dim, u_dim, w_dim)
-# end
-
 function dimensions(dyn::Vector{Dynamics{T}}; w=[0 for t = 1:(length(dyn) + 1)]) where T 
     x = [[d.nx for d in dyn]..., dyn[end].ny]
     u = [[d.nu for d in dyn]..., 0]
     return x, u, w
-end
-
-# struct DynamicsModel{T}
-#     dyn::Vector{Dynamics{T}}
-#     idx::DynamicsIndices 
-#     dim::DynamicsDimensions
-# end
-
-# function DynamicsModel(cons::Vector{Dynamics{T}};
-#     w_dim=[0 for t = 1:(length(cons) + 1)]) where T
-#     idx = DynamicsIndices(
-#             x_indices(cons),
-#             u_indices(cons),
-#             xu_indices(cons),
-#             xuy_indices(cons))
-#     dim = DynamicsDimensions(cons, w_dim=w_dim)
-#     DynamicsModel(cons, idx, dim)
-# end
-
+end
\ No newline at end of file