diff --git a/lib/+mwbs/@Contacts/Contacts.m b/lib/+mwbs/@Contacts/Contacts.m
index 2d68786..d505346 100644
--- a/lib/+mwbs/@Contacts/Contacts.m
+++ b/lib/+mwbs/@Contacts/Contacts.m
@@ -45,8 +45,6 @@
         was_in_contact;                  % This vector says if the vertex was in contact (1) or not (0)
         is_in_contact;                   % This vector says if the vertex is in contact (1) or not (0)
         A; Ax_Lb; Ax_Ub; Aeq; beq; ulb;  % The matrices used in the optimization problem
-        osqpProb;                        % The OSQP solver object
-        firstSolverIter;                 % For handing osqp.setp and osqp.update
         fail_counter = 0;                % For counting the consecuitive fails of the solver
         foot_print;                      % The coordinates of the vertices
     end
@@ -92,9 +90,6 @@
             obj.is_in_contact = ones(num_vertices * num_in_contact_frames,1);
             obj.was_in_contact = ones(num_vertices * num_in_contact_frames,1);
             
-            % initialize the setup/update step of the osqp solver
-            obj.firstSolverIter = true;
-            
             obj.prepare_foot_print (num_in_contact_frames, num_vertices, foot_print);
             obj.prepare_optimization_matrix(num_in_contact_frames, num_vertices);
             
diff --git a/lib/+mwbs/@Contacts/prepare_optimization_matrix.m b/lib/+mwbs/@Contacts/prepare_optimization_matrix.m
index 24c0c3f..058bc46 100644
--- a/lib/+mwbs/@Contacts/prepare_optimization_matrix.m
+++ b/lib/+mwbs/@Contacts/prepare_optimization_matrix.m
@@ -54,8 +54,4 @@ function prepare_optimization_matrix(obj, num_in_contact_frames, num_vertices )
 Ac = repmat({constr_matrix}, 1, total_num_vertices); % Repeat Matrix for every vertex as a cell array
 obj.A(:,1:num_variables) = blkdiag(Ac{1:total_num_vertices});
 
-% Create an OSQP problem object
-if obj.useOSQP
-    obj.osqpProb = osqp;
-end
 end
\ No newline at end of file