diff --git a/Project.toml b/Project.toml
index f4de1c0..81f322f 100644
--- a/Project.toml
+++ b/Project.toml
@@ -27,5 +27,5 @@ RecipesBase = "1.1"
 RobotDynamics = "0.3.1 - 0.3.1"
 Rotations = "1.0"
 StaticArrays = "1.2"
-TrajectoryOptimization = "0.4.1 - 0.4.1"
+TrajectoryOptimization = "0.4.1 - 0.4.1, 0.5"
 julia = "1"