update examples project

Update Project.toml

compat fix

update deps

update deps

Merge branch 'main' of https://github.com/thowell/DirectTrajectoryOptimization.jl into main

fix hessian_indices

Update acrobot.jl

Update README.md

fixes

merge

clean up

fix hessian lagrangian MOI feature call

match cartpole quickstart example

cartpole example