Issues

• Feature request: Time delay thogh the introduction of additional variables.

  csu-hmc/opty#551 · Filter by author EveCharbie opened on Sep 14, 2026
  20

• Allow eom_bounds to be set to arrays

  csu-hmc/opty#530 · Filter by author Peter230655 opened on Mar 26, 2026
  8

• Add functionality that generates the symbolic Hessian of the Lagrangrian

  enhancement
  csu-hmc/opty#520 · Filter by author moorepants opened on Nov 2, 2025
  2

• car_on_a_racecourse and crane_moving_a_load thumbnails are not animations.

  documentation
  csu-hmc/opty#518 · Filter by author Peter230655 opened on Nov 1, 2025
  1

• Remove the Jacobian values that are always zero from the sparse array structure

  performance
  csu-hmc/opty#511 · Filter by author moorepants opened on Oct 28, 2025

• See if the ignore kwarg in cse can be used instead of a hack

  csu-hmc/opty#505 · Filter by author moorepants opened on Oct 27, 2025

• Try out and potentially make use of SymPy's cse_diff.py module

  performance
  csu-hmc/opty#504 · Filter by author moorepants opened on Oct 27, 2025
  2

• Support functions of multiple variables in known_trajectory_map

  enhancement
  csu-hmc/opty#494 · Filter by author moorepants opened on Sep 17, 2025
  5

• Feature request: Support for interpolation

  enhancement
  csu-hmc/opty#474 · Filter by author moorepants opened on May 25, 2025
  34

• Feature request: change instance constraints without rebuilding entire problem

  enhancement
  csu-hmc/opty#455 · Filter by author Peter230655 opened on May 6, 2025
  1

• Support explicit functions of time in the equations of motion

  enhancement
  csu-hmc/opty#451 · Filter by author moorepants opened on Apr 29, 2025

• Convert all existing examples and tests to use the new additional equality/inequality constraints

  documentationexample
  csu-hmc/opty#447 · Filter by author moorepants opened on Apr 28, 2025
  6

• Investigate simpler cse Jacobian

  enhancementperformance
  csu-hmc/opty#446 · Filter by author moorepants opened on Apr 28, 2025

• Running the unit tests takes much longer than it used too and should be sped up

  performance
  csu-hmc/opty#442 · Filter by author moorepants opened on Apr 26, 2025
  1

• Resetting the obj, obj_grad, and bounds may not work, double check

  bug
  csu-hmc/opty#418 · Filter by author moorepants opened on Mar 25, 2025
  3

• What to do (if anything) about the first point of a backward Euler solution being discontinuous?

  csu-hmc/opty#412 · Filter by author moorepants opened on Mar 23, 2025
  16

• Example idea: make the 2D gait person do a standing flip

  enhancementexample
  csu-hmc/opty#403 · Filter by author moorepants opened on Mar 10, 2025

• Speed up the NumPy backend

  enhancementperformance
  csu-hmc/opty#393 · Filter by author moorepants opened on Mar 2, 2025
  10

• Move all examples to the sphinx gallery

  documentation
  csu-hmc/opty#366 · Filter by author moorepants opened on Feb 19, 2025
  1

• Improvement ideas for the sit-to-stand example

  documentationenhancementexample
  csu-hmc/opty#359 · Filter by author moorepants opened on Feb 13, 2025
  4

• model.py is processed as an example but shouldn't be

  bugdocumentation
  csu-hmc/opty#351 · Filter by author moorepants opened on Feb 10, 2025

• Create consistent formatting for all examples in the gallery

  documentationenhancementexample
  csu-hmc/opty#348 · Filter by author moorepants opened on Feb 10, 2025

• Implement stability constraints

  enhancement
  csu-hmc/opty#251 · Filter by author moorepants opened on Sep 24, 2024
  13

• Feature request: Time delay parameters

  enhancement
  csu-hmc/opty#224 · Filter by author chris-konrad opened on Sep 9, 2024
  16

• All assumptions applied to functions of time should be transferred to their discrete versions

  bug
  csu-hmc/opty#215 · Filter by author moorepants opened on Aug 29, 2024
  11