Issues

• Fix inconsistent RK8 stage times for non-autonomous dynamics

  bug
  pyomeca/bioptim#1105 · Filter by author mickaelbegon opened on Sep 30, 2026
  1

• Improve Lagrange-cost quadrature for direct collocation and DMS

  AI exploration
  pyomeca/bioptim#1104 · Filter by author mickaelbegon opened on Sep 30, 2026
  7

• Add two-point Gauss-Legendre quadrature for variational discrete Lagrangians

  AI exploration
  pyomeca/bioptim#1103 · Filter by author mickaelbegon opened on Sep 30, 2026
  1

• Expose post-shake penalty provenance and per-stage ThreadMap fragments for exact sparse derivative callbacks

  AI exploration
  pyomeca/bioptim#1102 · Filter by author mickaelbegon opened on Sep 28, 2026
  1

• Avoid redundant ThreadMap construction for multi-node continuity penalties

  AI exploration
  pyomeca/bioptim#1101 · Filter by author mickaelbegon opened on Sep 25, 2026
  2

• Support CasADi 3.8 and evaluate an opt-in optimized SX code-generation path

  enhancement
  pyomeca/bioptim#1100 · Filter by author mickaelbegon opened on Sep 12, 2026

• docs: add lightweight architecture context for contributors and coding agents

  AI explorationdocumentationenhancement
  pyomeca/bioptim#1098 · Filter by author mickaelbegon opened on Sep 3, 2026
  3

• Try CusADi to use GPUs instead of CPUs ?

  AI exploration
  pyomeca/bioptim#1094 · Filter by author EveCharbie opened on Jul 29, 2026
  8

• [Codex analysis][Acados v0.5.5][5/5] Runtime numerical parameters

  AI exploration
  pyomeca/bioptim#1093 · Filter by author mickaelbegon opened on Jul 28, 2026

• [Codex analysis][Acados v0.5.5][4/5] Expose solver diagnostics

  AI exploration
  pyomeca/bioptim#1092 · Filter by author mickaelbegon opened on Jul 28, 2026

• FATROP rejects scaled OCP defects because the next-state Jacobian is not identity

  AI exploration
  pyomeca/bioptim#1091 · Filter by author mickaelbegon opened on Jul 28, 2026

• [Codex analysis][Acados v0.5.5][3/5] Solver modes and acceleration controls

  AI exploration
  pyomeca/bioptim#1090 · Filter by author mickaelbegon opened on Jul 27, 2026

• [Codex analysis][Acados v0.5.5][2/5] Safe code reuse and solver reset

  AI exploration
  pyomeca/bioptim#1089 · Filter by author mickaelbegon opened on Jul 27, 2026

• [Codex analysis][Acados v0.5.5][1/5] Compatibility baseline

  AI exploration
  pyomeca/bioptim#1088 · Filter by author mickaelbegon opened on Jul 27, 2026

• [Wave RHO] Receding-horizon and Acados integration plan (Codex analysis)

  AI exploration
  pyomeca/bioptim#1086 · Filter by author mickaelbegon opened on Jul 27, 2026

• [CI] Evaluate and reduce GitHub Actions test runtime

  AI exploration
  pyomeca/bioptim#1085 · Filter by author mickaelbegon opened on Jul 27, 2026
  7

• Add Alpaqa solver support through CasADi

  AI exploration
  pyomeca/bioptim#1084 · Filter by author mickaelbegon opened on Jul 26, 2026
  1

• Add MadNLP solver support through CasADi

  AI explorationenhancement
  pyomeca/bioptim#1083 · Filter by author mickaelbegon opened on Jul 26, 2026
  1

• [BUG] OnlineOptim.MULTIPROCESS fails with spawn/forkserver start methods

  bug
  pyomeca/bioptim#1082 · Filter by author mickaelbegon opened on Jul 23, 2026
  6

• Issue with rigid_contact_forces plots in multi-phase simulation (Phase 2 curves empty and titles duplicated)

  pyomeca/bioptim#1057 · Filter by author rdavaill opened on Jun 30, 2026
  3

• Question about muscle-only control for a reaching task using arm26.bioMod

  question
  pyomeca/bioptim#1053 · Filter by author AleBulanti opened on May 18, 2026
  2

• Quaternion handling is too tied to Biorbd

  enhancement
  pyomeca/bioptim#1037 · Filter by author Ipuch opened on Dec 18, 2025

• Remove biorbd mandatory dependency

  enhancement
  pyomeca/bioptim#1035 · Filter by author EveCharbie opened on Dec 12, 2025

• Test convergence and number of iterations

  CIgood first issue
  Task

  pyomeca/bioptim#990 · Filter by author EveCharbie opened on Jul 29, 2025
  4

• Lagrange Multiplier Effect in Implicit Contact Formulation and Derivative Calculation Error

  enhancement
  pyomeca/bioptim#983 · Filter by author Ipuch opened on Jun 20, 2025