diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml
index 9585c3d9..24a40eb0 100644
--- a/.github/workflows/mac.yml
+++ b/.github/workflows/mac.yml
@@ -88,7 +88,7 @@ jobs:
             --event-handlers console_cohesion+ \
             --cmake-force-configure \
             --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \
-            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \
+            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF \
             -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF \
             -DVCPKG_APPLOCAL_DEPS=OFF -DTRAJOPT_ENABLE_TESTING=ON \
             -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 17f1dc10..b982f42e 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -61,6 +61,6 @@ jobs:
       with:
         ccache-prefix: ${{ matrix.distro }}
         vcs-file: .github/workflows/windows_dependencies.repos
-        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
+        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF
         target-path: target_ws/src
         target-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON