Package evaluation of DirectTrajOpt on Julia 1.13.0-DEV.636 (2bd37fbbab*) started at 2025-05-25T18:55:40.384 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.97s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [c823fa1f] + DirectTrajOpt v0.2.6 Updating `~/.julia/environments/v1.13/Manifest.toml` ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.19.0 [6e4b80f9] + BenchmarkTools v1.6.0 [d360d2e6] + ChainRulesCore v1.25.1 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [187b0558] + ConstructionBase v1.5.8 [864edb3b] + DataStructures v0.18.22 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.2.6 [ffbed154] + DocStringExtensions v0.9.4 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [5789e2e9] + FileIO v1.17.0 [6a86dc24] + FiniteDiff v2.27.0 [f6369f11] + ForwardDiff v1.0.1 [b6b21f68] + Ipopt v1.10.3 [92d709cd] + IrrationalConstants v0.2.4 [033835bb] + JLD2 v0.5.13 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.3 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.40.1 [d8a4904e] + MutableArithmetics v1.6.4 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.3.3 [bac558e1] + OrderedCollections v1.8.1 [69de0a69] + Parsers v2.8.3 [aea7be01] + PrecompileTools v1.3.2 [21216c6a] + Preferences v1.4.3 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.5.1 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [856f2bd8] + StructTypes v1.11.0 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.1+0 ⌅ [9cc047cb] + Ipopt_jll v300.1400.1700+0 [d00139f3] + METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] + MUMPS_seq_jll v500.700.301+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.12.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.13.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [2f01184e] + SparseArrays v1.12.0 [f489334b] + StyledStrings v1.11.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.12.1+1 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.5.20 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.5+0 [458c3c95] + OpenSSL_jll v3.5.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.12.0+0 [8e850ede] + nghttp2_jll v1.65.0+0 [3f19e933] + p7zip_jll v17.5.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.05s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 186.23s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_emmyuc/Project.toml` [c823fa1f] DirectTrajOpt v0.2.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 [f6369f11] ForwardDiff v1.0.1 [b6b21f68] Ipopt v1.10.3 [033835bb] JLD2 v0.5.13 [b8f27783] MathOptInterface v1.40.1 [538bc3a1] NamedTrajectories v0.3.3 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [2f01184e] SparseArrays v1.12.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_emmyuc/Manifest.toml` ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.19.0 [6e4b80f9] BenchmarkTools v1.6.0 [d360d2e6] ChainRulesCore v1.25.1 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.16.0 [187b0558] ConstructionBase v1.5.8 [864edb3b] DataStructures v0.18.22 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.2.6 [ffbed154] DocStringExtensions v0.9.4 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [5789e2e9] FileIO v1.17.0 [6a86dc24] FiniteDiff v2.27.0 [f6369f11] ForwardDiff v1.0.1 [b6b21f68] Ipopt v1.10.3 [92d709cd] IrrationalConstants v0.2.4 [033835bb] JLD2 v0.5.13 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.3 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 [b8f27783] MathOptInterface v1.40.1 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.3.3 [bac558e1] OrderedCollections v1.8.1 [69de0a69] Parsers v2.8.3 [aea7be01] PrecompileTools v1.3.2 [21216c6a] Preferences v1.4.3 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.5.1 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [856f2bd8] StructTypes v1.11.0 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.1+0 ⌅ [9cc047cb] Ipopt_jll v300.1400.1700+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.700.301+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.13.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [2f01184e] SparseArrays v1.12.0 [f489334b] StyledStrings v1.11.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] LibCURL_jll v8.12.1+1 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.5.20 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.5+0 [458c3c95] OpenSSL_jll v3.5.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.12.0+0 [8e850ede] nghttp2_jll v1.65.0+0 [3f19e933] p7zip_jll v17.5.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9979353e+00 2.46e+00 7.30e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5572449e+00 6.20e+00 2.24e+02 -1.0 4.58e+00 0.0 1.05e-02 7.36e-01f 1 2 -3.8727914e-01 1.74e+00 4.59e+02 -1.0 3.63e+00 1.3 4.71e-03 1.00e+00f 1 3 -3.6086152e-01 1.21e+00 3.47e+03 -1.0 1.59e+00 2.7 8.24e-01 1.00e+00h 1 4 -1.5364978e-01 1.29e+00 3.10e+04 -1.0 1.57e+00 3.1 1.00e+00 1.00e+00h 1 5 -1.4999770e-01 2.33e-01 5.79e+04 -1.0 8.62e-01 4.4 1.00e+00 1.00e+00h 1 6 -6.0710667e-02 1.74e-01 5.05e+04 -1.0 1.60e+00 3.9 1.00e+00 2.50e-01h 3 7 5.0238635e-01 9.53e-03 7.24e+03 -1.0 1.81e-01 4.4 1.00e+00 1.00e+00h 1 8 4.8672614e-01 5.78e-05 3.42e+02 -1.0 1.37e-02 3.9 1.00e+00 1.00e+00h 1 9 4.8655243e-01 2.52e-09 1.91e-01 -1.0 7.45e-05 3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.8640705e-01 2.63e-08 1.95e-01 -2.5 2.29e-04 2.9 1.00e+00 1.00e+00f 1 11 4.8597183e-01 2.37e-07 1.95e-01 -2.5 6.86e-04 2.5 1.00e+00 1.00e+00f 1 12 4.8467434e-01 2.13e-06 1.95e-01 -2.5 2.06e-03 2.0 1.00e+00 1.00e+00f 1 13 4.8085407e-01 1.92e-05 1.95e-01 -2.5 6.18e-03 1.5 1.00e+00 1.00e+00f 1 14 4.7001088e-01 1.73e-04 1.95e-01 -2.5 1.85e-02 1.0 1.00e+00 1.00e+00f 1 15 4.4234250e-01 1.56e-03 1.95e-01 -2.5 5.56e-02 0.5 1.00e+00 1.00e+00f 1 16 3.9215400e-01 1.37e-02 1.93e-01 -2.5 1.65e-01 0.1 1.00e+00 1.00e+00f 1 17 3.3032274e-01 6.82e-02 4.18e-01 -2.5 5.06e-01 -0.4 1.00e+00 1.00e+00F 1 18 1.6963531e-01 6.26e-03 2.27e-01 -2.5 1.60e-01 0.0 1.00e+00 1.00e+00h 1 19 1.6913079e-01 4.44e-02 2.24e-01 -2.5 2.61e-01 -0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.5509331e-01 4.99e-02 2.23e-01 -2.5 3.65e+00 -0.9 1.00e+00 3.12e-02h 6 21 1.0989564e-01 6.04e-02 1.35e-01 -2.5 5.51e-01 -0.5 1.00e+00 5.00e-01h 2 22 1.0356945e-01 7.19e-02 1.51e-01 -2.5 6.32e+01 -1.0 4.22e-01 2.44e-03f 9 23 7.8345418e-02 9.07e-02 1.96e-01 -2.5 6.86e-01 -0.6 1.00e+00 5.00e-01h 2 24 -1.0764421e-01 4.60e-03 1.89e-01 -2.5 1.46e-01 -0.1 1.00e+00 1.00e+00h 1 25 -1.6512709e-01 5.99e-03 8.14e-02 -2.5 2.25e-01 -0.6 1.00e+00 1.00e+00H 1 26 -1.6903107e-01 1.41e-02 9.17e-02 -2.5 9.72e-01 -1.1 1.00e+00 1.25e-01h 4 27 -1.7266677e-01 2.83e-02 9.29e-02 -2.5 4.05e-01 -0.7 1.00e+00 5.00e-01h 2 28 -1.7742236e-01 3.18e-02 9.99e-02 -2.5 1.08e+01 -1.1 1.00e+00 7.81e-03h 8 29 -1.9168277e-01 3.79e-02 1.05e-01 -2.5 6.92e-01 -0.7 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 -2.6893378e-01 1.32e-02 1.10e-01 -2.5 1.83e-01 -0.3 1.00e+00 1.00e+00h 1 31 -2.7729288e-01 1.84e-02 9.34e-02 -2.5 5.42e-01 -0.8 1.00e+00 2.50e-01h 3 32 -2.7986748e-01 2.29e-02 9.81e-02 -2.5 1.21e+01 -1.2 8.60e-01 7.81e-03h 8 33 -2.8854378e-01 2.63e-02 1.02e-01 -2.5 8.75e-01 -0.8 1.00e+00 1.25e-01h 4 34 -3.2067871e-01 2.29e-02 8.30e-02 -2.5 2.05e-01 -0.4 1.00e+00 1.00e+00h 1 35 -3.2837733e-01 2.46e-02 8.67e-02 -2.5 1.13e+00 -0.9 1.00e+00 6.25e-02h 5 36 -3.3792045e-01 4.11e-02 1.06e-01 -2.5 2.78e-01 -0.4 1.00e+00 1.00e+00h 1 37 -4.5058031e-01 4.53e-03 1.18e-01 -2.5 1.23e-01 -0.0 1.00e+00 1.00e+00h 1 38 -4.9626014e-01 7.38e-03 1.02e-01 -2.5 2.88e-01 -0.5 1.00e+00 1.00e+00H 1 39 -4.9925895e-01 1.33e-02 1.08e-01 -2.5 1.81e+00 -1.0 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 -5.0923605e-01 1.68e-02 1.14e-01 -2.5 4.69e-01 -0.5 1.00e+00 2.50e-01h 3 41 -5.1309213e-01 2.01e-02 1.21e-01 -2.5 1.04e+01 -1.0 1.00e+00 7.81e-03f 8 42 -5.1968874e-01 2.79e-02 1.30e-01 -2.5 6.24e-01 -0.6 1.00e+00 2.50e-01h 3 43 -5.7122549e-01 1.44e-02 1.03e-01 -2.5 1.53e-01 -0.2 1.00e+00 1.00e+00h 1 44 -5.7710413e-01 2.05e-02 1.04e-01 -2.5 4.81e-01 -0.6 1.00e+00 2.50e-01h 3 45 -6.1692977e-01 2.01e-02 1.17e-01 -2.5 1.95e-01 -0.2 1.00e+00 1.00e+00h 1 46 -6.2652803e-01 2.42e-02 1.24e-01 -2.5 8.79e-01 -0.7 1.00e+00 1.25e-01h 4 47 -6.5237990e-01 3.45e-02 1.42e-01 -2.5 2.67e-01 -0.3 1.00e+00 1.00e+00h 1 48 -6.6135608e-01 3.89e-02 1.54e-01 -2.5 1.86e+00 -0.8 1.00e+00 6.25e-02h 5 49 -6.7085926e-01 6.05e-02 1.70e-01 -2.5 3.59e-01 -0.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -8.0385789e-01 4.85e-03 1.31e-01 -2.5 1.03e-01 0.1 1.00e+00 1.00e+00h 1 51 -8.5840893e-01 5.03e-03 1.41e-01 -2.5 2.60e-01 -0.4 1.00e+00 1.00e+00H 1 52 -8.6581335e-01 9.48e-03 1.46e-01 -2.5 1.37e+00 -0.9 1.00e+00 6.25e-02h 5 53 -8.7967720e-01 1.33e-02 1.24e-01 -2.5 4.09e-01 -0.4 1.00e+00 2.50e-01h 3 54 -8.8723952e-01 1.74e-02 1.29e-01 -2.5 5.60e+00 -0.9 1.00e+00 1.56e-02f 7 55 -9.0085845e-01 2.66e-02 1.41e-01 -2.5 6.41e-01 -0.5 1.00e+00 2.50e-01h 3 56 -9.6085291e-01 1.80e-02 1.79e-01 -2.5 2.02e-01 -0.1 1.00e+00 1.00e+00h 1 57 -9.7460659e-01 2.63e-02 1.82e-01 -2.5 6.45e-01 -0.5 1.00e+00 2.50e-01h 3 58 -1.0226768e+00 2.25e-02 1.70e-01 -2.5 2.15e-01 -0.1 1.00e+00 1.00e+00h 1 59 -1.0323817e+00 3.46e-02 1.76e-01 -2.5 7.35e-01 -0.6 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 -1.0889297e+00 2.56e-02 1.43e-01 -2.5 2.04e-01 -0.2 1.00e+00 1.00e+00h 1 61 -1.0933983e+00 3.63e-02 1.44e-01 -2.5 6.88e-01 -0.6 1.00e+00 2.50e-01h 3 62 -1.1624050e+00 3.56e-02 1.73e-01 -2.5 2.78e-01 -0.2 1.00e+00 1.00e+00h 1 63 -1.1778770e+00 3.91e-02 1.77e-01 -2.5 1.00e+00 -0.7 1.00e+00 1.25e-01h 4 64 -1.2275156e+00 3.87e-02 1.63e-01 -2.5 2.93e-01 -0.3 1.00e+00 1.00e+00h 1 65 -1.2390231e+00 4.40e-02 1.69e-01 -2.5 1.14e+00 -0.7 1.00e+00 1.25e-01h 4 66 -1.2793414e+00 4.09e-02 1.41e-01 -2.5 2.86e-01 -0.3 1.00e+00 1.00e+00h 1 67 -1.2887740e+00 4.39e-02 1.48e-01 -2.5 1.55e+00 -0.8 1.00e+00 6.25e-02h 5 68 -1.3115173e+00 4.39e-02 1.19e-01 -2.5 2.71e-01 -0.4 1.00e+00 1.00e+00h 1 69 -1.4394553e+00 3.95e-03 1.45e-01 -2.5 1.24e-01 0.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 -1.4837302e+00 3.95e-03 1.05e-01 -2.5 2.45e-01 -0.4 1.00e+00 1.00e+00H 1 71 -1.4892317e+00 6.55e-03 1.08e-01 -2.5 1.21e+00 -0.9 1.00e+00 6.25e-02h 5 72 -1.5166864e+00 2.51e-02 1.78e-01 -2.5 3.82e-01 -0.5 1.00e+00 1.00e+00H 1 73 -1.5200262e+00 3.10e-02 1.88e-01 -2.5 6.97e+00 -0.9 1.00e+00 1.56e-02h 7 74 -1.5350592e+00 3.39e-02 1.64e-01 -2.5 5.50e-01 -0.5 1.00e+00 2.50e-01h 3 75 -1.6032062e+00 9.93e-03 1.20e-01 -2.5 1.34e-01 -0.1 1.00e+00 1.00e+00h 1 76 -1.6129576e+00 1.25e-02 1.08e-01 -2.5 3.78e-01 -0.6 1.00e+00 2.50e-01h 3 77 -1.6178967e+00 1.53e-02 1.13e-01 -2.5 4.55e+00 -1.0 1.00e+00 1.56e-02h 7 78 -1.6217245e+00 2.71e-02 1.25e-01 -2.5 6.60e-01 -0.6 1.00e+00 2.50e-01h 3 79 -1.6697908e+00 2.52e-02 1.52e-01 -2.5 2.34e-01 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 -1.6805971e+00 2.90e-02 1.58e-01 -2.5 9.48e-01 -0.7 1.00e+00 1.25e-01h 4 81 -1.7101493e+00 3.52e-02 1.57e-01 -2.5 2.73e-01 -0.2 1.00e+00 1.00e+00h 1 82 -1.7206675e+00 3.81e-02 1.66e-01 -2.5 1.60e+00 -0.7 1.00e+00 6.25e-02h 5 83 -1.7351138e+00 5.11e-02 1.60e-01 -2.5 3.13e-01 -0.3 1.00e+00 1.00e+00h 1 84 -1.7416348e+00 5.71e-02 1.77e-01 -2.5 6.13e+01 -0.8 3.74e-01 1.60e-03f 9 85 -1.7868779e+00 4.96e-02 1.62e-01 -2.5 4.53e-01 -0.3 1.00e+00 5.00e-01h 2 86 -1.9256147e+00 6.28e-03 1.88e-01 -2.5 1.55e-01 0.1 1.00e+00 1.00e+00h 1 87 -1.9839019e+00 1.40e-02 1.55e-01 -2.5 3.33e-01 -0.4 1.00e+00 1.00e+00H 1 88 -1.9886650e+00 2.54e-02 1.67e-01 -2.5 2.51e+00 -0.9 1.00e+00 6.25e-02h 5 89 -2.0070383e+00 3.02e-02 1.79e-01 -2.5 5.97e-01 -0.4 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 -2.0692590e+00 1.41e-02 1.56e-01 -2.5 1.63e-01 -0.0 1.00e+00 1.00e+00h 1 91 -2.0839018e+00 1.80e-02 1.53e-01 -2.5 4.52e-01 -0.5 1.00e+00 2.50e-01h 3 92 -2.0906461e+00 2.40e-02 1.59e-01 -2.5 3.31e+00 -1.0 1.00e+00 3.12e-02h 6 93 -2.1023029e+00 3.08e-02 1.58e-01 -2.5 5.87e-01 -0.5 1.00e+00 2.50e-01h 3 94 -2.1702251e+00 2.24e-02 1.67e-01 -2.5 2.20e-01 -0.1 1.00e+00 1.00e+00h 1 95 -2.1828960e+00 3.14e-02 1.67e-01 -2.5 6.68e-01 -0.6 1.00e+00 2.50e-01h 3 96 -2.2357531e+00 2.65e-02 1.62e-01 -2.5 2.41e-01 -0.2 1.00e+00 1.00e+00h 1 97 -2.2439549e+00 3.78e-02 1.64e-01 -2.5 7.62e-01 -0.6 1.00e+00 2.50e-01h 3 98 -2.2958775e+00 2.89e-02 1.44e-01 -2.5 2.40e-01 -0.2 1.00e+00 1.00e+00h 1 99 -2.3083949e+00 3.08e-02 1.45e-01 -2.5 7.86e-01 -0.7 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 -2.3436040e+00 2.64e-02 1.09e-01 -2.5 2.04e-01 -0.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: -2.3436040249319534e+00 -2.3436040249319534e+00 Dual infeasibility......: 1.0867615458599889e-01 1.0867615458599889e-01 Constraint violation....: 2.6367110600889698e-02 2.6367110600889698e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8294839925016571e-03 2.8294839925016571e-03 Overall NLP error.......: 1.0867615458599889e-01 1.0867615458599889e-01 Number of objective function evaluations = 323 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 323 Number of inequality constraint evaluations = 323 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.506 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 28 28 6m29.6s Testing DirectTrajOpt tests passed Testing completed after 468.77s PkgEval succeeded after 685.05s