Package evaluation of DirectTrajOpt on Julia 1.13.0-DEV.640 (0a970d81aa*) started at 2025-05-27T19:02:29.991 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.18s ################################################################################ # 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 v1.10.4 [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 v300.1400.1701+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.0+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.5.20+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 ⌃ have new versions available and may be upgradable. Installation completed after 4.5s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 169.11s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_BqK8Xm/Project.toml` [c823fa1f] DirectTrajOpt v0.2.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 [f6369f11] ForwardDiff v1.0.1 [b6b21f68] Ipopt v1.10.4 [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_BqK8Xm/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 v1.10.4 [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 v300.1400.1701+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.0+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.5.20+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 ⌃ have new versions available and may be upgradable. 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 5.8.0. 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 4.9312504e+00 2.12e+00 9.96e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.0177785e+00 2.10e+00 2.55e+00 -1.0 2.60e+01 0.0 2.35e-02 6.80e-03h 1 2 5.3852432e+01 5.80e+00 1.95e+02 -1.0 7.37e+00 0.4 1.78e-02 7.12e-01h 1 3 1.0199857e+01 1.84e+00 3.08e+03 -1.0 3.49e+00 1.8 1.36e-02 1.00e+00f 1 4 1.0379718e+01 1.16e+00 1.53e+03 -1.0 9.07e-01 2.2 1.00e+00 1.00e+00h 1 5 7.3499183e+00 7.49e-01 6.56e+02 -1.0 1.49e+00 1.7 1.00e+00 1.00e+00f 1 6 4.6200894e+00 1.93e-01 2.28e+02 -1.0 8.21e-01 1.2 1.00e+00 1.00e+00f 1 7 4.2429496e+00 3.53e-02 4.73e+01 -1.0 1.86e-01 1.7 1.00e+00 1.00e+00h 1 8 4.1528273e+00 1.05e-03 7.95e-01 -1.0 3.59e-02 1.2 1.00e+00 1.00e+00h 1 9 4.1429121e+00 2.19e-04 1.60e-01 -1.7 2.00e-02 0.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.1213105e+00 2.23e-03 1.11e-01 -2.5 6.68e-02 0.2 1.00e+00 1.00e+00h 1 11 4.1038413e+00 2.33e-02 1.20e-01 -2.5 2.16e-01 -0.3 1.00e+00 1.00e+00h 1 12 4.0994228e+00 3.70e-02 1.39e-01 -2.5 1.46e+00 -0.7 1.00e+00 1.25e-01h 4 13 4.0804166e+00 5.90e-02 1.67e-01 -2.5 3.39e-01 -0.3 1.00e+00 1.00e+00h 1 14 3.9300001e+00 4.54e-03 1.74e-01 -2.5 1.32e-01 0.1 1.00e+00 1.00e+00h 1 15 3.8613975e+00 7.28e-03 1.26e-01 -2.5 2.37e-01 -0.4 1.00e+00 1.00e+00H 1 16 3.8528359e+00 1.25e-02 1.33e-01 -2.5 1.63e+00 -0.8 1.00e+00 6.25e-02h 5 17 3.8525759e+00 3.64e-02 1.60e-01 -2.5 4.83e-01 -0.4 1.00e+00 5.00e-01h 2 18 3.7725236e+00 1.36e-02 1.82e-01 -2.5 1.75e-01 0.0 1.00e+00 1.00e+00h 1 19 3.7579959e+00 1.74e-02 1.78e-01 -2.5 4.79e-01 -0.5 1.00e+00 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.7571567e+00 3.12e-02 1.86e-01 -2.5 2.74e+00 -0.9 1.00e+00 6.25e-02h 5 21 3.7432192e+00 4.03e-02 1.94e-01 -2.5 7.09e-01 -0.5 1.00e+00 2.50e-01h 3 22 3.6693368e+00 1.89e-02 1.55e-01 -2.5 1.68e-01 -0.1 1.00e+00 1.00e+00h 1 23 3.6578652e+00 2.44e-02 1.41e-01 -2.5 5.56e-01 -0.6 1.00e+00 2.50e-01h 3 24 3.6062031e+00 2.60e-02 1.68e-01 -2.5 2.30e-01 -0.1 1.00e+00 1.00e+00h 1 25 3.6033211e+00 4.48e-02 1.80e-01 -2.5 8.82e-01 -0.6 1.00e+00 2.50e-01h 3 26 3.5430036e+00 4.13e-02 1.97e-01 -2.5 3.03e-01 -0.2 1.00e+00 1.00e+00h 1 27 3.5287465e+00 4.80e-02 2.05e-01 -2.5 1.23e+00 -0.7 1.00e+00 1.25e-01h 4 28 3.4837529e+00 4.60e-02 1.72e-01 -2.5 2.97e-01 -0.2 1.00e+00 1.00e+00h 1 29 3.4696403e+00 4.86e-02 1.79e-01 -2.5 1.48e+00 -0.7 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.4379554e+00 5.46e-02 1.62e-01 -2.5 3.16e-01 -0.3 1.00e+00 1.00e+00h 1 31 3.4277624e+00 6.04e-02 1.78e-01 -2.5 7.09e+00 -0.8 1.00e+00 1.56e-02h 7 32 3.3338767e+00 7.23e-02 6.48e-01 -2.5 4.92e-01 -0.3 1.00e+00 1.00e+00H 1 33 3.1872350e+00 4.83e-03 1.73e-01 -2.5 1.06e-01 0.1 1.00e+00 1.00e+00h 1 34 3.1427009e+00 3.92e-03 1.01e-01 -2.5 2.52e-01 -0.4 1.00e+00 1.00e+00H 1 35 3.1421781e+00 1.11e-02 1.03e-01 -2.5 8.80e-01 -0.9 1.00e+00 1.25e-01h 4 36 3.1174312e+00 3.58e-02 2.69e-01 -2.5 3.36e-01 -0.4 1.00e+00 1.00e+00H 1 37 3.0373945e+00 1.03e-02 1.54e-01 -2.5 1.60e-01 -0.0 1.00e+00 1.00e+00h 1 38 3.0196140e+00 4.19e-02 2.63e-01 -2.5 4.37e-01 -0.5 1.00e+00 1.00e+00H 1 39 2.9361895e+00 1.35e-02 1.33e-01 -2.5 1.49e-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 40 2.9237033e+00 1.73e-02 1.26e-01 -2.5 4.28e-01 -0.5 1.00e+00 2.50e-01h 3 41 2.9170959e+00 2.26e-02 1.31e-01 -2.5 3.08e+00 -1.0 1.00e+00 3.12e-02h 6 42 2.9102751e+00 3.34e-02 1.29e-01 -2.5 7.16e-01 -0.6 1.00e+00 2.50e-01h 3 43 2.8418547e+00 2.89e-02 1.73e-01 -2.5 2.57e-01 -0.2 1.00e+00 1.00e+00h 1 44 2.8366689e+00 4.57e-02 1.79e-01 -2.5 8.80e-01 -0.6 1.00e+00 2.50e-01h 3 45 2.7751101e+00 3.83e-02 1.73e-01 -2.5 2.89e-01 -0.2 1.00e+00 1.00e+00h 1 46 2.7614266e+00 4.34e-02 1.79e-01 -2.5 1.11e+00 -0.7 1.00e+00 1.25e-01h 4 47 2.7208275e+00 4.03e-02 1.43e-01 -2.5 2.69e-01 -0.3 1.00e+00 1.00e+00h 1 48 2.7079187e+00 4.27e-02 1.49e-01 -2.5 1.41e+00 -0.8 1.00e+00 6.25e-02h 5 49 2.6853010e+00 5.96e-02 1.61e-01 -2.5 3.39e-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 2.6802925e+00 7.20e-02 1.85e-01 -2.5 8.21e+01 -0.8 9.88e-01 1.88e-03f 10 51 2.6243132e+00 7.49e-02 2.18e-01 -2.5 5.95e-01 -0.4 1.00e+00 5.00e-01h 2 52 2.4692180e+00 6.11e-03 1.87e-01 -2.5 1.31e-01 0.1 1.00e+00 1.00e+00h 1 53 2.4176797e+00 8.52e-03 1.20e-01 -2.5 3.14e-01 -0.4 1.00e+00 1.00e+00H 1 54 2.4103585e+00 1.25e-02 1.24e-01 -2.5 1.39e+00 -0.9 1.00e+00 6.25e-02h 5 55 2.3978614e+00 1.50e-02 1.23e-01 -2.5 3.69e-01 -0.5 1.00e+00 2.50e-01h 3 56 2.3925450e+00 2.05e-02 1.30e-01 -2.5 3.35e+00 -1.0 1.00e+00 3.12e-02h 6 57 2.3801783e+00 2.78e-02 1.25e-01 -2.5 6.29e-01 -0.5 1.00e+00 2.50e-01h 3 58 2.3153050e+00 1.87e-02 1.64e-01 -2.5 2.08e-01 -0.1 1.00e+00 1.00e+00h 1 59 2.3030372e+00 2.56e-02 1.63e-01 -2.5 6.12e-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 2.2966814e+00 3.29e-02 1.72e-01 -2.5 7.99e+00 -1.1 1.00e+00 1.56e-02f 7 61 2.2815194e+00 3.61e-02 1.79e-01 -2.5 9.82e-01 -0.6 1.00e+00 1.25e-01h 4 62 2.2330823e+00 3.00e-02 1.57e-01 -2.5 2.52e-01 -0.2 1.00e+00 1.00e+00h 1 63 2.2304677e+00 4.34e-02 1.59e-01 -2.5 7.91e-01 -0.7 1.00e+00 2.50e-01h 3 64 2.1702684e+00 2.69e-02 1.48e-01 -2.5 2.19e-01 -0.3 1.00e+00 1.00e+00h 1 65 2.1586810e+00 3.18e-02 1.29e-01 -2.5 9.79e-01 -0.7 1.00e+00 1.25e-01h 4 66 2.1213163e+00 4.27e-02 1.50e-01 -2.5 3.04e-01 -0.3 1.00e+00 1.00e+00h 1 67 2.1131750e+00 5.11e-02 1.65e-01 -2.5 2.38e+00 -0.8 1.00e+00 6.25e-02h 5 68 2.1075448e+00 7.88e-02 1.84e-01 -2.5 4.21e-01 -0.4 1.00e+00 1.00e+00h 1 69 1.9371062e+00 5.46e-03 1.84e-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 1.8828681e+00 5.20e-03 1.00e-01 -2.5 2.65e-01 -0.4 1.00e+00 1.00e+00H 1 71 1.8749355e+00 7.92e-03 1.02e-01 -2.5 1.15e+00 -0.9 1.00e+00 6.25e-02h 5 72 1.8744498e+00 5.64e-02 3.40e-01 -2.5 3.82e-01 -0.5 1.00e+00 1.00e+00H 1 73 1.7545794e+00 1.29e-02 1.97e-01 -2.5 1.83e-01 -0.0 1.00e+00 1.00e+00h 1 74 1.7319213e+00 4.03e-02 2.47e-01 -2.5 4.31e-01 -0.5 1.00e+00 1.00e+00H 1 75 1.6521654e+00 1.22e-02 1.27e-01 -2.5 1.46e-01 -0.1 1.00e+00 1.00e+00h 1 76 1.6420896e+00 1.52e-02 1.17e-01 -2.5 4.05e-01 -0.6 1.00e+00 2.50e-01h 3 77 1.6374231e+00 1.99e-02 1.24e-01 -2.5 6.05e+00 -1.0 1.00e+00 1.56e-02h 7 78 1.6249428e+00 2.30e-02 1.33e-01 -2.5 8.00e-01 -0.6 1.00e+00 1.25e-01h 4 79 1.5886491e+00 2.84e-02 1.59e-01 -2.5 2.45e-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 1.5773690e+00 3.42e-02 1.68e-01 -2.5 1.10e+00 -0.7 1.00e+00 1.25e-01h 4 81 1.5482945e+00 4.42e-02 1.77e-01 -2.5 3.07e-01 -0.2 1.00e+00 1.00e+00h 1 82 1.5365944e+00 4.98e-02 1.90e-01 -2.5 2.04e+00 -0.7 1.00e+00 6.25e-02h 5 83 1.5241466e+00 6.44e-02 1.79e-01 -2.5 3.50e-01 -0.3 1.00e+00 1.00e+00h 1 84 1.3648642e+00 4.27e-03 1.93e-01 -2.5 1.42e-01 0.1 1.00e+00 1.00e+00h 1 85 1.3110941e+00 4.75e-03 1.23e-01 -2.5 2.33e-01 -0.3 1.00e+00 1.00e+00H 1 86 1.3070619e+00 1.51e-02 1.29e-01 -2.5 1.14e+00 -0.8 1.00e+00 1.25e-01h 4 87 1.2729940e+00 4.25e-02 3.04e-01 -2.5 4.31e-01 -0.4 1.00e+00 1.00e+00H 1 88 1.1868776e+00 9.05e-03 1.41e-01 -2.5 1.30e-01 0.0 1.00e+00 1.00e+00h 1 89 1.1460513e+00 1.80e-02 1.82e-01 -2.5 3.39e-01 -0.4 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.1414369e+00 2.23e-02 1.93e-01 -2.5 3.25e+00 -0.9 1.00e+00 3.12e-02h 6 91 1.1270335e+00 2.74e-02 1.72e-01 -2.5 5.87e-01 -0.5 1.00e+00 2.50e-01h 3 92 1.0633276e+00 1.54e-02 1.63e-01 -2.5 1.91e-01 -0.1 1.00e+00 1.00e+00h 1 93 1.0535350e+00 2.16e-02 1.62e-01 -2.5 5.65e-01 -0.5 1.00e+00 2.50e-01h 3 94 1.0498060e+00 3.05e-02 1.74e-01 -2.5 1.73e+01 -1.0 9.83e-01 7.81e-03f 8 95 1.0365762e+00 3.48e-02 1.84e-01 -2.5 1.03e+00 -0.6 1.00e+00 1.25e-01h 4 96 9.9255343e-01 3.12e-02 1.71e-01 -2.5 2.54e-01 -0.2 1.00e+00 1.00e+00h 1 97 9.7969639e-01 3.60e-02 1.78e-01 -2.5 1.00e+00 -0.6 1.00e+00 1.25e-01h 4 98 9.4376665e-01 3.42e-02 1.40e-01 -2.5 2.34e-01 -0.2 1.00e+00 1.00e+00h 1 99 9.3043549e-01 3.61e-02 1.45e-01 -2.5 1.51e+00 -0.7 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 9.0657287e-01 6.12e-02 1.87e-01 -2.5 3.51e-01 -0.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 9.0657287114461460e-01 9.0657287114461460e-01 Dual infeasibility......: 1.8658401347118664e-01 1.8658401347118664e-01 Constraint violation....: 6.1199612074265830e-02 6.1199612074265830e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8295175738746771e-03 2.8295175738746771e-03 Overall NLP error.......: 1.8658401347118664e-01 1.8658401347118664e-01 Number of objective function evaluations = 310 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 310 Number of inequality constraint evaluations = 310 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 42.104 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 28 28 6m58.4s Testing DirectTrajOpt tests passed Testing completed after 499.84s PkgEval succeeded after 697.69s