Package evaluation of DirectTrajOpt on Julia 1.13.0-DEV.748 (36a4616fc2*) started at 2025-06-18T01:50:47.324 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 7.99s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [c823fa1f] + DirectTrajOpt v0.2.7 Updating `~/.julia/environments/v1.13/Manifest.toml` [47edcb42] + ADTypes v1.14.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.42 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.19.0 [4c555306] + ArrayLayouts v1.11.1 [6e4b80f9] + BenchmarkTools v1.6.0 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.3.0 [2a0fbf3d] + CPUSummary v0.2.6 [d360d2e6] + ChainRulesCore v1.25.1 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.4 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.16.0 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [a8cc5b0e] + Crayons v4.1.1 [9a962f9c] + DataAPI v1.16.0 [864edb3b] + DataStructures v0.18.22 [e2d170a0] + DataValueInterfaces v1.0.0 [2b5f629d] + DiffEqBase v6.176.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.1 [c823fa1f] + DirectTrajOpt v0.2.7 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [f151be2c] + EnzymeCore v0.8.12 [e24c0720] + ExponentialAction v0.2.10 [d4d017d3] + ExponentialUtilities v1.27.0 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [442a2c76] + FastGaussQuadrature v1.0.2 [a4df4552] + FastPower v1.1.2 [5789e2e9] + FileIO v1.17.0 [1a297f60] + FillArrays v1.13.0 [6a86dc24] + FiniteDiff v2.27.0 [f6369f11] + ForwardDiff v1.0.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [c145ed77] + GenericSchur v0.5.5 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.10.6 [92d709cd] + IrrationalConstants v0.2.4 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.5.13 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [ba0b0d4f] + Krylov v0.10.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.6.1 [87fe0de2] + LineSearch v0.1.4 [d3d80556] + LineSearches v7.4.0 [7ed4a6bd] + LinearSolve v3.17.0 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.41.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.5 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.4 [d41bc354] + NLSolversBase v7.10.0 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.3.3 [8913a72c] + NonlinearSolve v4.9.0 [be0214bd] + NonlinearSolveBase v1.12.0 [5959db7a] + NonlinearSolveFirstOrder v1.5.0 [9a2c21bd] + NonlinearSolveQuasiNewton v1.6.0 [26075421] + NonlinearSolveSpectralMethods v1.2.0 [bac558e1] + OrderedCollections v1.8.1 [1dea7af3] + OrdinaryDiffEq v6.98.0 [89bda076] + OrdinaryDiffEqAdamsBashforthMoulton v1.2.0 [6ad6398a] + OrdinaryDiffEqBDF v1.6.0 [bbf590c4] + OrdinaryDiffEqCore v1.26.1 [50262376] + OrdinaryDiffEqDefault v1.4.0 [4302a76b] + OrdinaryDiffEqDifferentiation v1.10.0 [9286f039] + OrdinaryDiffEqExplicitRK v1.1.0 [e0540318] + OrdinaryDiffEqExponentialRK v1.4.0 [becaefa8] + OrdinaryDiffEqExtrapolation v1.5.0 [5960d6e9] + OrdinaryDiffEqFIRK v1.12.0 [101fe9f7] + OrdinaryDiffEqFeagin v1.1.0 [d3585ca7] + OrdinaryDiffEqFunctionMap v1.1.1 [d28bc4f8] + OrdinaryDiffEqHighOrderRK v1.1.0 [9f002381] + OrdinaryDiffEqIMEXMultistep v1.3.0 [521117fe] + OrdinaryDiffEqLinear v1.3.0 [1344f307] + OrdinaryDiffEqLowOrderRK v1.2.0 [b0944070] + OrdinaryDiffEqLowStorageRK v1.3.0 [127b3ac7] + OrdinaryDiffEqNonlinearSolve v1.10.0 [c9986a66] + OrdinaryDiffEqNordsieck v1.1.0 [5dd0a6cf] + OrdinaryDiffEqPDIRK v1.3.1 [5b33eab2] + OrdinaryDiffEqPRK v1.1.0 [04162be5] + OrdinaryDiffEqQPRK v1.1.0 [af6ede74] + OrdinaryDiffEqRKN v1.1.0 [43230ef6] + OrdinaryDiffEqRosenbrock v1.11.0 [2d112036] + OrdinaryDiffEqSDIRK v1.3.0 [669c94d9] + OrdinaryDiffEqSSPRK v1.3.0 [e3e12d00] + OrdinaryDiffEqStabilizedIRK v1.3.0 [358294b1] + OrdinaryDiffEqStabilizedRK v1.1.0 [fa646aed] + OrdinaryDiffEqSymplecticRK v1.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.1.0 [79d7bb75] + OrdinaryDiffEqVerner v1.2.0 [d96e819e] + Parameters v0.12.3 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v0.4.27 [aea7be01] + PrecompileTools v1.3.2 [21216c6a] + Preferences v1.4.3 [08abe8d2] + PrettyTables v2.4.0 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.33.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.15 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.101.0 [19f34311] + SciMLJacobianOperators v0.1.6 [c0aeaf25] + SciMLOperators v1.3.1 [53ae85a6] + SciMLStructures v1.7.0 [efcf1570] + Setfield v1.1.2 [727e6d20] + SimpleNonlinearSolve v2.5.0 [ce78b400] + SimpleUnPack v1.1.0 [0a514795] + SparseMatrixColorings v0.4.20 [276daf66] + SpecialFunctions v2.5.1 [aedffcd0] + Static v1.2.0 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.13 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.7 [892a3eda] + StringManipulation v0.4.1 [856f2bd8] + StructTypes v1.11.0 [2efcf032] + SymbolicIndexingInterface v0.3.40 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.1 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [3a884ed6] + UnPack v1.0.2 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.1+0 [1d5cc7b8] + IntelOpenMP_jll v2025.0.4+0 [9cc047cb] + Ipopt_jll v300.1400.1701+0 [d00139f3] + METIS_jll v5.1.3+0 [856f044c] + MKL_jll v2025.0.1+1 [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 [1317d2d5] + oneTBB_jll v2022.0.0+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed 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 [4af54fe1] + LazyArtifacts v1.11.0 [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 [6462fe0b] + Sockets 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 v8.14.1+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 6.29s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 1542.97s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_xW5Y27/Project.toml` [c823fa1f] DirectTrajOpt v0.2.7 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 [f6369f11] ForwardDiff v1.0.1 [b6b21f68] Ipopt v1.10.6 [033835bb] JLD2 v0.5.13 [b8f27783] MathOptInterface v1.41.0 [538bc3a1] NamedTrajectories v0.3.3 [1dea7af3] OrdinaryDiffEq v6.98.0 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v2.101.0 [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_xW5Y27/Manifest.toml` [47edcb42] ADTypes v1.14.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.42 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.19.0 [4c555306] ArrayLayouts v1.11.1 [6e4b80f9] BenchmarkTools v1.6.0 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.3.0 [2a0fbf3d] CPUSummary v0.2.6 [d360d2e6] ChainRulesCore v1.25.1 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.4 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.16.0 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [a8cc5b0e] Crayons v4.1.1 [9a962f9c] DataAPI v1.16.0 [864edb3b] DataStructures v0.18.22 [e2d170a0] DataValueInterfaces v1.0.0 [2b5f629d] DiffEqBase v6.176.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.1 [c823fa1f] DirectTrajOpt v0.2.7 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [f151be2c] EnzymeCore v0.8.12 [e24c0720] ExponentialAction v0.2.10 [d4d017d3] ExponentialUtilities v1.27.0 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [442a2c76] FastGaussQuadrature v1.0.2 [a4df4552] FastPower v1.1.2 [5789e2e9] FileIO v1.17.0 [1a297f60] FillArrays v1.13.0 [6a86dc24] FiniteDiff v2.27.0 [f6369f11] ForwardDiff v1.0.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [c145ed77] GenericSchur v0.5.5 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.10.6 [92d709cd] IrrationalConstants v0.2.4 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.5.13 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [ba0b0d4f] Krylov v0.10.1 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.6.1 [87fe0de2] LineSearch v0.1.4 [d3d80556] LineSearches v7.4.0 [7ed4a6bd] LinearSolve v3.17.0 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.41.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.5 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.4 [d41bc354] NLSolversBase v7.10.0 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.3.3 [8913a72c] NonlinearSolve v4.9.0 [be0214bd] NonlinearSolveBase v1.12.0 [5959db7a] NonlinearSolveFirstOrder v1.5.0 [9a2c21bd] NonlinearSolveQuasiNewton v1.6.0 [26075421] NonlinearSolveSpectralMethods v1.2.0 [bac558e1] OrderedCollections v1.8.1 [1dea7af3] OrdinaryDiffEq v6.98.0 [89bda076] OrdinaryDiffEqAdamsBashforthMoulton v1.2.0 [6ad6398a] OrdinaryDiffEqBDF v1.6.0 [bbf590c4] OrdinaryDiffEqCore v1.26.1 [50262376] OrdinaryDiffEqDefault v1.4.0 [4302a76b] OrdinaryDiffEqDifferentiation v1.10.0 [9286f039] OrdinaryDiffEqExplicitRK v1.1.0 [e0540318] OrdinaryDiffEqExponentialRK v1.4.0 [becaefa8] OrdinaryDiffEqExtrapolation v1.5.0 [5960d6e9] OrdinaryDiffEqFIRK v1.12.0 [101fe9f7] OrdinaryDiffEqFeagin v1.1.0 [d3585ca7] OrdinaryDiffEqFunctionMap v1.1.1 [d28bc4f8] OrdinaryDiffEqHighOrderRK v1.1.0 [9f002381] OrdinaryDiffEqIMEXMultistep v1.3.0 [521117fe] OrdinaryDiffEqLinear v1.3.0 [1344f307] OrdinaryDiffEqLowOrderRK v1.2.0 [b0944070] OrdinaryDiffEqLowStorageRK v1.3.0 [127b3ac7] OrdinaryDiffEqNonlinearSolve v1.10.0 [c9986a66] OrdinaryDiffEqNordsieck v1.1.0 [5dd0a6cf] OrdinaryDiffEqPDIRK v1.3.1 [5b33eab2] OrdinaryDiffEqPRK v1.1.0 [04162be5] OrdinaryDiffEqQPRK v1.1.0 [af6ede74] OrdinaryDiffEqRKN v1.1.0 [43230ef6] OrdinaryDiffEqRosenbrock v1.11.0 [2d112036] OrdinaryDiffEqSDIRK v1.3.0 [669c94d9] OrdinaryDiffEqSSPRK v1.3.0 [e3e12d00] OrdinaryDiffEqStabilizedIRK v1.3.0 [358294b1] OrdinaryDiffEqStabilizedRK v1.1.0 [fa646aed] OrdinaryDiffEqSymplecticRK v1.3.0 [b1df2697] OrdinaryDiffEqTsit5 v1.1.0 [79d7bb75] OrdinaryDiffEqVerner v1.2.0 [d96e819e] Parameters v0.12.3 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v0.4.27 [aea7be01] PrecompileTools v1.3.2 [21216c6a] Preferences v1.4.3 [08abe8d2] PrettyTables v2.4.0 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.33.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.15 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.101.0 [19f34311] SciMLJacobianOperators v0.1.6 [c0aeaf25] SciMLOperators v1.3.1 [53ae85a6] SciMLStructures v1.7.0 [efcf1570] Setfield v1.1.2 [727e6d20] SimpleNonlinearSolve v2.5.0 [ce78b400] SimpleUnPack v1.1.0 [0a514795] SparseMatrixColorings v0.4.20 [276daf66] SpecialFunctions v2.5.1 [aedffcd0] Static v1.2.0 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays v1.9.13 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.7 [892a3eda] StringManipulation v0.4.1 [856f2bd8] StructTypes v1.11.0 [2efcf032] SymbolicIndexingInterface v0.3.40 [3783bdb8] TableTraits v1.0.1 [bd369af6] Tables v1.12.1 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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 2.1129540e+00 1.98e+00 8.90e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1385725e+00 1.41e-01 1.04e+01 -1.0 1.69e+00 0.0 9.23e-02 1.00e+00f 1 2 2.0897086e+00 3.65e-03 3.89e+00 -1.0 9.10e-02 1.3 9.53e-01 1.00e+00h 1 3 2.0454650e+00 1.06e-03 4.03e-01 -1.0 4.21e-02 0.9 1.00e+00 1.00e+00h 1 4 2.0167982e+00 1.48e-03 1.37e-01 -1.7 6.12e-02 0.4 1.00e+00 1.00e+00h 1 5 1.9775973e+00 1.30e-02 1.17e-01 -2.5 1.33e-01 -0.1 8.19e-01 1.00e+00h 1 6 1.9002071e+00 9.23e-03 2.65e-01 -2.5 1.10e-01 0.3 1.00e+00 1.00e+00h 1 7 1.7829950e+00 6.34e-03 3.99e-01 -2.5 8.00e-02 0.7 1.00e+00 1.00e+00h 1 8 1.0942821e+00 2.33e-01 1.41e+00 -2.5 7.70e-01 0.3 3.37e-01 6.28e-01f 1 9 1.0723211e+00 2.40e-02 9.81e-01 -2.5 2.07e-01 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 4.4160767e-01 8.30e-02 1.13e+00 -2.5 3.69e-01 0.2 1.00e+00 1.00e+00f 1 11 3.8706162e-01 7.44e-02 1.01e+00 -2.5 2.52e-01 0.6 1.49e-01 1.04e-01h 1 12 2.5561707e-01 6.74e-03 8.89e+00 -2.5 1.21e-01 1.1 1.39e-01 1.00e+00f 1 13 1.8622045e-01 2.36e-04 7.23e-01 -2.5 2.46e-02 1.5 1.00e+00 1.00e+00h 1 14 7.8903264e-03 2.57e-03 7.87e-01 -2.5 7.50e-02 1.0 1.00e+00 1.00e+00f 1 15 -7.1355475e-02 2.59e-03 1.78e+00 -2.5 2.36e-01 0.5 1.00e+00 1.47e-01f 1 16 -9.5197980e-01 8.42e-02 8.34e-01 -2.5 9.83e-01 0.1 2.73e-01 4.05e-01f 1 17 -1.2227017e+00 6.23e-02 1.65e+00 -2.5 2.82e-01 0.5 1.00e+00 2.59e-01f 1 18 -1.6305848e+00 5.34e-03 9.17e-01 -2.5 1.04e-01 0.9 1.00e+00 1.00e+00f 1 19 -2.0557141e+00 1.02e-02 1.09e+00 -2.5 3.76e-01 0.4 9.99e-01 2.51e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 -2.5678934e+00 5.30e-03 9.45e-01 -2.5 1.34e-01 0.9 2.90e-01 8.72e-01f 1 21 -2.9586244e+00 8.46e-03 9.63e-01 -2.5 4.06e-01 0.4 3.89e-01 3.68e-01f 1 22 -3.3793332e+00 4.32e-03 1.01e+00 -2.5 1.55e-01 0.8 9.46e-01 1.00e+00f 1 23 -3.7301275e+00 1.34e-02 1.02e+00 -2.5 4.96e-01 0.3 1.00e+00 2.20e-01f 1 24 -4.2782745e+00 9.99e-03 1.06e+00 -2.5 1.84e-01 0.8 1.00e+00 1.00e+00f 1 25 -5.8829583e+00 9.27e-02 1.06e+00 -2.5 5.49e-01 0.3 9.99e-01 9.45e-01f 1 26 -6.7633822e+00 8.54e-02 3.26e+00 -2.5 1.87e+00 -0.2 5.54e-02 1.39e-01f 1 27 -7.3847751e+00 6.24e-02 4.12e+00 -2.5 5.81e-01 0.2 8.21e-01 2.64e-01f 1 28 -7.9711238e+00 1.09e-02 2.48e+00 -2.5 2.28e-01 0.7 1.56e-01 7.79e-01f 1 29 -9.0853323e+00 9.70e-02 1.52e+00 -2.5 8.02e-01 0.2 4.03e-01 3.89e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 -1.0123461e+01 1.58e-02 1.73e+00 -2.5 2.83e-01 0.6 3.22e-01 8.67e-01f 1 31 -1.2975362e+01 5.89e-02 9.76e-01 -2.5 7.14e-01 0.1 7.00e-01 1.00e+00f 1 32 -1.4169055e+01 8.66e-03 9.78e-01 -2.5 2.73e-01 0.6 1.00e+00 1.00e+00f 1 33 -1.4579755e+01 9.41e-03 9.77e-01 -2.5 8.37e-01 0.1 3.55e-01 1.16e-01f 1 34 -1.5816903e+01 1.39e-02 9.70e-01 -2.5 3.03e-01 0.5 1.00e+00 1.00e+00f 1 35 -1.7274366e+01 6.46e-01 2.03e+00 -2.5 4.04e+00 0.0 2.17e-01 2.46e-01f 1 36 -1.8647387e+01 8.39e-02 2.36e+00 -2.5 4.78e-01 0.5 2.35e-01 1.00e+00f 1 37 -2.0270058e+01 6.56e-02 1.46e+00 -2.5 1.01e+00 -0.0 7.25e-01 3.23e-01f 1 38 -2.1413130e+01 2.97e-02 9.66e-01 -2.5 3.77e-01 0.4 9.04e-01 5.85e-01f 1 39 -2.5840868e+01 1.34e-01 1.08e+00 -2.5 1.24e+00 -0.1 6.15e-01 7.39e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 -2.9174190e+01 3.83e-01 1.24e+01 -2.5 1.26e+00 0.4 1.97e-01 1.00e+00f 1 41 -3.0805740e+01 2.56e-01 5.26e+00 -2.5 6.46e-01 0.8 1.00e+00 1.00e+00f 1 42 -3.3688072e+01 7.72e-02 1.10e+00 -2.5 4.92e-01 0.3 8.39e-01 1.00e+00f 1 43 -4.2317588e+01 7.63e-02 1.52e+00 -2.5 1.46e+00 -0.2 5.37e-01 1.00e+00f 1 44 -4.5573103e+01 1.19e-02 1.17e+00 -2.5 5.35e-01 0.3 1.00e+00 1.00e+00f 1 45 -4.6090792e+01 1.79e-02 1.70e+00 -2.5 2.37e+00 -0.2 7.31e-01 4.97e-02f 1 46 -4.9752227e+01 5.85e-02 9.48e-01 -2.5 5.98e-01 0.2 1.00e+00 1.00e+00f 1 47 -5.1317980e+01 1.56e-02 9.92e-01 -2.5 2.65e-01 0.6 5.65e-01 1.00e+00f 1 48 -5.5781734e+01 1.51e-01 1.04e+00 -2.5 6.64e-01 0.2 1.00e+00 1.00e+00f 1 49 -6.7135104e+01 3.45e-01 1.92e+00 -2.5 2.00e+00 -0.3 7.20e-01 8.66e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 -7.8197589e+01 5.52e-01 3.52e+00 -2.5 1.07e+01 -0.8 1.93e-02 2.09e-01f 1 51 -8.8303787e+01 4.24e-01 7.92e+00 -2.5 3.57e+00 -0.4 8.90e-02 5.60e-01f 1 52 -9.4535742e+01 4.18e-01 7.08e+00 -2.5 1.05e+00 0.1 4.51e-01 1.00e+00f 1 53 -9.9809597e+01 2.35e-01 5.15e+00 -2.5 2.73e+00 -0.4 1.00e+00 2.98e-01f 1 54 -1.3826029e+02 3.59e+00 3.16e+01 -2.5 9.94e+00 -0.9 1.00e+00 7.15e-01f 1 55 -1.4139850e+02 2.41e+00 6.74e+01 -2.5 2.19e+00 0.4 9.35e-03 1.00e+00f 1 56 -1.4319401e+02 1.74e+00 4.05e+02 -2.5 1.61e+00 1.8 2.89e-02 5.50e-01f 1 57 -1.4232693e+02 1.78e+00 4.47e+03 -2.5 6.80e-01 3.1 3.90e-01 6.82e-01h 1 58 -1.4342346e+02 1.51e+00 2.53e+05 -2.5 7.93e-01 5.3 5.06e-03 2.59e-01f 1 59 -1.4347836e+02 1.57e+00 1.74e+05 -2.5 1.64e+00 4.8 3.10e-03 2.44e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 -1.4214410e+02 1.45e+00 8.87e+06 -2.5 7.92e-01 6.2 1.00e+00 6.05e-01h 1 61 -1.4217349e+02 1.45e+00 8.84e+06 -2.5 1.19e+00 6.6 7.29e-02 3.69e-03h 1 62 -1.4238141e+02 1.53e+00 1.71e+07 -2.5 7.88e-01 7.0 4.92e-06 4.14e-01f 1 63 -1.4268670e+02 1.36e+00 8.24e+06 -2.5 1.11e+00 6.5 1.00e+00 1.70e-01f 3 64 -1.4140960e+02 1.49e+00 2.57e+07 -2.5 4.67e-01 7.0 2.91e-01 8.51e-01h 1 65 -1.4124327e+02 1.59e+00 2.42e+07 -2.5 7.27e-01 7.4 2.78e-03 6.42e-02h 2 66 -1.4110197e+02 1.69e+00 2.01e+07 -2.5 2.95e-01 7.8 4.30e-01 1.77e-01h 1 67 -1.4212489e+02 1.18e+00 1.03e+08 -2.5 1.59e-01 8.2 9.28e-04 4.47e-01f 2 68 -1.4327068e+02 1.04e+00 1.27e+08 -2.5 5.20e-01 7.8 2.32e-01 5.00e-01f 2 69 -1.4377589e+02 7.83e-01 1.83e+09 -2.5 7.98e-01 8.2 8.18e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 -1.4474098e+02 6.81e-01 3.30e+08 -2.5 1.67e-01 8.6 1.00e+00 1.00e+00f 1 71 -1.4471154e+02 2.86e-01 3.12e+08 -2.5 1.90e-01 8.1 1.00e+00 1.00e+00h 1 72 -1.4531645e+02 6.98e-02 7.65e+07 -2.5 1.26e-01 8.6 1.00e+00 1.00e+00h 1 73 -1.4536403e+02 1.37e-03 2.52e+07 -2.5 5.83e-02 8.1 1.00e+00 1.00e+00h 1 74 -1.4536346e+02 6.79e-07 1.35e+05 -2.5 8.73e-04 7.6 1.00e+00 1.00e+00h 1 75 -1.4536346e+02 1.74e-12 9.69e+00 -2.5 7.04e-07 7.1 1.00e+00 1.00e+00h 1 76 -1.4536346e+02 1.10e-12 2.21e+00 -2.5 4.82e-07 6.7 1.00e+00 1.00e+00h 1 77 -1.4536348e+02 9.87e-12 2.21e+00 -2.5 1.44e-06 6.2 1.00e+00 1.00e+00f 1 78 -1.4536351e+02 8.88e-11 2.21e+00 -2.5 4.33e-06 5.7 1.00e+00 1.00e+00f 1 79 -1.4536363e+02 7.99e-10 2.21e+00 -2.5 1.30e-05 5.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 -1.4536398e+02 7.19e-09 2.21e+00 -2.5 3.90e-05 4.8 1.00e+00 1.00e+00f 1 81 -1.4536503e+02 6.45e-08 2.20e+00 -2.5 1.17e-04 4.3 1.00e+00 1.00e+00f 1 82 -1.4536816e+02 5.77e-07 2.20e+00 -2.5 3.49e-04 3.8 1.00e+00 1.00e+00f 1 83 -1.4537748e+02 5.08e-06 2.17e+00 -2.5 1.04e-03 3.3 1.00e+00 1.00e+00f 1 84 -1.4540478e+02 4.29e-05 2.11e+00 -2.5 3.02e-03 2.8 1.00e+00 1.00e+00f 1 85 -1.4548122e+02 3.17e-04 1.93e+00 -2.5 8.31e-03 2.4 1.00e+00 1.00e+00f 1 86 -1.4567477e+02 1.59e-03 1.56e+00 -2.5 2.01e-02 1.9 1.00e+00 1.00e+00f 1 87 -1.4611657e+02 2.88e-03 1.30e+00 -2.5 5.03e-02 1.4 1.00e+00 1.00e+00f 1 88 -1.4720874e+02 3.85e-03 9.70e-01 -2.5 1.13e-01 0.9 1.00e+00 1.00e+00f 1 89 -1.5013951e+02 2.60e-02 9.54e-01 -2.5 3.32e-01 0.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 -1.5376333e+02 8.77e-02 1.09e+00 -2.5 1.04e+00 -0.0 3.24e-01 4.25e-01f 1 91 -1.5656359e+02 2.02e-02 3.16e+00 -2.5 3.66e-01 0.4 1.00e+00 1.00e+00f 1 92 -1.6348496e+02 9.38e-02 3.16e+00 -2.5 1.08e+00 -0.1 1.00e+00 8.95e-01f 1 93 -1.6517439e+02 1.72e-01 2.73e+00 -2.5 7.49e-01 0.4 1.00e+00 4.90e-01f 1 94 -1.7292251e+02 2.49e-01 6.43e+00 -2.5 1.19e+00 -0.1 3.91e-02 1.00e+00f 1 95 -1.7674196e+02 6.88e-02 4.43e+00 -2.5 4.54e-01 0.3 1.00e+00 9.63e-01f 1 96 -1.8519644e+02 1.02e-01 8.39e+00 -2.5 1.40e+00 -0.2 2.70e-01 1.00e+00f 1 97 -1.8827102e+02 2.74e-01 9.78e+00 -2.5 1.46e+02 -0.6 3.47e-04 7.09e-03f 1 98 -2.0035382e+02 1.85e-01 7.61e+00 -2.5 1.74e+00 -0.2 1.00e+00 1.00e+00f 1 99 -2.1331223e+02 3.26e-01 1.16e+01 -2.5 8.39e+00 -0.7 2.93e-02 2.82e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 -2.2568783e+02 2.78e-01 1.78e+01 -2.5 2.37e+00 -0.3 1.45e-01 8.93e-01f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: -2.2568783402421042e+02 -2.2568783402421042e+02 Dual infeasibility......: 1.7844444432727681e+01 1.7844444432727681e+01 Constraint violation....: 2.7817974105561877e-01 2.7817974105561877e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.2101879440886018e-03 3.2101879440886018e-03 Overall NLP error.......: 1.7844444432727681e+01 1.7844444432727681e+01 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 40.654 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 33 33 8m42.0s Testing DirectTrajOpt tests passed Testing completed after 655.25s PkgEval succeeded after 2258.5s