Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1840 (ab7ba34e40*) started at 2026-03-04T00:20:33.400 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.97s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed CommonWorldInvalidations ───────── v1.0.0 Installed OrderedCollections ─────────────── v1.8.1 Installed SIMDTypes ──────────────────────── v0.1.0 Installed FastPower ──────────────────────── v1.3.1 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed PreallocationTools ─────────────── v1.1.2 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed CpuId ──────────────────────────── v0.3.1 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed NaNMath ────────────────────────── v1.1.3 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed AbstractDifferentiation ────────── v0.4.4 Installed EnzymeCore ─────────────────────── v0.8.18 Installed StaticArrayInterface ───────────── v1.9.0 Installed FileIO ─────────────────────────── v1.18.0 Installed NonlinearSolveBase ─────────────── v2.15.0 Installed FastBroadcast ──────────────────── v0.3.5 Installed Jieko ──────────────────────────── v0.2.1 Installed Reexport ───────────────────────── v1.2.2 Installed InverseFunctions ───────────────── v0.1.17 Installed ScopedValues ───────────────────── v1.5.0 Installed EnumX ──────────────────────────── v1.0.7 Installed LaTeXStrings ───────────────────── v1.4.0 Installed MaybeInplace ───────────────────── v0.1.4 Installed Static ─────────────────────────── v1.3.1 Installed BracketingNonlinearSolve ───────── v1.11.0 Installed DiffEqBase ─────────────────────── v6.210.1 Installed ADTypes ────────────────────────── v1.21.0 Installed RecursiveArrayTools ────────────── v3.48.0 Installed Preferences ────────────────────── v1.5.2 Installed CodecZlib ──────────────────────── v0.7.8 Installed ManualMemory ───────────────────── v0.1.8 Installed DiffResults ────────────────────── v1.1.0 Installed MacroTools ─────────────────────── v0.5.16 Installed DataStructures ─────────────────── v0.19.3 Installed Observables ────────────────────── v0.5.5 Installed FillArrays ─────────────────────── v1.16.0 Installed ExprTools ──────────────────────── v0.1.10 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed CommonSubexpressions ───────────── v0.3.1 Installed LoggingExtras ──────────────────── v1.2.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed ArrayInterface ─────────────────── v7.22.0 Installed ConcreteStructs ────────────────── v0.2.3 Installed TruncatedStacktraces ───────────── v1.4.0 Installed StructUtils ────────────────────── v2.6.3 Installed IrrationalConstants ────────────── v0.2.6 Installed GPUArraysCore ──────────────────── v0.2.0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed Hwloc_jll ──────────────────────── v2.13.0+0 Installed BenchmarkTools ─────────────────── v1.6.3 Installed DocStringExtensions ────────────── v0.9.5 Installed Setfield ───────────────────────── v1.1.2 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonSolve ────────────────────── v0.2.6 Installed Moshi ──────────────────────────── v0.3.7 Installed ForwardDiff ────────────────────── v1.3.2 Installed DifferentiationInterface ───────── v0.7.16 Installed MathOptInterface ───────────────── v1.49.0 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed RecipesBase ────────────────────── v1.3.4 Installed SciMLOperators ─────────────────── v1.15.1 Installed HashArrayMappedTries ───────────── v0.2.0 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed SciMLStructures ────────────────── v1.10.0 Installed StaticArraysCore ───────────────── v1.4.4 Installed ComputePipeline ────────────────── v0.1.6 Installed SciMLPublic ────────────────────── v1.0.1 Installed FunctionWrappers ───────────────── v1.1.3 Installed StaticArrays ───────────────────── v1.9.17 Installed DiffRules ──────────────────────── v1.15.1 Installed LogExpFunctions ────────────────── v0.3.29 Installed Requires ───────────────────────── v1.3.1 Installed OpenBLAS32_jll ─────────────────── v0.3.30+0 Installed FastClosures ───────────────────── v0.3.2 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed Parsers ────────────────────────── v2.8.3 Installed FiniteDiff ─────────────────────── v2.29.0 Installed JSON ───────────────────────────── v1.4.0 Installed OrdinaryDiffEqCore ─────────────── v3.15.0 Installed SciMLBase ──────────────────────── v2.148.0 Installed Polyester ──────────────────────── v0.7.19 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed JLLWrappers ────────────────────── v1.7.1 Installed MutableArithmetics ─────────────── v1.6.7 Installed ThreadingUtilities ─────────────── v0.5.5 Installed TestItems ──────────────────────── v1.0.0 Installed Accessors ──────────────────────── v0.1.43 Installed RuntimeGeneratedFunctions ──────── v0.5.17 Installed JLD2 ───────────────────────────── v0.6.3 Installed Compat ─────────────────────────── v4.18.1 Installed ConstructionBase ───────────────── v1.6.0 Installed TranscodingStreams ─────────────── v0.11.3 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed Adapt ──────────────────────────── v4.5.0 Installed StrideArraysCore ───────────────── v0.5.8 Installed Statistics ─────────────────────── v1.11.1 Installed LazyArrays ─────────────────────── v2.9.5 Installed TimerOutputs ───────────────────── v0.5.29 Installed ExproniconLite ─────────────────── v0.10.14 Installed ExponentialAction ──────────────── v0.2.10 Installed ChainRulesCore ─────────────────── v1.26.0 Installed PrecompileTools ────────────────── v1.3.3 Installed CPUSummary ─────────────────────── v0.2.7 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed IfElse ─────────────────────────── v0.1.1 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed MuladdMacro ────────────────────── v0.2.4 Installed SciMLLogging ───────────────────── v1.9.1 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed NamedTrajectories ──────────────── v0.8.4 Installed TestItemRunner ─────────────────── v1.1.4 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed SpecialFunctions ───────────────── v2.7.1 Installed PolyesterWeave ─────────────────── v0.2.2 Installed Ipopt ──────────────────────────── v1.14.1 Installed DirectTrajOpt ──────────────────── v0.8.9 Installing 12 artifacts Installed artifact OpenSpecFun 194.9 KiB Installed artifact Bzip2 503.5 KiB Installed artifact SPRAL 691.9 KiB Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact XML2 2.5 MiB Installed artifact Ipopt 1.3 MiB Installed artifact Libiconv 1.9 MiB Installed artifact METIS 1.1 MiB Installed artifact Hwloc 3.5 MiB Installed artifact ASL 276.3 KiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.8.9 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.5.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.11.0 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.210.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.8.9 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.18 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.2 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.1 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.4.0 [ae98c720] + Jieko v0.2.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.5 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.49.0 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.15.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.15.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.1.2 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.48.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.17 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.148.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.15.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.17 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.6.3 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [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 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.13.0+0 [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.30+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+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 v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [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 v8.18.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.5+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 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 14.51s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 4569.8 ms ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4706.6 ms ✓ MacroTools 825.5 ms ✓ Reexport 1250.3 ms ✓ ConstructionBase 2169.7 ms ✓ IrrationalConstants 1069.6 ms ✓ Observables 823.2 ms ✓ CommonSolve 1482.2 ms ✓ TranscodingStreams 996.2 ms ✓ LaTeXStrings 1189.7 ms ✓ ChunkCodecCore 987.8 ms ✓ TestItems 1277.9 ms ✓ Statistics 1082.1 ms ✓ StaticArraysCore 1365.8 ms ✓ EnzymeCore 834.2 ms ✓ IfElse 970.1 ms ✓ ManualMemory 895.4 ms ✓ SciMLPublic 3658.3 ms ✓ ExproniconLite 947.4 ms ✓ TrajectoryIndexingUtils 924.0 ms ✓ CommonWorldInvalidations 970.7 ms ✓ FastPower 1062.6 ms ✓ InverseFunctions 947.4 ms ✓ CompositionsBase 926.7 ms ✓ MuladdMacro 1032.8 ms ✓ EnumX 2340.5 ms ✓ FillArrays 1055.2 ms ✓ ExprTools 984.4 ms ✓ ConcreteStructs 1475.8 ms ✓ OrderedCollections 1710.4 ms ✓ FunctionWrappers 1079.3 ms ✓ HashArrayMappedTries 1558.9 ms ✓ ADTypes 1178.7 ms ✓ DocStringExtensions 868.4 ms ✓ FastClosures 828.5 ms ✓ SIMDTypes 804.0 ms ✓ IteratorInterfaceExtensions 1077.2 ms ✓ NaNMath 1385.1 ms ✓ Requires 2040.8 ms ✓ CpuId 1164.5 ms ✓ LoggingExtras 1500.7 ms ✓ StructUtils 1222.7 ms ✓ Compat 1206.0 ms ✓ Preferences 12496.0 ms ✓ MutableArithmetics 1837.2 ms ✓ CommonSubexpressions 852.1 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 1116.7 ms ✓ CodecZlib 1155.7 ms ✓ ChunkCodecLibZlib 1377.0 ms ✓ ChunkCodecLibZstd 26039.6 ms ✓ TestItemRunner 1358.9 ms ✓ Statistics → SparseArraysExt 910.6 ms ✓ DiffResults 1948.7 ms ✓ ThreadingUtilities 3424.9 ms ✓ Jieko 919.4 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1740.6 ms ✓ InverseFunctions → InverseFunctionsTestExt 795.8 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1413.6 ms ✓ FillArrays → FillArraysSparseArraysExt 926.0 ms ✓ FillArrays → FillArraysStatisticsExt 3148.7 ms ✓ TimerOutputs 900.7 ms ✓ RuntimeGeneratedFunctions 3304.9 ms ✓ DataStructures 792.7 ms ✓ FunctionWrappersWrappers 877.8 ms ✓ ScopedValues 755.0 ms ✓ ADTypes → ADTypesConstructionBaseExt 1950.4 ms ✓ DifferentiationInterface 805.0 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1439.0 ms ✓ LogExpFunctions 1017.4 ms ✓ Adapt 8634.4 ms ✓ FileIO 893.4 ms ✓ Compat → CompatLinearAlgebraExt 928.9 ms ✓ PrecompileTools 1316.5 ms ✓ JLLWrappers 1658.8 ms ✓ TruncatedStacktraces 1760.2 ms ✓ ComputePipeline 1638.9 ms ✓ SciMLLogging 3358.6 ms ✓ Setfield 17894.9 ms ✓ Moshi 5373.8 ms ✓ Accessors 1537.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 1076.6 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1221.0 ms ✓ ArrayInterface 1212.2 ms ✓ Adapt → AdaptSparseArraysExt 1175.4 ms ✓ GPUArraysCore 777.0 ms ✓ EnzymeCore → AdaptExt 2560.1 ms ✓ ChainRulesCore 14022.1 ms ✓ StaticArrays 3187.3 ms ✓ RecipesBase 18383.2 ms ✓ Parsers 6864.6 ms ✓ Static 47048.8 ms ✓ JLD2 1477.7 ms ✓ OpenBLAS32_jll 1439.9 ms ✓ Bzip2_jll 1562.6 ms ✓ OpenSpecFun_jll 1562.9 ms ✓ ASL_jll 1550.7 ms ✓ METIS_jll 1549.0 ms ✓ Xorg_libpciaccess_jll 1604.9 ms ✓ Libiconv_jll 1770.8 ms ✓ Accessors → TestExt 2673.4 ms ✓ Accessors → LinearAlgebraExt 811.2 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 2212.1 ms ✓ MaybeInplace 1350.2 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1459.9 ms ✓ SciMLStructures 2404.8 ms ✓ PreallocationTools 867.3 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 827.9 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2306.6 ms ✓ AbstractDifferentiation 1372.8 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1290.4 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 831.4 ms ✓ ADTypes → ADTypesChainRulesCoreExt 881.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3120.1 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 768.5 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1369.9 ms ✓ StaticArrays → StaticArraysStatisticsExt 1395.1 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1377.5 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1456.6 ms ✓ FillArrays → FillArraysStaticArraysExt 1275.0 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1202.3 ms ✓ Adapt → AdaptStaticArraysExt 1333.8 ms ✓ Accessors → StaticArraysExt 6230.8 ms ✓ JSON 821.0 ms ✓ BitTwiddlingConvenienceFunctions 2061.1 ms ✓ CPUSummary 7194.3 ms ✓ StaticArrayInterface 959.8 ms ✓ CodecBzip2 4414.7 ms ✓ SpecialFunctions 1360.1 ms ✓ MUMPS_seq_jll 1389.4 ms ✓ XML2_jll 4159.3 ms ✓ SciMLOperators 1163.5 ms ✓ FiniteDiff 3183.7 ms ✓ SymbolicIndexingInterface 1158.6 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 1853.5 ms ✓ ExponentialAction 19071.1 ms ✓ ArrayLayouts 2737.4 ms ✓ BenchmarkTools 1426.1 ms ✓ PolyesterWeave 1395.0 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1022.1 ms ✓ CloseOpenIntervals 1251.3 ms ✓ LayoutPointers 3857.5 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1216.7 ms ✓ DiffRules 1317.3 ms ✓ Hwloc_jll 979.9 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1430.0 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 1275.8 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1153.9 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1151.5 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 6971.3 ms ✓ RecursiveArrayTools 3001.6 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 1808.2 ms ✓ StrideArraysCore 5934.6 ms ✓ ForwardDiff 1388.9 ms ✓ SPRAL_jll 1649.2 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1167.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 6041.8 ms ✓ LazyArrays 1741.9 ms ✓ Polyester 1554.4 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1035.0 ms ✓ FastPower → FastPowerForwardDiffExt 1279.6 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2378.5 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 64914.8 ms ✓ MathOptInterface 1297.5 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1419.5 ms ✓ Ipopt_jll 27554.0 ms ✓ SciMLBase 3240.6 ms ✓ LazyArrays → LazyArraysStaticArraysExt 1803.1 ms ✓ FastBroadcast 1216.3 ms ✓ Ipopt 3300.7 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3172.5 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 2798.0 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 8504.0 ms ✓ NamedTrajectories 1833.2 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 39601.7 ms ✓ Ipopt → IpoptMathOptInterfaceExt 7145.2 ms ✓ SciMLJacobianOperators 16518.8 ms ✓ NonlinearSolveBase 3456.1 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 2649.2 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 3708.8 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 7614.8 ms ✓ BracketingNonlinearSolve 3329.9 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 6794.1 ms ✓ DiffEqBase 2878.2 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 3650.0 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 2924.2 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 3568.4 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 10585.4 ms ✓ OrdinaryDiffEqCore 4236.9 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt 11791.6 ms ✓ OrdinaryDiffEqTsit5 19143.4 ms ✓ DirectTrajOpt 189 dependencies successfully precompiled in 699 seconds. 37 already precompiled. Precompilation completed after 724.37s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_rRPLY1/Project.toml` [c823fa1f] DirectTrajOpt v0.8.9 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [b6b21f68] Ipopt v1.14.1 [5078a376] LazyArrays v2.9.5 [b8f27783] MathOptInterface v1.49.0 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v2.148.0 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_rRPLY1/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.5.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] 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v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.2 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.1 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.4.0 [ae98c720] Jieko v0.2.1 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.5 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.49.0 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.15.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.15.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.1.2 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.48.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.17 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.148.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.15.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.7.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.17 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.6.3 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [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 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.13.0+0 [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.30+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+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 v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.0.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [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 v8.18.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.12.2 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.5+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.68.0+1 [3f19e933] p7zip_jll v17.7.0+0 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... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 1.818s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.898s jacobian structure: 1600 nonzeros (5.824s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.042s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.024s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.613s sub-objective 2 (QuadraticRegularizer): 1.019s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 2.719s hessian structure: 1749 nonzeros (5.828s) linear index maps built (0.0s) evaluator ready (total: 12.055s) evaluator created (15.779s) NL constraint bounds extracted (0.178s) NLP block data built (0.0s) Ipopt optimizer configured (0.229s) variables set (0.527s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.292s) optimizer initialization complete (total: 19.006s) ****************************************************************************** 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 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 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 2.5754014e+00 3.06e+00 7.63e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6866709e+00 1.57e+00 2.28e+00 -0.7 1.80e+00 0.0 9.88e-01 4.86e-01h 1 2 2.8632910e+00 7.25e-02 1.32e+00 -0.9 1.22e+00 -0.5 9.22e-01 1.00e+00h 1 3 2.6578999e+00 1.37e-01 5.46e-01 -1.0 7.07e-01 -1.0 5.87e-01 7.11e-01h 1 4 2.4430409e+00 1.93e-02 1.70e-01 -1.7 4.30e-01 -1.4 8.43e-01 1.00e+00f 1 5 2.1792958e+00 4.31e-02 1.71e-01 -2.3 9.37e-01 -1.9 9.70e-01 8.04e-01h 1 6 2.1071731e+00 1.65e-03 6.76e-02 -2.8 1.20e-01 -2.4 9.91e-01 1.00e+00h 1 7 2.0909690e+00 6.65e-05 4.70e-03 -4.0 2.92e-02 -2.9 1.00e+00 9.92e-01h 1 8 2.0909715e+00 1.89e-06 7.57e-05 -4.0 5.63e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909504e+00 1.29e-08 2.80e-05 -4.0 1.65e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908963e+00 9.04e-08 2.35e-04 -4.0 4.48e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908133e+00 3.72e-07 8.98e-04 -4.0 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906330e+00 2.44e-06 1.86e-03 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0901215e+00 2.27e-05 5.70e-04 -4.0 8.22e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898561e+00 3.58e-06 1.68e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890760e+00 2.76e-05 4.66e-03 -4.0 9.57e+00 -5.8 1.00e+00 9.09e-01h 1 16 2.0877490e+00 2.46e-04 3.27e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864339e+00 2.68e-04 4.11e-01 -4.0 8.91e+01 -5.8 1.00e+00 1.24e-01h 1 18 2.0849974e+00 2.85e-04 2.68e-02 -4.0 2.24e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830181e+00 2.43e-04 2.47e-02 -4.0 3.51e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827636e+00 4.01e-04 1.26e-02 -4.0 5.44e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823221e+00 5.97e-04 9.08e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822807e+00 5.94e-04 9.74e-03 -4.0 7.59e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822311e+00 5.65e-04 3.73e-02 -4.0 8.09e+01 -7.8 6.79e-01 1.00e+00h 1 24 2.0820880e+00 9.67e-05 1.01e-01 -4.0 5.76e-01 -4.7 1.00e+00 7.84e-01h 1 25 2.0820194e+00 4.54e-05 1.66e-01 -4.0 6.78e-01 -5.1 1.00e+00 7.16e-01h 1 26 2.0820355e+00 2.08e-04 7.90e-04 -4.0 2.42e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0840072e+00 1.26e-05 3.15e-01 -4.1 1.97e+01 -6.1 3.16e-01 1.00e+00H 1 28 2.0836294e+00 1.16e-05 1.37e+01 -3.3 3.87e-01 -2.9 1.00e+00 7.44e-02h 2 29 2.0817587e+00 3.86e-06 7.71e-03 -3.8 2.00e-01 -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 30 2.0817132e+00 2.97e-06 3.03e-03 -4.0 9.10e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0816450e+00 1.75e-05 1.32e-03 -4.0 6.71e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0817756e+00 1.39e-05 1.38e-03 -4.0 8.60e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0817312e+00 1.31e-05 7.52e-04 -4.1 8.98e-01 -5.3 1.00e+00 1.00e+00h 1 34 2.0810708e+00 2.15e-04 1.47e-02 -6.2 3.56e+00 -5.8 9.31e-01 8.23e-01h 1 35 2.0809599e+00 2.47e-05 3.79e-04 -4.8 2.63e+00 -6.3 1.00e+00 9.86e-01h 1 36 2.0820093e+00 2.69e-03 8.52e-02 -4.0 2.54e+01 -6.8 4.65e-01 1.00e+00f 1 37 2.0957424e+00 3.15e-03 1.27e-01 -4.3 4.44e+01 -7.2 1.84e-01 8.08e-01h 1 38 2.0955577e+00 3.08e-03 8.61e+00 -4.3 3.65e-01 0.6 1.61e-01 2.31e-02h 1 39 2.0882965e+00 3.42e-08 8.80e-02 -4.3 6.52e-02 0.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0827877e+00 3.65e-07 3.91e-02 -4.0 8.83e-02 -0.4 1.00e+00 1.00e+00f 1 41 2.0813850e+00 9.40e-08 7.95e-03 -4.0 5.39e-02 -0.8 1.00e+00 1.00e+00f 1 42 2.0814081e+00 2.18e-08 3.04e-04 -4.0 6.10e-03 -1.3 1.00e+00 1.00e+00h 1 43 2.0813974e+00 7.73e-09 8.27e-05 -4.0 5.02e-03 -1.8 1.00e+00 1.00e+00h 1 44 2.0813995e+00 2.94e-09 8.22e-05 -4.0 1.50e-02 -2.3 1.00e+00 1.00e+00h 1 45 2.0814077e+00 4.66e-08 7.94e-05 -4.0 4.34e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0813908e+00 6.21e-07 2.43e-04 -4.1 7.73e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0811859e+00 1.01e-05 4.38e-01 -6.1 1.96e-01 -3.7 6.13e-01 1.00e+00h 1 48 2.0813801e+00 1.33e-05 6.70e-01 -4.0 6.12e-01 -4.2 1.00e+00 3.81e-01h 2 49 2.0814908e+00 1.40e-05 1.75e-03 -4.1 7.02e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815868e+00 8.53e-06 8.57e-04 -4.1 1.15e+00 -5.1 1.00e+00 1.00e+00h 1 51 2.0816696e+00 8.08e-06 7.74e-04 -4.1 1.45e+00 -5.6 1.00e+00 1.00e+00h 1 52 2.0817327e+00 1.15e-05 4.20e-04 -4.1 3.05e+00 -6.1 1.00e+00 1.00e+00h 1 53 2.0809202e+00 5.12e-04 6.27e-03 -6.2 8.00e+00 -6.6 9.84e-01 8.65e-01h 1 54 2.0819460e+00 2.82e-03 1.39e-02 -4.0 2.52e+01 -7.0 8.06e-01 1.00e+00f 1 55 2.0815502e+00 1.20e-03 7.32e-03 -4.2 3.00e+01 -7.5 9.18e-01 1.00e+00h 1 56 2.0824623e+00 5.22e-04 1.40e+00 -4.2 8.75e+00 -5.3 1.00e+00 3.62e-01h 1 57 2.0815721e+00 2.22e-05 6.17e-03 -4.2 1.03e+00 -5.8 1.00e+00 1.00e+00f 1 58 2.0815333e+00 7.23e-05 1.31e-03 -4.2 1.51e+00 -6.2 1.00e+00 1.00e+00h 1 59 2.0815230e+00 9.21e-06 2.36e-04 -4.2 2.74e+00 -6.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0807712e+00 1.09e-03 2.74e-03 -6.2 1.82e+01 -7.2 9.86e-01 9.06e-01h 1 61 2.0808215e+00 1.04e-03 8.61e-02 -4.0 2.56e+01 -7.7 1.00e+00 4.55e-02f 1 62 2.0821553e+00 1.79e-02 2.74e-02 -4.0 1.66e+02 -8.1 6.65e-01 1.00e+00h 1 63 2.0820994e+00 1.60e-02 8.74e-02 -4.1 2.13e+00 -4.1 1.21e-01 1.06e-01h 1 64 2.0820090e+00 7.31e-06 1.07e-03 -4.1 3.34e-01 -4.6 1.00e+00 1.00e+00f 1 65 2.0819751e+00 4.42e-06 2.26e-04 -4.1 6.10e-01 -5.1 1.00e+00 1.00e+00h 1 66 2.0812598e+00 2.72e-04 1.98e-03 -6.1 2.83e+00 -5.5 9.96e-01 9.87e-01h 1 67 2.0812021e+00 7.56e-05 5.93e-02 -6.1 2.07e-01 -3.3 1.00e+00 7.22e-01h 1 68 2.0811890e+00 1.58e-07 1.12e-05 -6.1 6.71e-02 -3.8 1.00e+00 1.00e+00h 1 69 2.0815620e+00 7.60e-06 2.89e-01 -4.0 1.52e+00 -4.3 5.06e-01 3.08e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815453e+00 8.18e-06 9.25e-04 -4.4 5.12e-01 -4.7 1.00e+00 1.00e+00f 1 71 2.0815154e+00 8.54e-06 9.18e-04 -4.4 9.17e-01 -5.2 1.00e+00 1.00e+00h 1 72 2.0818445e+00 1.10e-07 7.83e-02 -4.4 4.57e+00 -5.7 5.79e-01 1.00e+00H 1 73 2.0816147e+00 2.09e-07 3.78e-01 -4.4 7.00e-02 -1.6 1.00e+00 3.88e-01h 2 74 2.0815226e+00 3.30e-07 4.55e-04 -4.4 2.54e-02 -2.1 1.00e+00 1.00e+00h 1 75 2.0815549e+00 8.51e-08 1.39e-04 -4.4 5.60e-02 -2.6 1.00e+00 1.00e+00h 1 76 2.0812692e+00 1.45e-06 3.77e-02 -6.5 6.52e-02 -3.1 7.09e-01 9.01e-01h 1 77 2.0811806e+00 7.06e-07 9.12e-01 -6.5 4.88e-01 -3.6 7.81e-01 3.99e-01h 1 78 2.0811955e+00 7.04e-07 8.94e-01 -6.5 1.08e+01 -3.1 9.26e-06 1.89e-03h 3 79 2.0811795e+00 7.04e-07 8.94e-01 -6.5 9.65e+01 -2.7 6.33e-04 1.18e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0812109e+00 7.04e-07 7.84e-01 -4.0 2.16e+04 -3.2 2.71e-10 3.32e-06f 1 81 2.0811754e+00 6.92e-07 7.20e-01 -5.6 1.28e+00 -2.8 1.00e+00 1.80e-02h 1 82 2.0812018e+00 1.26e-07 1.57e-05 -5.6 2.34e-02 -3.2 1.00e+00 1.00e+00f 1 83 2.0817648e+00 6.87e-06 3.40e-01 -4.0 6.73e-01 -3.7 1.00e+00 7.01e-01f 1 84 2.0818075e+00 6.28e-07 6.07e-05 -4.1 4.05e-01 -4.2 1.00e+00 1.00e+00f 1 85 2.0812956e+00 5.75e-05 2.51e-02 -6.1 6.40e-01 -4.7 8.03e-01 8.90e-01h 1 86 2.0810629e+00 3.77e-05 7.27e-03 -6.1 1.44e+00 -5.1 9.41e-01 1.00e+00h 1 87 2.0810513e+00 2.60e-05 9.02e-02 -6.1 7.18e-01 -4.7 5.94e-01 3.10e-01h 1 88 2.0811026e+00 2.59e-05 6.69e-01 -4.0 1.82e+01 -5.2 2.05e-01 2.67e-02f 1 89 2.0812003e+00 5.74e-04 1.73e+00 -4.5 1.76e+01 -5.7 1.00e+00 1.56e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0813743e+00 2.03e-04 3.38e-03 -4.5 4.57e+00 -6.1 1.00e+00 1.00e+00h 1 91 2.0811236e+00 1.20e-03 1.02e-03 -4.5 8.34e+00 -6.6 1.00e+00 1.00e+00h 1 92 2.0810603e+00 8.66e-05 1.75e-03 -4.5 1.39e+01 -7.1 1.00e+00 1.00e+00h 1 93 2.0818443e+00 1.87e-03 2.85e-03 -4.0 2.23e+01 -7.6 1.00e+00 1.00e+00h 1 94 2.0816282e+00 8.80e-04 1.19e-03 -4.1 3.88e+01 -8.1 1.00e+00 1.00e+00h 1 95 2.0815890e+00 1.63e-05 1.58e-03 -4.1 3.70e+01 -8.5 1.00e+00 1.00e+00h 1 96 2.0815909e+00 2.96e-06 1.93e-04 -4.1 1.37e+01 -9.0 1.00e+00 1.00e+00h 1 97 2.0806019e+00 3.35e-03 2.42e-04 -6.1 4.14e+01 -9.5 9.77e-01 9.58e-01h 1 98 2.0818903e+00 6.35e-03 5.47e-04 -4.0 5.96e+01 -10.0 1.00e+00 1.00e+00f 1 99 2.0816148e+00 5.15e-04 3.80e-05 -4.1 2.16e+01 -10.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0806045e+00 3.49e-03 2.36e-04 -6.1 4.24e+01 -10.9 9.76e-01 9.58e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0806044682874552e+00 2.0806044682874552e+00 Dual infeasibility......: 2.3553038113973462e-04 2.3553038113973462e-04 Constraint violation....: 3.4885744069308444e-03 3.4885744069308444e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9597321545235766e-05 1.9597321545235766e-05 Overall NLP error.......: 3.4885744069308444e-03 3.4885744069308444e-03 Number of objective function evaluations = 117 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 117 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 53.377 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.045s integrator 2 jacobian structure: 0.043s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 4.94s jacobian structure: 1680 nonzeros (5.029s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.042s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 6.698s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.252s sub-objective 2 (QuadraticRegularizer): 0.066s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.012s sub-objective 5 (GlobalObjective): 0.542s objective hessian structure: 0.947s hessian structure: 1964 nonzeros (7.729s) linear index maps built (0.0s) evaluator ready (total: 12.758s) evaluator created (12.778s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.092s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.497s) optimizer initialization complete (total: 16.369s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 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 1.8363951e+01 3.22e+00 6.44e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.0025158e+00 8.24e-01 3.30e+00 -1.0 2.16e+00 0.0 6.44e-01 7.44e-01f 1 2 7.0598305e+00 6.15e-01 7.74e+01 -1.0 5.23e-01 2.2 9.90e-01 2.54e-01h 1 3 7.0510958e+00 4.17e-01 2.45e+01 -1.5 3.78e-01 1.8 1.00e+00 3.22e-01h 1 4 7.1892186e+00 1.74e-01 5.94e+01 -1.3 2.65e-01 2.2 1.00e+00 5.83e-01h 1 5 7.6564341e+00 1.62e-01 6.30e+01 -4.0 5.39e+00 1.7 1.73e-02 5.64e-02h 1 6 7.5576251e+00 2.83e-03 1.37e+01 -1.8 1.01e-01 2.1 1.00e+00 1.00e+00h 1 7 7.1610753e+00 1.18e-04 5.62e+00 -1.8 6.89e-02 1.7 9.97e-01 1.00e+00f 1 8 6.1978605e+00 7.64e-04 2.71e+00 -2.3 1.81e-01 1.2 1.00e+00 1.00e+00f 1 9 4.6938600e+00 6.81e-03 2.10e+00 -2.5 3.88e-01 0.7 1.00e+00 7.89e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.6786764e+00 7.28e-03 1.64e+00 -2.2 5.85e-01 0.2 1.00e+00 4.05e-01f 1 11 4.2327657e+00 5.07e-02 1.32e+00 -0.8 1.16e+00 -0.3 6.70e-01 2.74e-01f 1 12 4.0956690e+00 6.59e-02 1.15e+00 -1.1 3.82e+00 -0.7 2.08e-01 1.43e-01f 1 13 3.0842889e+00 4.39e-02 2.41e+00 -1.1 4.65e-01 -0.3 5.88e-01 1.00e+00f 1 14 2.6615424e+00 1.14e-02 7.74e-01 -2.7 5.07e-01 -0.8 4.38e-01 6.66e-01h 1 15 3.2170446e+00 3.13e-01 1.72e+00 0.7 9.54e+01 -1.3 3.44e-02 1.43e-02f 1 16 3.1116765e+00 1.94e-01 5.56e-01 -0.8 7.68e-01 -1.7 7.78e-01 1.00e+00f 1 17 2.7464466e+00 1.72e-01 2.17e-01 -1.5 1.93e+00 -2.2 8.59e-01 5.33e-01h 1 18 2.2386095e+00 1.79e-01 1.05e-01 -2.3 2.57e+00 -2.7 6.85e-01 7.84e-01h 1 19 2.1791986e+00 1.04e-01 2.13e-01 -2.0 3.49e+00 -3.2 9.29e-01 9.04e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1072490e+00 9.47e-03 2.21e-02 -2.8 9.75e-01 -3.6 1.00e+00 9.08e-01h 1 21 2.0908885e+00 3.23e-04 9.49e-04 -4.0 2.00e-01 -4.1 1.00e+00 1.00e+00h 1 22 2.0907913e+00 2.52e-05 4.23e-04 -4.0 6.01e-01 -4.6 1.00e+00 1.00e+00h 1 23 2.0906657e+00 1.06e-06 4.60e-04 -4.0 1.71e+00 -5.1 1.00e+00 1.00e+00h 1 24 2.0902945e+00 9.42e-06 5.50e-04 -4.0 5.27e+00 -5.6 1.00e+00 1.00e+00h 1 25 2.0901278e+00 1.73e-06 9.25e-04 -4.0 2.06e+00 -5.1 1.00e+00 1.00e+00h 1 26 2.0899699e+00 2.45e-06 3.02e-02 -4.0 9.04e+00 -5.6 1.00e+00 1.71e-01h 2 27 2.0885381e+00 1.03e-04 4.40e-03 -4.0 1.74e+01 -6.1 1.00e+00 1.00e+00h 1 28 2.0870418e+00 1.71e-04 8.04e-02 -4.0 4.45e+01 -6.6 1.00e+00 4.00e-01h 1 29 2.0831273e+00 1.80e-03 6.87e-02 -4.0 7.09e+01 -7.0 1.00e+00 9.80e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834520e+00 2.96e-03 8.35e-02 -4.0 1.52e+02 -7.5 5.25e-01 1.00e+00h 1 31 3.8640174e+00 2.00e-03 7.19e+00 -4.0 2.68e+02 -7.1 3.01e-02 8.73e-01H 1 32 2.2029417e+00 1.82e-08 1.89e+00 -4.1 3.70e-01 0.8 7.85e-01 1.00e+00f 1 33 2.0860066e+00 6.07e-09 1.92e-01 -4.1 1.12e-01 0.3 9.30e-01 1.00e+00f 1 34 2.0855647e+00 4.72e-09 1.12e-01 -4.0 9.54e-03 -0.2 1.00e+00 2.72e-01h 1 35 2.0859718e+00 2.27e-08 2.13e-03 -4.0 1.00e-02 -0.7 1.00e+00 1.00e+00f 1 36 2.0855615e+00 6.87e-08 1.96e-03 -4.1 2.78e-02 -1.2 1.00e+00 1.00e+00h 1 37 2.0854578e+00 3.01e-07 1.60e-03 -4.0 6.82e-02 -1.6 1.00e+00 1.00e+00h 1 38 2.0852875e+00 1.16e-06 5.93e-04 -4.0 7.59e-02 -2.1 1.00e+00 1.00e+00h 1 39 2.0853782e+00 1.90e-07 7.22e-05 -4.0 2.77e-02 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0853625e+00 7.19e-08 3.31e-05 -4.0 1.63e-02 -3.1 1.00e+00 1.00e+00h 1 41 2.0853580e+00 9.55e-09 3.31e-05 -4.0 4.88e-02 -3.5 1.00e+00 1.00e+00h 1 42 2.0853463e+00 6.06e-09 3.32e-05 -4.0 1.46e-01 -4.0 1.00e+00 1.00e+00h 1 43 2.0853113e+00 5.31e-08 3.34e-05 -4.0 4.37e-01 -4.5 1.00e+00 1.00e+00h 1 44 2.0852087e+00 4.54e-07 3.39e-05 -4.0 1.29e+00 -5.0 1.00e+00 1.00e+00h 1 45 2.0849202e+00 3.59e-06 2.73e-04 -4.0 3.69e+00 -5.4 1.00e+00 1.00e+00h 1 46 2.0842100e+00 2.23e-05 1.98e-03 -4.0 9.59e+00 -5.9 1.00e+00 1.00e+00h 1 47 2.0830947e+00 7.38e-05 9.66e-03 -4.0 1.99e+01 -6.4 1.00e+00 9.87e-01h 1 48 2.0828919e+00 5.41e-04 2.04e-02 -4.0 3.60e+01 -6.9 1.00e+00 1.00e+00f 1 49 2.0849248e+00 2.85e-02 9.37e-03 -3.4 1.00e+02 -7.4 9.05e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.9938172e+00 1.87e-02 3.64e+00 -3.6 2.81e+02 -6.9 3.46e-02 5.06e-01h 1 51 2.2774531e+00 7.96e-07 2.21e+00 -3.6 2.69e-01 0.9 1.00e+00 1.00e+00f 1 52 2.1975547e+00 1.25e-08 1.28e+00 -3.6 5.37e-02 1.3 8.35e-01 1.00e+00f 1 53 2.1125950e+00 1.45e-09 6.44e-01 -3.6 8.80e-02 0.9 1.00e+00 1.00e+00f 1 54 2.0858094e+00 6.92e-09 1.60e-01 -3.6 6.61e-02 0.4 1.00e+00 1.00e+00f 1 55 2.0841918e+00 1.09e-07 3.53e-01 -4.0 1.85e-02 -0.1 1.00e+00 6.81e-01f 1 56 2.0843430e+00 6.47e-07 3.24e-03 -4.0 1.20e-02 -0.6 1.00e+00 1.00e+00f 1 57 2.0835861e+00 1.53e-06 2.08e-03 -4.1 2.31e-02 -1.0 1.00e+00 1.00e+00h 1 58 2.0831263e+00 5.12e-06 1.44e-03 -4.0 4.80e-02 -1.5 1.00e+00 1.00e+00h 1 59 2.0827452e+00 2.39e-06 1.74e-03 -4.0 5.33e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0828321e+00 5.29e-07 5.29e-05 -4.0 1.58e-02 -2.5 1.00e+00 1.00e+00h 1 61 2.0828123e+00 3.90e-08 4.58e-05 -4.0 4.44e-03 -3.0 1.00e+00 1.00e+00h 1 62 2.0828103e+00 1.41e-09 4.59e-05 -4.0 1.14e-02 -3.4 1.00e+00 1.00e+00h 1 63 2.0828089e+00 5.92e-10 4.59e-05 -4.0 3.42e-02 -3.9 1.00e+00 1.00e+00h 1 64 2.0828046e+00 5.44e-09 4.59e-05 -4.0 1.02e-01 -4.4 1.00e+00 1.00e+00h 1 65 2.0827924e+00 4.75e-08 4.60e-05 -4.0 2.99e-01 -4.9 1.00e+00 1.00e+00h 1 66 2.0827590e+00 3.92e-07 4.63e-05 -4.0 8.39e-01 -5.3 1.00e+00 1.00e+00h 1 67 2.0826826e+00 2.71e-06 1.66e-04 -4.0 2.18e+00 -5.8 1.00e+00 1.00e+00h 1 68 2.0825592e+00 1.13e-05 5.17e-04 -4.0 6.43e+00 -6.3 1.00e+00 1.00e+00h 1 69 2.0824074e+00 1.22e-05 8.73e-04 -4.0 1.80e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0822149e+00 3.79e-05 2.98e-03 -4.0 4.60e+01 -7.2 1.00e+00 1.00e+00h 1 71 2.0820360e+00 3.02e-04 7.79e-03 -4.0 1.16e+02 -7.7 6.75e-01 1.00e+00h 1 72 2.0823146e+00 5.80e-04 5.77e-01 -4.0 7.21e+01 -6.4 6.39e-01 1.52e-01h 3 73 2.0819869e+00 2.00e-06 2.01e-03 -4.1 5.79e-02 -1.5 1.00e+00 9.97e-01h 1 74 2.0822978e+00 1.05e-06 1.33e-03 -4.0 7.01e-02 -1.9 1.00e+00 1.00e+00f 1 75 2.0820945e+00 5.29e-07 2.09e-04 -4.1 1.94e-02 -2.4 1.00e+00 1.00e+00h 1 76 2.0814406e+00 3.23e-06 5.02e-02 -6.1 4.05e-02 -2.9 8.08e-01 1.00e+00h 1 77 2.0822943e+00 6.22e-06 1.56e-03 -4.0 6.22e-02 -3.4 1.00e+00 1.00e+00f 1 78 2.0820493e+00 2.41e-06 3.81e-05 -4.1 6.98e-02 -3.8 1.00e+00 1.00e+00h 1 79 2.0814003e+00 2.65e-05 6.30e-02 -6.1 2.61e-01 -4.3 8.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0822160e+00 9.39e-05 1.90e-03 -4.0 6.63e-01 -4.8 1.00e+00 1.00e+00f 1 81 2.0818733e+00 8.04e-05 5.37e-03 -4.1 1.99e+00 -5.3 8.21e-01 1.00e+00h 1 82 2.0818256e+00 1.15e-05 5.70e-03 -4.1 2.52e-01 -3.9 1.00e+00 1.00e+00h 1 83 2.0818459e+00 2.34e-06 1.33e-03 -4.1 1.42e-01 -4.4 1.00e+00 1.00e+00h 1 84 2.0819944e+00 1.58e-06 2.82e-04 -4.0 9.87e-02 -4.9 1.00e+00 1.00e+00h 1 85 2.0818414e+00 7.60e-06 6.25e-05 -4.1 3.72e-01 -5.4 1.00e+00 1.00e+00h 1 86 2.0811124e+00 3.79e-04 7.16e-03 -6.1 4.82e+00 -5.9 9.87e-01 1.00e+00h 1 87 2.0811238e+00 3.19e-05 1.46e-02 -5.0 2.59e-01 -3.6 1.00e+00 9.15e-01h 1 88 2.0814022e+00 2.37e-05 2.01e-01 -4.0 1.69e+00 -4.1 1.00e+00 2.87e-01f 1 89 2.0817808e+00 2.07e-05 1.73e-03 -4.0 3.00e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817057e+00 8.68e-06 2.88e-04 -4.1 5.33e-01 -5.0 1.00e+00 1.00e+00h 1 91 2.0811015e+00 2.05e-04 3.07e-03 -6.1 2.34e+00 -5.5 9.96e-01 1.00e+00h 1 92 2.0818677e+00 5.74e-06 2.81e-03 -4.0 1.92e-01 -3.3 1.00e+00 1.00e+00h 1 93 2.0814565e+00 7.91e-06 1.08e-03 -4.1 1.57e-01 -3.8 1.00e+00 1.00e+00h 1 94 2.0815402e+00 3.12e-06 4.22e-04 -4.1 2.41e-01 -4.2 1.00e+00 1.00e+00h 1 95 2.0811489e+00 4.96e-05 1.15e-01 -6.1 6.95e-01 -4.7 7.43e-01 1.00e+00h 1 96 2.0809550e+00 5.07e-05 2.03e-02 -6.1 1.22e+00 -5.2 6.96e-01 1.00e+00h 1 97 2.0812606e+00 3.11e-05 6.47e-02 -4.0 4.00e+00 -4.8 2.05e-01 2.26e-01f 1 98 2.0811406e+00 1.02e-04 1.62e-01 -4.7 2.03e+00 -5.3 2.74e-01 8.15e-01h 1 99 2.0811682e+00 9.41e-05 2.36e-01 -4.0 4.85e+00 -3.9 7.12e-03 3.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0811414e+00 9.10e-05 1.26e+00 -4.4 5.86e-01 -4.4 1.00e+00 3.02e-02h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0811413975406032e+00 2.0811413975406032e+00 Dual infeasibility......: 1.2593185389789692e+00 1.2593185389789692e+00 Constraint violation....: 9.0981481002838649e-05 9.0981481002838649e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.3032534043524075e-05 4.3032534043524075e-05 Overall NLP error.......: 1.2593185389789692e+00 1.2593185389789692e+00 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.580 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 3.502s jacobian structure: 1594 nonzeros (3.555s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 12.732s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (12.776s) linear index maps built (0.0s) evaluator ready (total: 16.331s) evaluator created (16.35s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 16.35s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 8.0072556e+01 4.22e+00 2.79e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9041994e+01 2.34e+00 1.52e+01 -0.5 2.32e+00 0.0 1.00e+00 4.46e-01f 1 2 3.4146020e+00 6.64e-02 1.53e+01 -0.1 1.63e+00 -0.5 4.63e-01 1.00e+00f 1 3 3.1830288e+00 1.16e-02 1.79e+00 -0.6 6.95e-01 -1.0 9.26e-01 1.00e+00f 1 4 2.8144778e+00 4.31e-02 3.04e-01 -1.2 6.22e-01 -1.4 9.36e-01 8.62e-01h 1 5 2.3347332e+00 3.07e-02 1.76e-01 -2.0 5.38e-01 -1.9 9.31e-01 1.00e+00f 1 6 2.1948085e+00 4.13e-02 6.82e-01 -2.6 2.97e+00 -2.4 9.94e-01 4.33e-01h 1 7 2.1137751e+00 4.76e-03 3.11e-02 -2.9 3.44e-01 -2.9 9.98e-01 1.00e+00h 1 8 2.0910842e+00 2.89e-04 1.22e-03 -4.0 8.70e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909349e+00 6.83e-06 2.10e-04 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909031e+00 4.82e-08 2.10e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908348e+00 2.73e-07 6.04e-04 -4.0 8.96e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906531e+00 2.31e-06 9.36e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900931e+00 2.09e-05 9.80e-04 -4.0 7.71e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0899435e+00 1.97e-05 6.12e-02 -4.0 3.34e+01 -6.2 6.38e-01 4.56e-02h 2 15 2.0864248e+00 9.64e-04 3.16e-02 -4.0 4.98e+01 -6.7 1.00e+00 1.00e+00h 1 16 2.0856118e+00 6.38e-04 6.08e-02 -4.0 2.62e+01 -6.3 1.00e+00 3.47e-01h 1 17 2.0833572e+00 5.60e-04 2.57e-02 -4.0 3.95e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0825857e+00 1.18e-04 1.56e-02 -4.0 4.13e+01 -7.2 1.00e+00 7.29e-01h 1 19 2.0824043e+00 2.98e-04 1.28e-02 -4.0 1.13e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823757e+00 1.05e-03 1.71e-02 -4.0 8.39e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0976740e+00 3.29e-04 1.66e-01 -4.0 6.89e+01 -7.7 2.21e-01 1.00e+00h 1 22 2.0874960e+00 1.22e-08 9.83e-02 -4.1 7.61e-02 0.1 1.00e+00 1.00e+00h 1 23 2.0825154e+00 3.25e-08 3.15e-02 -4.0 7.66e-02 -0.4 1.00e+00 1.00e+00f 1 24 2.0819677e+00 3.27e-09 4.27e-03 -4.0 2.70e-02 -0.8 1.00e+00 9.81e-01h 1 25 2.0822859e+00 2.78e-08 1.11e-03 -4.0 1.85e-02 -1.3 1.00e+00 1.00e+00f 1 26 2.0820189e+00 5.33e-08 2.03e-04 -4.1 8.92e-03 -1.8 1.00e+00 1.00e+00h 1 27 2.0820509e+00 5.57e-08 2.10e-04 -4.0 4.64e-03 -2.3 1.00e+00 1.00e+00h 1 28 2.0819152e+00 1.28e-07 1.68e-04 -4.1 7.36e-03 -2.8 1.00e+00 1.00e+00h 1 29 2.0820525e+00 1.37e-07 2.10e-04 -4.0 7.61e-03 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819128e+00 2.59e-07 1.68e-04 -4.1 1.20e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0820551e+00 1.08e-06 2.10e-04 -4.0 4.97e-02 -4.2 1.00e+00 1.00e+00h 1 32 2.0819136e+00 2.34e-06 1.68e-04 -4.1 1.08e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0812453e+00 1.35e-04 1.12e-02 -6.1 1.48e+00 -5.1 9.39e-01 1.00e+00h 1 34 2.0821615e+00 1.46e-04 1.37e-03 -4.0 1.14e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0818966e+00 1.03e-04 2.43e-04 -4.1 3.03e+00 -6.1 1.00e+00 1.00e+00h 1 36 2.0821224e+00 2.60e-04 2.92e-04 -4.0 1.03e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0818558e+00 6.92e-04 4.39e-04 -4.1 3.21e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0814184e+00 3.11e-04 8.72e-02 -6.1 1.24e+01 -6.6 9.26e-01 3.77e-01h 1 39 2.0808476e+00 5.81e-04 1.94e-03 -6.1 1.23e+01 -7.1 1.00e+00 8.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823081e+00 9.90e-03 4.15e-02 -4.0 9.19e+01 -7.6 5.55e-01 1.00e+00f 1 41 2.0818253e+00 3.53e-03 1.42e-01 -4.3 2.20e+00 -5.3 1.00e+00 6.45e-01h 1 42 2.0816468e+00 1.78e-03 2.45e-01 -4.3 4.11e+00 -5.8 1.00e+00 5.55e-01f 1 43 2.0814182e+00 2.43e-04 7.42e-04 -4.3 6.88e+00 -6.3 1.00e+00 1.00e+00f 1 44 2.0818543e+00 1.35e-03 1.89e-03 -4.0 2.97e+01 -6.8 9.77e-01 1.00e+00h 1 45 2.0842271e+00 1.25e-03 7.48e-01 -4.1 9.97e+01 -6.4 3.79e-01 7.24e-02h 1 46 2.0817100e+00 1.21e-04 6.47e-03 -4.1 5.27e+00 -6.8 1.00e+00 1.00e+00f 1 47 2.0816462e+00 1.88e-04 4.50e-04 -4.1 1.23e+01 -7.3 1.00e+00 1.00e+00h 1 48 2.0818770e+00 5.84e-04 5.54e-04 -4.0 2.31e+01 -7.8 1.00e+00 1.00e+00h 1 49 2.0815871e+00 8.22e-04 8.06e-04 -4.1 3.52e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815695e+00 2.67e-05 8.58e-04 -4.1 3.41e+01 -8.7 1.00e+00 1.00e+00h 1 51 2.0818395e+00 2.94e-04 2.10e-04 -4.0 1.20e+01 -9.2 1.00e+00 1.00e+00h 1 52 2.0815806e+00 2.21e-04 1.68e-04 -4.1 1.00e+01 -9.7 1.00e+00 1.00e+00h 1 53 2.0805905e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.2 9.78e-01 9.71e-01h 1 54 2.0818881e+00 6.52e-03 3.48e-04 -4.0 6.06e+01 -10.6 1.00e+00 1.00e+00f 1 55 2.0816137e+00 4.88e-04 1.72e-04 -4.1 2.07e+01 -11.1 1.00e+00 1.00e+00h 1 56 2.0805990e+00 3.47e-03 1.51e-04 -6.1 4.15e+01 -11.6 9.76e-01 9.65e-01h 1 57 2.0805508e+00 8.47e-05 2.37e-06 -6.1 1.70e+01 -12.1 1.00e+00 1.00e+00h 1 58 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.6 1.00e+00 1.00e+00f 1 59 2.0816836e+00 9.34e-04 1.79e-04 -4.1 4.57e+01 -13.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816477e+00 4.72e-07 1.79e-04 -4.1 8.52e+00 -13.5 1.00e+00 1.00e+00h 1 61 2.0818389e+00 1.15e-04 2.10e-04 -4.0 7.07e+00 -14.0 1.00e+00 1.00e+00h 1 62 2.0815801e+00 2.08e-04 1.68e-04 -4.1 9.50e+00 -14.5 1.00e+00 1.00e+00h 1 63 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.9 9.78e-01 9.71e-01h 1 64 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.4 1.00e+00 1.00e+00h 1 65 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -15.9 1.00e+00 1.00e+00f 1 66 2.0816887e+00 9.54e-04 1.79e-04 -4.1 4.72e+01 -16.4 1.00e+00 1.00e+00h 1 67 2.0816504e+00 5.63e-07 1.79e-04 -4.1 8.93e+00 -16.8 1.00e+00 1.00e+00h 1 68 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -17.3 9.77e-01 9.75e-01h 1 69 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -17.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805469e+00 4.72e-08 1.66e-06 -6.1 2.95e+00 -18.3 1.00e+00 1.00e+00h 1 71 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -18.8 1.00e+00 1.00e+00f 1 72 2.0817159e+00 1.04e-03 1.82e-04 -4.1 5.46e+01 -19.2 1.00e+00 1.00e+00h 1 73 2.0816648e+00 1.22e-06 1.82e-04 -4.1 1.10e+01 -19.7 1.00e+00 1.00e+00h 1 74 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805471e+00 4.99e-08 1.69e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 79 2.0817306e+00 1.08e-03 1.83e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816723e+00 1.67e-06 1.83e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 82 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805472e+00 5.15e-08 1.71e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0805365e+00 9.27e-11 1.91e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 86 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 87 2.0817309e+00 1.08e-03 1.83e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0816725e+00 1.68e-06 1.83e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805472e+00 5.16e-08 1.71e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0805365e+00 9.28e-11 1.91e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 8.88e-16 1.91e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 4.44e-16 1.91e-09 -9.0 9.54e-11 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 1.9084783647319617e-09 1.9084783647319617e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.358 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.036s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.083s) evaluator created (0.092s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.093s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9253204e+00 2.54e+00 7.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6125632e+00 3.71e-01 1.47e+00 -1.5 1.73e+00 0.0 3.92e-01 8.55e-01f 1 2 2.4604838e+00 8.05e-02 1.14e+00 -1.0 9.34e-01 -0.5 8.71e-01 7.83e-01f 1 3 3.1578345e+00 7.43e-01 1.70e+00 1.0 1.79e+02 -1.0 5.12e-03 1.11e-02f 1 4 3.0461391e+00 2.75e-01 8.20e-01 -1.0 7.88e-01 -0.5 2.56e-01 7.69e-01f 1 5 2.6115574e+00 7.42e-02 5.85e-01 -1.2 2.92e-01 -0.1 9.95e-01 7.23e-01f 1 6 2.4669871e+00 8.62e-03 8.25e-01 -1.4 3.29e-01 -0.6 8.93e-01 1.00e+00f 1 7 2.2802798e+00 4.48e-03 2.54e-01 -1.8 2.20e-01 -1.1 9.94e-01 4.79e-01h 1 8 2.1766263e+00 6.19e-03 2.87e-01 -2.5 3.15e-01 -1.5 9.97e-01 5.25e-01h 1 9 2.0976101e+00 2.26e-03 2.83e-02 -4.0 1.57e-01 -2.0 1.00e+00 9.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909211e+00 1.95e-05 9.29e-03 -4.0 1.86e-02 -2.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909211464834292e+00 2.0909211464834292e+00 Dual infeasibility......: 9.2935501805753041e-03 9.2935501805753041e-03 Constraint violation....: 1.9455141804730199e-05 1.9455141804730199e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1432971707520035e-04 1.1432971707520035e-04 Overall NLP error.......: 9.2935501805753041e-03 9.2935501805753041e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 18.144 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.093s) evaluator created (0.093s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.093s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8787157e+00 1.89e+00 6.79e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8115976e+00 5.43e-02 2.14e+00 -1.0 1.96e+00 0.0 1.00e+00 1.00e+00f 1 2 2.5844299e+00 4.32e-02 1.59e+00 -1.1 9.54e-01 -0.5 9.55e-01 3.80e-01h 1 3 2.3526653e+00 1.30e-02 1.74e-01 -1.6 2.84e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1346414e+00 2.18e-03 1.83e-02 -2.7 6.99e-02 -1.4 9.82e-01 1.00e+00h 1 5 2.0918108e+00 2.38e-04 1.23e-02 -4.0 4.27e-02 -1.9 9.86e-01 1.00e+00h 1 6 2.0909221e+00 3.42e-06 2.13e-03 -4.0 1.73e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909223e+00 1.07e-08 2.51e-05 -4.0 1.83e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909178e+00 7.95e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909045e+00 6.88e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908647e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907452e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903877e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893220e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861896e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796359e+00 2.51e-03 8.61e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812301e+00 1.68e-04 2.02e-01 -4.0 7.12e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778289e+00 6.42e-03 2.96e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782428e+00 1.79e-02 8.34e-02 -3.7 1.89e+02 -8.1 9.73e-01 1.00e+00h 1 19 2.0769198e+00 7.35e-03 1.69e-02 -3.8 3.23e+02 -8.6 1.00e+00 8.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760265e+00 9.75e-03 2.24e-02 -3.9 4.89e+02 -9.1 1.00e+00 9.64e-01f 1 21 2.0757585e+00 8.51e-03 1.08e-02 -4.0 1.54e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756821e+00 6.06e-04 4.93e-04 -4.0 7.01e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 9.21e-06 8.25e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.18e-08 1.50e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.53e-09 1.50e-07 -4.0 5.26e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.82e-11 3.06e-09 -4.0 9.36e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122124124e+00 2.0756712122124124e+00 Dual infeasibility......: 3.0552208278762389e-09 3.0552208278762389e-09 Constraint violation....: 7.8232531564026431e-11 7.8232531564026431e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 3.0552208278762389e-09 3.0552208278762389e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 20.545 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.051s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.043s) linear index maps built (0.0s) evaluator ready (total: 0.094s) evaluator created (0.094s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.094s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8921343e+00 2.35e+00 3.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7842395e+00 1.83e-01 3.26e+00 -1.0 1.95e+00 0.0 4.88e-01 9.78e-01f 1 2 2.7435176e+00 9.85e-02 7.99e+00 -0.7 2.17e-01 0.4 1.00e+00 4.56e-01h 1 3 2.9629940e+00 1.53e-02 3.30e+00 -0.6 2.78e-01 -0.1 8.11e-01 1.00e+00f 1 4 2.6941295e+00 6.81e-03 7.19e-01 -1.4 1.58e-01 -0.5 9.48e-01 1.00e+00h 1 5 2.4261017e+00 4.62e-03 3.01e-01 -1.7 2.74e-01 -1.0 9.86e-01 5.59e-01f 1 6 2.1466545e+00 1.25e-02 2.24e-01 -2.6 3.32e-01 -1.5 9.97e-01 8.27e-01f 1 7 2.0987368e+00 4.42e-04 4.87e-03 -3.1 4.42e-02 -2.0 9.95e-01 1.00e+00h 1 8 2.0908754e+00 1.02e-05 2.84e-04 -4.0 6.94e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908553e+00 1.27e-07 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908504e+00 9.27e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908503578330717e+00 2.0908503578330717e+00 Dual infeasibility......: 2.0579288971423166e-05 2.0579288971423166e-05 Constraint violation....: 9.2667658962986010e-10 9.2667658962986010e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000071e-04 1.0000000000000071e-04 Overall NLP error.......: 2.0579288971423166e-05 2.0579288971423166e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 19.741 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.047s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.085s) evaluator created (0.085s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.085s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0262081e+00 2.01e+00 4.29e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6837462e+00 5.19e-01 1.35e+00 -0.9 1.79e+00 - 9.85e-01 7.40e-01f 1 2 2.6581023e+00 2.38e-02 1.85e+00 -0.9 5.97e-01 - 8.35e-01 1.00e+00f 1 3 2.4205580e+00 1.21e-02 3.75e-01 -1.7 2.65e-01 - 9.92e-01 1.00e+00h 1 4 2.1714813e+00 2.12e-02 7.03e-01 -2.7 6.88e-01 - 9.98e-01 9.38e-01h 1 5 2.0999358e+00 6.71e-03 6.45e-01 -3.9 7.16e-01 - 1.00e+00 8.05e-01h 1 6 2.0929588e+00 2.13e-03 7.91e-02 -3.6 6.69e-02 - 1.00e+00 6.87e-01h 1 7 2.0909018e+00 1.35e-06 6.10e-03 -4.0 6.09e-03 - 1.00e+00 1.00e+00h 1 8 2.0908233e+00 1.71e-09 9.96e-05 -4.0 9.96e-05 - 1.00e+00 1.00e+00h 1 9 2.0908262e+00 7.15e-09 3.15e-04 -4.0 5.35e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906458e+00 1.07e-07 2.31e-04 -4.1 5.36e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906457842883013e+00 2.0906457842883013e+00 Dual infeasibility......: 2.3062832330156605e-04 2.3062832330156605e-04 Constraint violation....: 1.0748560869307255e-07 1.0748560869307255e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0151579715378551e-05 8.0151579715378551e-05 Overall NLP error.......: 2.3062832330156605e-04 2.3062832330156605e-04 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 6.455 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.099s) evaluator created (0.099s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.1s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0887539e+00 2.66e+00 5.75e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7163147e+00 6.84e-02 8.67e-01 -1.0 1.81e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3115105e+00 3.50e-01 2.51e-01 -1.7 2.94e+00 -2.5 8.40e-01 1.00e+00h 1 3 2.2604096e+00 1.68e-02 1.23e-01 -1.7 1.22e+00 -3.0 1.00e+00 1.00e+00h 1 4 2.1255363e+00 1.12e-02 1.01e-02 -2.5 6.46e-01 -3.4 1.00e+00 1.00e+00h 1 5 2.0916209e+00 1.01e-03 1.90e-03 -3.8 2.28e-01 -3.9 9.91e-01 1.00e+00h 1 6 2.0913138e+00 3.70e-05 7.46e-04 -3.8 5.10e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907139e+00 7.42e-05 3.86e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902725e+00 6.21e-06 2.84e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889598e+00 7.04e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851216e+00 6.68e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0851215502658822e+00 2.0851215502658822e+00 Dual infeasibility......: 2.7851698746673035e-03 2.7851698746673035e-03 Constraint violation....: 6.6762865241754010e-04 6.6762865241754010e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.7851698746673035e-03 2.7851698746673035e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 21.295 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.094s) evaluator created (0.094s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.095s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.022s jacobian structure: 1600 nonzeros (2.071s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.72s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (2.767s) linear index maps built (0.0s) evaluator ready (total: 4.838s) evaluator created (4.858s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 4.871s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 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 3.6927738e+00 2.78e+00 9.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6794368e+00 2.38e-01 2.20e+00 -0.9 2.41e+00 0.0 8.65e-01 9.12e-01h 1 Hello, world! 2 2.4807174e+00 9.27e-02 2.54e+00 -0.6 3.70e-01 0.4 1.00e+00 6.04e-01f 1 Hello, world! 3 2.6393718e+00 1.48e-02 1.41e+00 -1.0 3.07e-01 -0.1 8.17e-01 1.00e+00f 1 Hello, world! 4 2.3992073e+00 1.06e-02 4.00e-01 -1.7 1.64e-01 -0.5 9.92e-01 1.00e+00h 1 Hello, world! 5 2.2905291e+00 7.28e-03 4.06e-01 -1.9 3.19e-01 -1.0 9.81e-01 3.80e-01h 1 Hello, world! 6 2.1186798e+00 2.80e-03 1.39e-01 -2.9 1.32e-01 -1.5 9.99e-01 7.71e-01h 1 Hello, world! 7 2.0921126e+00 2.08e-04 2.59e-02 -4.0 3.06e-02 -2.0 1.00e+00 9.56e-01h 1 Hello, world! 8 2.0909506e+00 3.61e-06 1.33e-03 -4.0 7.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909470e+00 3.19e-08 2.54e-05 -4.0 2.08e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909394e+00 2.34e-09 2.47e-05 -4.0 6.09e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909193e+00 1.70e-08 2.80e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908779e+00 1.03e-07 1.99e-04 -4.0 4.27e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908011e+00 3.97e-07 8.75e-04 -4.0 9.97e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0906004e+00 3.03e-06 1.14e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900044e+00 2.69e-05 8.39e-04 -4.0 8.91e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897321e+00 4.41e-06 1.82e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895778e+00 4.96e-06 8.06e-02 -4.0 2.22e+01 -5.8 9.74e-01 6.88e-02h 2 Hello, world! 18 2.0876426e+00 2.41e-04 1.06e-02 -4.0 2.59e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0867185e+00 6.95e-05 6.13e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.72e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851586e+00 2.35e-04 1.53e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0837776e+00 2.47e-04 5.73e-02 -4.0 4.34e+01 -6.8 1.00e+00 4.28e-01h 1 Hello, world! 22 2.0825978e+00 9.24e-05 1.32e-02 -4.0 6.09e+01 -7.3 1.00e+00 7.32e-01h 1 Hello, world! 23 2.0824263e+00 6.92e-04 2.30e-02 -4.0 1.30e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825436e+00 1.99e-03 6.52e-02 -4.0 1.20e+02 -7.4 7.01e-01 1.00e+00h 1 Hello, world! 25 2.0824168e+00 4.67e-06 4.24e-04 -4.0 5.73e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0823451e+00 9.40e-06 5.68e-04 -4.0 2.30e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821539e+00 2.62e-05 7.03e-04 -4.0 6.97e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0820682e+00 7.52e-05 4.91e-03 -4.0 9.62e+01 -6.6 8.95e-02 8.41e-02h 4 Hello, world! 29 2.0822285e+00 5.98e-05 1.92e-01 -4.0 1.79e+01 -7.0 1.00e+00 1.83e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818942e+00 3.57e-04 2.25e-02 -4.1 3.12e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819301e+00 8.02e-04 5.53e-03 -4.0 4.89e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815937e+00 1.46e-03 4.50e-03 -4.1 6.10e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818463e+00 9.48e-04 8.89e-04 -4.0 3.91e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 4.76e-06 6.06e-05 -4.0 9.61e+00 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.43e-08 5.90e-07 -4.0 9.70e-01 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.51e-11 1.00e-09 -4.0 3.48e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105564223e+00 2.0818434105564223e+00 Dual infeasibility......: 1.0000000191519136e-09 1.0000000191519136e-09 Constraint violation....: 1.5142553877467435e-11 1.5142553877467435e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.0000000191519136e-09 1.0000000191519136e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 21.274 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.001s) evaluator created (0.001s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 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 3.6927738e+00 2.78e+00 9.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6794368e+00 2.38e-01 2.20e+00 -0.9 2.41e+00 0.0 8.65e-01 9.12e-01h 1 Hello, world! 2 2.4807174e+00 9.27e-02 2.54e+00 -0.6 3.70e-01 0.4 1.00e+00 6.04e-01f 1 Hello, world! 3 2.6393718e+00 1.48e-02 1.41e+00 -1.0 3.07e-01 -0.1 8.17e-01 1.00e+00f 1 Hello, world! 4 2.3992073e+00 1.06e-02 4.00e-01 -1.7 1.64e-01 -0.5 9.92e-01 1.00e+00h 1 Hello, world! 5 2.2905291e+00 7.28e-03 4.06e-01 -1.9 3.19e-01 -1.0 9.81e-01 3.80e-01h 1 Hello, world! 6 2.1186798e+00 2.80e-03 1.39e-01 -2.9 1.32e-01 -1.5 9.99e-01 7.71e-01h 1 Hello, world! 7 2.0921126e+00 2.08e-04 2.59e-02 -4.0 3.06e-02 -2.0 1.00e+00 9.56e-01h 1 Hello, world! 8 2.0909506e+00 3.61e-06 1.33e-03 -4.0 7.48e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909470e+00 3.19e-08 2.54e-05 -4.0 2.08e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909394e+00 2.34e-09 2.47e-05 -4.0 6.09e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909193e+00 1.70e-08 2.80e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908779e+00 1.03e-07 1.99e-04 -4.0 4.27e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908011e+00 3.97e-07 8.75e-04 -4.0 9.97e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0906004e+00 3.03e-06 1.14e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0900044e+00 2.69e-05 8.39e-04 -4.0 8.91e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0897321e+00 4.41e-06 1.82e-03 -4.0 3.42e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895778e+00 4.96e-06 8.06e-02 -4.0 2.22e+01 -5.8 9.74e-01 6.88e-02h 2 Hello, world! 18 2.0876426e+00 2.41e-04 1.06e-02 -4.0 2.59e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0867185e+00 6.95e-05 6.13e-03 -4.0 1.14e+01 -5.9 1.00e+00 8.72e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0851586e+00 2.35e-04 1.53e-02 -4.0 2.57e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0837776e+00 2.47e-04 5.73e-02 -4.0 4.34e+01 -6.8 1.00e+00 4.28e-01h 1 Hello, world! 22 2.0825978e+00 9.24e-05 1.32e-02 -4.0 6.09e+01 -7.3 1.00e+00 7.32e-01h 1 Hello, world! 23 2.0824263e+00 6.92e-04 2.30e-02 -4.0 1.30e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0825436e+00 1.99e-03 6.52e-02 -4.0 1.20e+02 -7.4 7.01e-01 1.00e+00h 1 Hello, world! 25 2.0824168e+00 4.67e-06 4.24e-04 -4.0 5.73e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0823451e+00 9.40e-06 5.68e-04 -4.0 2.30e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821539e+00 2.62e-05 7.03e-04 -4.0 6.97e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0820682e+00 7.52e-05 4.91e-03 -4.0 9.62e+01 -6.6 8.95e-02 8.41e-02h 4 Hello, world! 29 2.0822285e+00 5.98e-05 1.92e-01 -4.0 1.79e+01 -7.0 1.00e+00 1.83e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818942e+00 3.57e-04 2.25e-02 -4.1 3.12e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819301e+00 8.02e-04 5.53e-03 -4.0 4.89e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0815937e+00 1.46e-03 4.50e-03 -4.1 6.10e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818463e+00 9.48e-04 8.89e-04 -4.0 3.91e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 4.76e-06 6.06e-05 -4.0 9.61e+00 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.43e-08 5.90e-07 -4.0 9.70e-01 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.51e-11 1.00e-09 -4.0 3.48e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105564223e+00 2.0818434105564223e+00 Dual infeasibility......: 1.0000000191519136e-09 1.0000000191519136e-09 Constraint violation....: 1.5142553877467435e-11 1.5142553877467435e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.0000000191519136e-09 1.0000000191519136e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 0.530 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) integrator 1 hessian structure: 0.04s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.041s) linear index maps built (0.0s) evaluator ready (total: 0.09s) evaluator created (0.09s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.108s) optimizer initialization complete (total: 0.199s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6561300e+00 4.52e+00 5.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7924769e+00 3.52e-02 4.65e-01 -1.0 2.84e+00 - 1.00e+00 1.00e+00f 1 2 2.3843464e+00 6.13e-03 6.56e-02 -1.6 1.25e-01 - 9.45e-01 1.00e+00h 1 3 2.1230409e+00 8.04e-04 2.04e-02 -2.7 3.28e-02 - 9.93e-01 1.00e+00h 1 4 2.0909437e+00 8.43e-05 8.62e-04 -4.0 1.57e-02 - 9.88e-01 9.96e-01h 1 5 2.0908894e+00 1.43e-05 2.21e-04 -4.0 4.06e-01 - 1.00e+00 1.00e+00h 1 6 2.0908969e+00 1.02e-08 1.31e-07 -4.0 1.07e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.47e-09 2.59e-10 -4.0 2.41e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.10e-15 1.69e-15 -4.0 7.28e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978678981e+00 2.0908971978678981e+00 Dual infeasibility......: 1.6885635684832367e-15 1.6885635684832367e-15 Constraint violation....: 1.1036636014816192e-15 1.1036636014816192e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000010889421e-04 1.0000000010889421e-04 Overall NLP error.......: 1.0889420333330679e-13 1.0889420333330679e-13 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 20.529 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.101s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9982076e+00 1.70e+00 7.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2107622e+00 9.97e-01 1.69e+00 -0.9 7.84e+00 -4.0 5.68e-01 4.14e-01f 1 2 2.7633198e+00 1.19e+00 1.00e+01 -0.7 8.67e+00 -2.7 2.51e-01 7.55e-01f 1 3 2.6139168e+00 4.78e-01 6.21e+00 -0.5 3.06e+00 -0.4 1.00e+00 4.84e-01f 1 4 2.7059336e+00 6.53e-02 4.27e+00 -1.0 1.18e+00 -0.9 7.13e-01 1.00e+00h 1 5 2.5860836e+00 9.39e-03 2.48e-01 -1.3 2.94e-01 -1.4 9.84e-01 1.00e+00h 1 6 2.3219512e+00 3.14e-02 6.74e-02 -1.7 3.59e-01 -1.9 9.89e-01 1.00e+00f 1 7 2.2474694e+00 3.45e-02 7.92e-01 -2.1 2.99e+00 -2.3 1.00e+00 3.46e-01h 1 8 2.1713351e+00 2.08e-02 1.71e-01 -2.1 8.84e-01 -2.8 9.90e-01 6.58e-01h 1 9 2.1140945e+00 1.49e-02 8.55e-02 -2.7 1.30e+00 -3.3 9.73e-01 8.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0941983e+00 1.80e-03 2.71e-02 -3.4 5.72e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0908651e+00 1.73e-04 1.14e-03 -4.0 3.36e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0907334e+00 6.52e-06 1.40e-04 -4.0 9.54e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0905153e+00 1.76e-06 8.09e-04 -4.0 2.35e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901665e+00 4.05e-06 2.71e-03 -4.0 4.14e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899251e+00 4.13e-06 2.92e-03 -4.0 5.62e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898516e+00 1.81e-06 1.82e-03 -4.0 8.06e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898278e+00 3.48e-07 1.42e-03 -4.0 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898234e+00 1.59e-06 8.35e-04 -4.0 9.30e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898220e+00 4.54e-07 1.09e-04 -4.0 3.06e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 1.07e-08 1.89e-06 -4.0 5.01e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 1.42e-11 4.91e-09 -4.0 3.03e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218498243786e+00 2.0898218498243786e+00 Dual infeasibility......: 4.9140105849460741e-09 4.9140105849460741e-09 Constraint violation....: 1.4179213359000187e-11 1.4179213359000187e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.9140105849460741e-09 4.9140105849460741e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 21.101 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.051s) integrator 1 hessian structure: 0.039s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.091s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.0111132e+00 2.57e+00 5.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1257802e+00 2.20e+00 2.14e+01 -0.0 2.43e+00 0.0 1.37e-02 1.41e-01f 1 2 4.8363317e+00 2.06e+00 5.09e+01 0.2 1.82e+00 1.3 5.54e-01 6.66e-02f 1 3 4.6774572e+00 1.91e+00 1.95e+02 -0.1 2.82e+00 0.9 1.14e-01 7.07e-02h 1 4 4.5331939e+00 1.83e+00 2.49e+02 0.6 7.10e+00 0.4 7.97e-02 4.38e-02f 1 5 4.5534567e+00 1.82e+00 2.16e+04 1.3 8.13e+00 1.7 9.96e-02 5.05e-03h 1 6 4.7763567e+00 1.82e+00 4.31e+04 2.5 5.39e+01 1.2 2.18e-02 7.23e-03f 1 7 4.8347715e+00 1.81e+00 4.22e+04 -4.0 1.59e+02 0.7 4.33e-03 4.09e-03h 1 8 5.0574508e+00 1.83e+00 4.10e+04 2.5 1.43e+02 0.3 1.66e-02 1.77e-02f 1 9 5.0486479e+00 1.75e+00 5.54e+04 -4.0 2.58e+02 -0.2 1.19e-03 1.74e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.8224544e+00 1.64e+00 4.96e+04 1.0 5.22e+00 2.0 1.27e-02 6.42e-02h 1 11 4.8881914e+00 1.63e+00 6.38e+04 2.5 5.39e+01 1.6 2.00e-02 6.31e-03h 1 12 5.0191076e+00 1.62e+00 1.83e+05 2.5 9.49e+01 1.1 3.75e-02 7.33e-03h 1 13 5.1107784e+00 1.62e+00 5.17e+05 2.5 6.72e+01 1.5 5.30e-02 6.16e-03h 1 14 5.7189712e+00 1.89e+00 5.00e+05 2.5 2.85e+02 1.0 1.16e-02 9.36e-03h 1 15 5.8132870e+00 1.85e+00 4.80e+05 2.1 3.88e+02 0.5 2.30e-02 1.71e-02f 2 16 5.7902068e+00 1.81e+00 4.73e+05 1.6 2.52e+01 1.9 7.51e-02 2.47e-02h 1 17 5.9183655e+00 1.73e+00 4.51e+05 -4.0 4.42e+01 1.4 1.16e-02 3.19e-02h 1 18 5.9300607e+00 1.72e+00 9.15e+05 1.4 1.66e+01 0.9 2.30e-01 4.98e-03h 1 19 5.7464409e+00 1.61e+00 3.81e+05 -4.0 2.32e+02 1.3 6.11e-04 4.46e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.7527395e+00 1.61e+00 2.39e+08 2.3 1.30e+01 1.8 4.34e-01 1.47e-03h 1 21 5.7532205e+00 1.61e+00 2.32e+11 0.3 1.18e+01 1.3 2.53e-01 2.59e-04h 1 22r 5.7532205e+00 1.61e+00 9.99e+02 1.7 0.00e+00 1.7 0.00e+00 3.50e-07R 4 23r 5.6024914e+00 8.23e-01 1.45e+03 2.5 8.05e+01 - 4.96e-01 3.99e-02f 1 24 5.4635325e+00 7.74e-01 1.33e+01 -0.7 1.02e+00 1.2 4.68e-01 5.85e-02h 1 25 5.4766423e+00 7.68e-01 2.22e+03 0.3 8.64e+00 0.8 4.36e-01 8.36e-03h 1 26 5.5142927e+00 7.51e-01 3.27e+04 0.8 1.18e+01 0.3 1.00e+00 2.21e-02h 1 27 5.5215664e+00 7.43e-01 2.54e+06 1.1 4.58e+00 -0.2 1.00e+00 1.13e-02h 1 28 5.5329185e+00 7.41e-01 1.56e+09 2.5 3.98e+01 -0.7 1.00e+00 1.59e-03h 1 29 5.5329470e+00 7.41e-01 1.28e+13 2.5 8.13e+00 -1.1 5.01e-01 6.03e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.9549759e+00 2.47e-01 1.28e+11 2.3 3.77e+00 -1.6 9.90e-01 6.89e-01h 1 31r 4.9549759e+00 2.47e-01 9.08e+02 2.5 0.00e+00 -2.1 0.00e+00 2.29e-07R 2 32r 4.1882124e+00 2.75e-01 5.57e+02 1.8 4.98e-01 - 4.95e-01 8.68e-01f 1 33r 4.1004936e+00 2.49e-01 1.75e+02 1.3 2.69e-01 - 6.85e-01 6.98e-01f 1 34r 4.1882313e+00 2.29e-01 8.06e+01 0.3 1.57e-01 - 9.46e-01 7.52e-01f 1 35r 4.5785236e+00 2.02e-01 6.74e+00 0.2 4.32e-01 - 9.75e-01 1.00e+00f 1 36 4.5762790e+00 1.99e-01 8.57e+01 -1.1 4.31e-01 -2.6 8.99e-01 1.45e-02h 1 37 4.6013881e+00 1.99e-01 4.33e+03 1.0 1.34e+02 -3.1 2.07e-02 7.21e-04f 2 38 4.6034243e+00 1.99e-01 2.45e+05 -0.6 3.53e+01 -3.5 7.14e-02 7.90e-05h 5 39 4.6057818e+00 1.99e-01 3.86e+06 -0.6 3.49e+01 -4.0 1.80e-02 7.51e-05h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.6102225e+00 1.99e-01 3.84e+08 -0.6 3.43e+01 -4.5 1.13e-01 1.41e-04h 4 41 4.6141857e+00 1.99e-01 6.19e+09 -0.6 3.33e+01 -5.0 1.55e-02 1.25e-04h 4 42 4.6176539e+00 1.99e-01 1.65e+12 -0.6 3.26e+01 -5.4 2.37e-01 1.10e-04h 4 43 4.6206529e+00 1.99e-01 3.27e+13 -0.6 3.23e+01 -5.9 1.50e-02 9.72e-05h 4 44 4.6232882e+00 1.99e-01 7.93e+13 -0.6 3.47e+01 -6.4 9.30e-02 7.95e-05h 4 45 4.6256400e+00 1.99e-01 7.94e+13 -0.6 3.78e+01 -6.9 1.44e-02 6.38e-05h 4 46 4.6297566e+00 1.99e-01 8.01e+13 -0.6 3.70e+01 -7.3 1.60e-01 1.14e-04h 3 47 4.6328257e+00 1.99e-01 8.11e+13 -0.6 4.55e+01 -7.8 1.46e-02 9.08e-05h 3 48 4.6374488e+00 1.99e-01 8.88e+13 -0.6 1.30e+02 -8.3 1.42e-01 1.46e-04h 2 49 4.6421388e+00 1.99e-01 3.30e+14 -0.6 3.18e+02 -8.8 2.07e-02 1.83e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.6421368e+00 1.99e-01 4.68e+16 -0.6 6.79e+02 -9.3 1.00e+00 2.51e-05h 1 51r 4.6421368e+00 1.99e-01 1.00e+03 -0.6 0.00e+00 -9.7 0.00e+00 3.03e-07R 3 52r 4.6462917e+00 1.99e-01 9.87e+02 0.0 5.73e+00 - 1.00e+00 7.34e-03f 1 53r 4.7847852e+00 1.99e-01 3.30e+02 -0.9 7.29e-02 - 1.00e+00 6.67e-01f 1 54r 4.7904940e+00 1.99e-01 3.06e+01 -1.0 5.92e-03 2.0 1.00e+00 9.45e-01f 1 55r 4.7865485e+00 1.99e-01 2.61e+00 -1.9 4.17e-02 - 1.00e+00 9.79e-01f 1 56r 4.8042280e+00 1.99e-01 5.11e-02 -2.8 3.34e-02 - 1.00e+00 1.00e+00f 1 57r 4.7538807e+00 1.99e-01 1.05e-02 -3.8 2.56e-02 - 9.90e-01 1.00e+00f 1 58r 4.7276533e+00 1.99e-01 6.63e-05 -4.0 8.66e-03 - 1.00e+00 1.00e+00h 1 59r 4.7346713e+00 1.99e-01 2.18e-07 -4.0 2.59e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 59 (scaled) (unscaled) Objective...............: 4.7346678498632500e+00 4.7346678498632500e+00 Dual infeasibility......: 2.0591849387815064e+00 2.0591849387815064e+00 Constraint violation....: 1.9875045033708094e-01 1.9875045033708094e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000071877219e-04 1.0000000071877219e-04 Overall NLP error.......: 2.0591849387815064e+00 2.0591849387815064e+00 Number of objective function evaluations = 117 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 64 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 60 Total seconds in IPOPT = 21.521 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.041s) linear index maps built (0.0s) evaluator ready (total: 0.087s) evaluator created (0.087s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.088s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.9648624e+00 2.00e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6304131e+00 3.84e-01 1.61e+00 -1.0 1.87e+00 0.0 6.56e-01 8.10e-01f 1 2 2.6884523e+00 1.04e-01 6.57e-01 -1.0 6.62e-01 -0.5 7.27e-01 7.98e-01f 1 3 2.6101056e+00 9.13e-02 3.53e-01 -1.1 1.68e+00 -1.0 6.27e-01 3.91e-01f 1 4 2.5699771e+00 7.83e-02 8.61e-01 -1.2 5.82e-01 -0.5 9.73e-01 2.88e-01h 1 5 2.3385345e+00 5.30e-02 4.93e-01 -1.5 8.15e-01 -1.0 9.49e-01 5.15e-01f 1 6 2.3357861e+00 5.45e-03 1.40e-01 -1.6 2.29e-01 -1.5 8.62e-01 1.00e+00h 1 7 2.1118319e+00 2.37e-03 1.04e-02 -2.7 1.04e-01 -2.0 9.96e-01 1.00e+00f 1 8 2.0910774e+00 5.85e-05 9.36e-04 -4.0 1.35e-02 -2.4 1.00e+00 9.91e-01h 1 9 2.0908826e+00 1.56e-06 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908774e+00 1.11e-08 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908625e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908177e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906833e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902813e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890842e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855753e+00 5.55e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796353e+00 2.27e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806248e+00 1.89e-04 1.97e-01 -4.0 7.24e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0776667e+00 7.77e-03 3.22e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.50e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0783957e+00 2.23e-02 1.11e-01 -3.7 2.48e+02 -8.2 8.52e-01 1.00e+00h 1 21 2.0769298e+00 6.89e-03 2.33e-02 -3.9 3.76e+02 -8.6 1.00e+00 7.71e-01h 1 22 2.0762205e+00 5.82e-03 2.34e-02 -3.8 5.01e+02 -9.1 1.00e+00 9.21e-01f 1 23 2.0757286e+00 9.63e-03 9.26e-03 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756751e+00 5.35e-04 3.16e-04 -4.0 5.74e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.61e-06 5.36e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 3.06e-08 1.31e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.67e-09 1.11e-07 -4.0 4.59e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.66e-11 1.83e-09 -4.0 7.26e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121651351e+00 2.0756712121651351e+00 Dual infeasibility......: 1.8303173703493759e-09 1.8303173703493759e-09 Constraint violation....: 4.6625259209065462e-11 4.6625259209065462e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.8303173703493759e-09 1.8303173703493759e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 20.786 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.051s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.096s) evaluator created (0.096s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.468s) optimizer initialization complete (total: 0.565s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.0749104e+00 2.22e+00 2.51e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3764587e+00 1.66e+00 2.10e+00 -1.2 3.31e+01 -4.0 9.80e-01 1.00e+00h 1 2 2.1678841e+00 7.30e-01 8.29e-01 -1.5 2.25e+01 -4.5 9.94e-01 1.00e+00h 1 3 2.1088659e+00 2.37e-01 2.53e+00 -2.3 3.74e+01 -5.0 6.49e-01 1.00e+00h 1 4 2.1363891e+00 9.41e-02 1.03e+00 -2.1 2.58e+01 -5.4 9.99e-01 1.00e+00h 1 5 2.0870645e+00 4.53e-02 5.00e-02 -2.7 9.90e+00 -5.9 1.00e+00 9.91e-01h 1 6 2.0905880e+00 1.38e-02 3.80e-02 -3.4 2.92e+01 -6.4 9.88e-01 1.00e+00h 1 7 2.0800410e+00 1.71e-02 1.86e-02 -3.9 7.06e+01 -6.9 1.00e+00 9.65e-01h 1 8 2.0786916e+00 7.95e-03 7.06e-02 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0772931e+00 2.45e-03 1.32e-02 -4.0 1.16e+02 -7.8 1.00e+00 9.42e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765562e+00 4.07e-04 2.50e-02 -4.0 2.11e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0761045e+00 2.78e-04 2.32e-02 -4.0 3.54e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756023e+00 1.39e-04 1.97e-02 -4.0 3.57e+02 -9.2 1.00e+00 6.61e-01h 1 13 2.0758234e+00 4.84e-04 7.29e-03 -4.0 1.16e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754416e+00 9.43e-04 1.50e-04 -4.1 3.87e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 5.65e-04 5.09e-06 -4.0 2.25e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.38e-04 7.49e-07 -4.1 2.41e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.86e-04 7.08e-07 -4.0 1.46e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.55e-04 2.36e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.03e-04 9.82e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 6.06e-04 1.17e-07 -4.0 2.29e+01 -13.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 6.06e-04 1.21e-07 -4.1 2.29e+01 -14.0 1.00e+00 1.00e+00h 1 23 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -14.5 9.28e-01 1.00e+00h 1 24 2.0758523e+00 1.72e-01 1.58e-04 -4.0 1.29e+03 -15.0 1.00e+00 1.00e+00h 1 25 2.0754378e+00 2.85e-02 8.92e-05 -4.1 1.05e+03 -15.5 1.00e+00 1.00e+00h 1 26 2.0754277e+00 1.25e-05 2.07e-06 -4.1 1.63e+02 -15.9 1.00e+00 1.00e+00h 1 27 2.0757717e+00 7.85e-04 1.74e-07 -4.0 3.02e+01 -16.4 1.00e+00 1.00e+00h 1 28 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -16.9 1.00e+00 1.00e+00h 1 29 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -17.4 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -17.8 8.16e-01 1.00e+00h 1 31 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -18.3 1.00e+00 1.46e-01f 1 32 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -19.3 1.00e+00 1.00e+00h 1 34 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -19.7 1.00e+00 1.00e+00h 1 35 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 39 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 41 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 42 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 43 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 44 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 46 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 47 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 49 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 52 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 53 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 55 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 56 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 57 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 58 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 59 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 61 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 64 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 65 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 68 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 69 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 71 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 72 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 73 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 75 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 76 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 77 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 78 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 79 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 82 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 83 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 86 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 87 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 89 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 91 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 93 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 94 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 96 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 97 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 98 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 99 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740025697366158e+00 2.0740025697366158e+00 Dual infeasibility......: 4.1148314625046533e-04 4.1148314625046533e-04 Constraint violation....: 1.1636767918258961e-02 1.1636767918258961e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0683766331762527e-05 1.0683766331762527e-05 Overall NLP error.......: 1.1636767918258961e-02 1.1636767918258961e-02 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.716 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s jacobian structure: 180 nonzeros (0.083s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.261s sub-objective 2 (QuadraticRegularizer): 0.071s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.439s hessian structure: 375 nonzeros (0.484s) linear index maps built (0.0s) evaluator ready (total: 0.68s) evaluator created (0.68s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.096s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.074s) optimizer initialization complete (total: 2.862s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4542255e+00 7.44e-01 1.33e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8885103e+00 1.36e-01 1.42e+00 -1.0 7.75e-01 0.0 9.90e-01 1.00e+00h 1 2 1.7008773e+00 4.10e-02 9.73e-01 -0.8 6.73e-01 -0.5 7.54e-01 4.80e-01h 1 3 1.7093645e+00 1.43e-02 6.94e-01 -1.2 5.24e-01 -1.0 9.67e-01 6.67e-01h 1 4 1.4065625e+00 2.06e-02 2.33e+00 -1.6 1.25e+01 - 7.77e-01 5.43e-01f 1 5 1.2784591e+00 1.20e-02 1.18e+00 -2.5 3.00e-01 -1.4 1.00e+00 4.19e-01h 1 6 1.0977751e+00 9.49e-05 5.30e-02 -3.6 1.10e-01 -1.9 1.00e+00 9.94e-01h 1 7 1.0940836e+00 2.38e-07 1.29e-03 -4.0 1.70e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0934674e+00 2.03e-10 2.31e-03 -4.0 4.77e-01 -2.9 1.00e+00 1.00e+00h 1 9 1.0925593e+00 3.98e-13 1.40e-02 -4.0 1.17e+00 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0921015e+00 1.99e-13 3.27e-02 -4.0 2.12e+00 -3.8 2.54e-01 5.00e-01f 2 11 1.0919913e+00 1.69e-13 8.56e-03 -4.0 3.26e-01 -2.5 1.00e+00 1.51e-01f 2 12 1.0917723e+00 7.29e-17 1.42e-03 -4.0 3.60e-01 -3.0 1.00e+00 1.00e+00f 1 13 1.0917375e+00 5.90e-17 3.79e-03 -4.0 8.91e-01 -3.4 1.40e-01 1.90e-01f 3 14 1.0916735e+00 2.86e-21 3.69e-04 -4.0 4.79e-02 -2.1 1.00e+00 1.00e+00f 1 15 1.0915830e+00 1.17e-25 1.14e-03 -4.0 1.38e-01 -2.6 1.00e+00 1.00e+00f 1 16 1.0909098e+00 1.80e-22 1.24e-01 -4.0 3.50e+00 - 1.00e+00 1.00e+00f 1 17 1.0908985e+00 2.08e-24 1.84e-06 -4.0 1.35e-02 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 1.88e-25 5.87e-11 -4.0 2.63e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.0908997263287825e+00 1.0908997263287825e+00 Dual infeasibility......: 5.8695739241221290e-11 5.8695739241221290e-11 Constraint violation....: 1.8754668752294499e-25 1.8754668752294499e-25 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000223658036e-04 1.0000000223658036e-04 Overall NLP error.......: 5.8695739241221290e-11 5.8695739241221290e-11 Number of objective function evaluations = 23 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 23 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 21.663 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/gniE1/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.069s hessian structure: 30 nonzeros (0.07s) linear index maps built (0.0s) evaluator ready (total: 0.07s) evaluator created (0.07s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.086s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.043s) optimizer initialization complete (total: 2.198s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 1.228 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.074s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.153s hessian structure: 40 nonzeros (0.153s) linear index maps built (0.0s) evaluator ready (total: 0.153s) evaluator created (0.153s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.101s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.105s) optimizer initialization complete (total: 2.36s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8092177e+00 4.94e-01 8.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2983750e+00 2.05e-09 1.49e-01 -0.4 4.25e-01 -2.0 9.96e-01 1.00e+00f 1 2 3.2306889e-01 1.68e-09 3.53e-01 -1.8 1.41e+00 -1.6 8.24e-01 1.00e+00f 1 3 1.5845953e-01 1.01e-10 4.91e-02 -2.2 5.12e-01 -1.1 1.00e+00 1.00e+00f 1 4 4.3141051e-02 3.57e-11 4.07e-02 -3.1 8.53e-01 -1.6 9.99e-01 1.00e+00f 1 5 8.6259139e-03 2.69e-11 1.83e-02 -4.0 7.60e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.6603632e-03 7.51e-12 5.88e-03 -4.0 5.00e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.5283576e-04 1.97e-12 1.54e-03 -4.0 2.27e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4977774e-04 2.56e-13 2.42e-04 -4.0 7.93e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5662829e-04 1.48e-14 1.33e-04 -4.0 2.02e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0458990e-04 1.45e-14 4.20e-04 -4.1 7.68e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5863927e-04 7.29e-15 3.59e-04 -4.0 1.97e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7547096e-04 3.44e-15 5.46e-04 -4.1 1.03e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6498441e-04 2.44e-15 4.71e-04 -4.0 2.52e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6396424e-04 2.00e-15 6.19e-04 -4.1 1.19e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6598232e-04 1.67e-15 5.16e-04 -4.0 2.76e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6009341e-04 1.44e-15 6.50e-04 -4.1 1.26e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6597431e-04 1.33e-15 5.35e-04 -4.0 2.87e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5882477e-04 1.22e-15 6.69e-04 -4.1 1.29e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6555121e-04 1.33e-15 5.44e-04 -4.0 2.93e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5842707e-04 1.11e-15 6.83e-04 -4.1 1.32e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6502187e-04 1.11e-15 5.49e-04 -4.0 2.97e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5830861e-04 9.99e-16 6.95e-04 -4.1 1.35e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6447234e-04 8.88e-16 5.54e-04 -4.0 3.00e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827802e-04 9.78e-16 7.07e-04 -4.1 1.37e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6393249e-04 7.77e-16 5.57e-04 -4.0 3.03e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5827381e-04 9.02e-16 7.17e-04 -4.1 1.39e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0982549e-05 9.05e-15 8.97e-04 -6.2 3.81e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7366655e-03 2.22e-15 7.70e-03 -4.0 2.00e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4608294e-05 2.35e-14 2.90e-03 -4.1 1.02e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5742518e-03 3.04e-14 8.02e-03 -4.0 9.87e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0262374e-05 1.80e-14 2.30e-03 -4.2 1.09e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6463854e-04 1.55e-15 2.76e-03 -4.0 1.38e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.2003706e-04 3.00e-15 2.41e-04 -4.2 3.73e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0255625e-05 4.50e-15 8.11e-04 -6.4 4.14e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1496848e-06 3.28e-15 9.99e-05 -6.4 1.05e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.4970582e-03 1.11e-15 5.29e-03 -4.0 9.68e+00 -16.9 1.00e+00 1.23e-01f 4 37 1.0189820e-04 5.26e-14 3.45e-03 -4.0 7.82e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4499777e-04 3.46e-14 3.51e-03 -4.0 5.31e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8020844e-04 6.44e-15 4.40e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5489073e-05 5.55e-15 1.34e-03 -6.0 5.07e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4616518e-05 5.27e-15 1.61e-04 -6.0 1.26e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0074146e-06 8.88e-16 1.02e-04 -6.0 1.44e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0235907e-03 7.56e-16 2.96e-03 -4.0 1.58e+01 -20.0 1.00e+00 7.62e-02f 4 44 1.6816012e-04 4.69e-14 2.81e-03 -4.0 5.67e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6413733e-04 2.15e-14 2.71e-03 -4.0 4.09e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9017204e-04 3.77e-15 4.16e-04 -4.0 3.53e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5298299e-05 5.77e-15 1.46e-03 -6.1 5.50e-01 -20.0 9.49e-01 1.00e+00f 1 48 1.4693807e-05 4.77e-15 1.70e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9026694e-06 7.77e-16 1.11e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.3160630e-04 4.09e-16 2.00e-03 -4.0 1.70e+01 -20.0 1.00e+00 7.06e-02f 4 51 2.0311221e-04 4.04e-14 2.42e-03 -4.0 4.71e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0208391e-04 1.49e-14 2.24e-03 -4.0 3.45e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8644935e-04 2.44e-15 3.93e-04 -4.0 3.12e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4315335e-05 5.55e-15 1.55e-03 -6.1 5.85e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4396324e-05 4.33e-15 1.76e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7640854e-06 7.22e-16 1.16e-04 -6.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.9010801e-04 4.44e-16 1.13e-03 -4.0 1.83e+01 -20.0 1.00e+00 6.51e-02f 4 58 2.3827147e-04 3.55e-14 2.01e-03 -4.1 3.78e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4353929e-04 1.02e-14 1.74e-03 -4.1 2.74e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8293459e-04 1.78e-15 3.53e-04 -4.1 2.60e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3259185e-05 5.33e-15 1.62e-03 -6.1 6.19e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4096639e-05 3.89e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6469674e-06 6.11e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.8643620e-04 3.16e-16 3.81e-04 -4.0 1.97e+01 -20.0 1.00e+00 6.06e-02f 4 65 2.6971582e-04 3.20e-14 1.59e-03 -4.1 2.93e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9281042e-04 6.88e-15 1.28e-03 -4.1 2.05e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7860182e-04 1.11e-15 3.05e-04 -4.1 2.07e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2166518e-05 5.11e-15 1.68e-03 -6.1 6.49e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3778605e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5411954e-06 6.11e-16 1.25e-04 -6.1 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.0918521e-04 4.44e-16 2.70e-04 -4.0 2.10e+01 -20.0 1.00e+00 5.68e-02f 4 72 2.9691286e-04 2.89e-14 1.20e-03 -4.1 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5063990e-04 4.44e-15 8.59e-04 -4.1 1.41e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0754904e-04 3.11e-15 8.69e-04 -4.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4470569e-04 2.22e-15 7.47e-04 -4.1 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.4023836e-05 4.55e-15 1.86e-03 -6.1 7.81e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2342463e-05 3.77e-15 1.28e-04 -6.1 1.13e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0803188e-06 4.44e-16 1.19e-04 -6.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5294146e-04 4.13e-16 9.14e-04 -4.0 2.37e+01 -20.0 1.00e+00 5.03e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2434177e-04 2.75e-14 8.17e-04 -4.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.3901019e-05 5.55e-15 1.65e-03 -6.1 6.31e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3326029e-05 3.00e-15 2.17e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.5862590e-06 5.55e-16 1.30e-04 -6.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6750025e-06 1.86e-16 5.02e-06 -6.1 8.87e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3688705e-07 6.72e-17 5.63e-05 -9.0 2.55e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.2870995e-03 3.85e-16 1.16e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.27e-02f 3 87 8.4298591e-05 4.60e-14 6.87e-03 -4.0 1.52e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5605174e-04 2.73e-14 5.33e-03 -4.0 8.13e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2513014e-04 5.33e-15 7.89e-04 -4.0 5.55e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2216178e-05 4.00e-15 2.13e-03 -5.9 7.20e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7359911e-05 3.77e-15 2.62e-04 -5.9 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9192440e-06 6.66e-16 1.66e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5292866e-06 2.75e-16 1.60e-05 -5.9 2.32e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1498920e-06 5.55e-17 1.90e-06 -5.9 2.80e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6763666e-07 5.98e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4828722e-07 4.03e-17 8.16e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.4849502e-03 8.08e-16 2.52e-03 -4.0 3.32e+02 -20.0 1.00e+00 7.34e-03f 3 98 4.9913083e-04 6.13e-14 5.28e-03 -3.8 6.77e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.6782591e-04 1.69e-14 1.88e-03 -3.8 2.24e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.7492738e-04 7.55e-15 2.17e-03 -3.8 2.82e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7492737915620603e-04 5.7492737915620603e-04 Dual infeasibility......: 2.1718510852626396e-03 2.1718510852626396e-03 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7036222702324809e-04 1.7036222702324809e-04 Overall NLP error.......: 2.1718510852626396e-03 2.1718510852626396e-03 Number of objective function evaluations = 174 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 174 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.111 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.048s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.103s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.041s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.285s sub-objective 2 (QuadraticRegularizer): 0.074s sub-objective 3 (LinearRegularizer): 0.064s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.523s hessian structure: 2431 nonzeros (0.607s) linear index maps built (0.0s) evaluator ready (total: 0.709s) evaluator created (0.709s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.097s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.333s) optimizer initialization complete (total: 3.14s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.0725924e+00 2.34e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5885963e+00 1.54e+00 3.74e+00 -1.5 2.75e+00 0.0 1.50e-01 3.44e-01f 1 2 3.3033476e+00 1.22e+00 3.55e+00 -0.5 2.11e+00 0.4 1.71e-01 2.03e-01f 1 3 3.9975278e+00 3.47e-01 1.41e+01 -0.5 9.84e-01 0.9 4.82e-01 6.63e-01f 1 4 5.0347944e+00 2.84e-02 2.17e+01 -0.4 3.54e-01 1.3 4.61e-01 1.00e+00f 1 5 4.9236309e+00 8.53e-04 2.13e+00 -1.4 4.45e-02 1.7 1.00e+00 1.00e+00h 1 6 4.7729962e+00 2.75e-04 5.20e-01 -3.0 2.99e-02 1.2 1.00e+00 1.00e+00f 1 7 4.2853398e+00 2.65e-03 5.52e-01 -4.0 9.83e-02 0.7 1.00e+00 1.00e+00f 1 8 3.9653725e+00 3.21e-03 5.51e-01 -4.0 2.52e-01 0.3 1.00e+00 2.43e-01f 1 9 3.7127018e+00 3.36e-03 1.87e+00 -3.9 5.44e-01 -0.2 1.00e+00 9.04e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.1196402e+00 7.34e-03 3.33e-01 -3.4 1.36e-01 0.2 1.00e+00 8.83e-01f 1 11 2.9751478e+00 6.08e-03 5.38e-01 -3.1 3.25e-01 -0.3 1.00e+00 1.89e-01f 1 12 2.7200171e+00 7.62e-03 1.66e-01 -3.7 1.13e-01 0.2 1.00e+00 1.00e+00h 1 13 2.5833093e+00 1.13e-02 7.99e-01 -4.0 4.53e-01 -0.3 1.00e+00 1.83e-01f 1 14 2.4681297e+00 1.09e-02 5.16e-01 -3.5 1.60e-01 0.1 1.00e+00 5.48e-01h 1 15 2.4601430e+00 1.06e-02 7.74e-01 -3.7 2.24e-01 -0.4 1.00e+00 3.21e-02h 1 16 2.0876361e+00 5.48e-02 2.64e-01 -3.9 5.22e-01 -0.8 1.00e+00 6.19e-01f 1 17 2.0866503e+00 2.45e-03 2.94e-01 -2.6 8.61e-02 -0.4 1.00e+00 1.00e+00h 1 18 2.0198916e+00 5.43e-03 5.74e-01 -2.8 2.15e-01 -0.9 1.00e+00 6.26e-01h 1 19 2.0086756e+00 1.36e-03 2.19e-01 -3.3 1.30e-01 -1.4 1.00e+00 7.50e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0025375e+00 3.63e-04 5.00e-02 -4.0 2.06e-01 -1.8 1.00e+00 7.33e-01h 1 21 2.0009441e+00 2.21e-06 1.53e-02 -4.0 4.56e-02 -2.3 1.00e+00 1.00e+00h 1 22 2.0009591e+00 2.32e-07 6.61e-02 -4.0 1.07e-01 -2.8 1.00e+00 1.00e+00h 1 23 2.0010222e+00 4.52e-09 3.25e-03 -4.0 2.13e-01 -3.3 1.00e+00 1.00e+00h 1 24 2.0010351e+00 7.54e-12 7.66e-03 -4.0 3.95e-01 -3.7 1.00e+00 1.00e+00f 1 25 2.0007351e+00 1.49e-09 1.02e-02 -4.1 5.21e-01 -4.2 1.00e+00 1.00e+00f 1 26 2.0011308e+00 1.35e-09 3.04e-02 -4.0 1.54e+00 -4.7 1.00e+00 1.00e+00f 1 27 2.0007523e+00 1.01e-09 2.68e-02 -4.1 1.52e+00 -5.2 1.00e+00 8.84e-01f 1 28 2.0009527e+00 3.29e-11 7.66e-02 -4.1 3.85e+00 -5.7 1.00e+00 1.00e+00f 1 29 2.0007741e+00 4.42e-11 9.69e-02 -4.1 5.28e+00 -6.1 1.00e+00 9.21e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0010433e+00 1.15e-10 2.10e-01 -4.1 1.05e+01 -6.6 1.00e+00 1.00e+00f 1 31 2.0008460e+00 2.95e-10 2.88e-01 -4.1 1.59e+01 -7.1 1.00e+00 9.08e-01f 1 32 2.0011340e+00 5.37e-10 5.75e-01 -4.1 2.88e+01 -7.6 1.00e+00 1.00e+00f 1 33 2.0009064e+00 7.03e-10 8.25e-01 -4.1 4.47e+01 -8.0 1.00e+00 9.23e-01f 1 34 2.0011948e+00 6.00e-10 1.55e+00 -4.1 7.76e+01 -8.5 1.00e+00 1.00e+00f 1 35 2.0009202e+00 9.22e-10 2.35e+00 -4.1 1.27e+02 -9.0 1.00e+00 9.26e-01f 1 36 2.0012217e+00 7.61e-10 4.28e+00 -4.1 2.14e+02 -9.5 1.00e+00 1.00e+00f 1 37 2.0009054e+00 9.27e-10 7.24e+00 -4.1 3.87e+02 -10.0 1.00e+00 9.34e-01f 1 38 2.0012481e+00 5.24e-10 1.22e+01 -4.1 6.08e+02 -10.4 1.00e+00 1.00e+00f 1 39 2.0008729e+00 7.40e-10 2.13e+01 -4.1 1.14e+03 -10.9 1.00e+00 9.39e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0012740e+00 2.60e-10 3.47e+01 -4.1 1.73e+03 -11.4 1.00e+00 1.00e+00f 1 41 2.0008168e+00 5.46e-10 6.09e+01 -4.1 3.21e+03 -11.9 1.00e+00 9.48e-01f 1 42 2.0012907e+00 9.11e-11 9.50e+01 -4.1 4.75e+03 -12.3 1.00e+00 1.00e+00f 1 43 2.0007298e+00 3.61e-10 1.52e+02 -4.1 7.84e+03 -12.8 1.00e+00 9.68e-01f 1 44 2.0012451e+00 1.52e-11 2.24e+02 -4.1 1.12e+04 -13.3 1.00e+00 1.00e+00f 1 45 2.0006373e+00 1.65e-10 2.81e+02 -4.1 1.40e+04 -13.8 1.00e+00 1.00e+00f 1 46 2.0015945e+00 2.61e-12 4.78e+02 -4.0 2.39e+04 -14.2 1.00e+00 1.00e+00f 1 47 2.0008720e+00 4.11e-11 6.44e+01 -4.1 6.70e+03 -14.7 1.00e+00 4.81e-01f 2 48 2.0007144e+00 8.03e-12 2.01e+02 -4.1 1.01e+04 -15.2 1.00e+00 1.00e+00f 1 49 2.0006436e+00 1.54e-13 1.67e+02 -4.1 8.36e+03 -15.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006101e+00 3.74e-14 8.19e+01 -4.1 4.09e+03 -16.2 1.00e+00 1.00e+00h 1 51 2.0008891e+00 1.10e-12 1.15e+02 -4.0 5.76e+03 -16.6 1.00e+00 1.00e+00f 1 52 2.0005697e+00 4.26e-13 1.27e+02 -4.1 6.34e+03 -17.1 1.00e+00 1.00e+00f 1 53 2.0008769e+00 9.48e-12 1.35e+02 -4.0 6.77e+03 -17.6 1.00e+00 1.00e+00f 1 54 2.0005604e+00 3.59e-12 1.29e+02 -4.1 6.45e+03 -18.1 1.00e+00 1.00e+00f 1 55 2.0006558e+00 1.42e-11 6.92e+01 -4.1 3.46e+03 -18.5 1.00e+00 1.00e+00h 1 56 2.0006195e+00 1.52e-11 2.31e+01 -4.1 1.15e+03 -19.0 1.00e+00 1.00e+00h 1 57 2.0006346e+00 1.96e-11 1.04e+01 -4.1 5.22e+02 -19.5 1.00e+00 1.00e+00h 1 58 2.0006285e+00 2.36e-11 4.13e+00 -4.1 2.06e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0006310e+00 1.04e-11 1.71e+00 -4.1 8.53e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006299e+00 4.23e-12 6.94e-01 -4.1 3.47e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0006304e+00 1.72e-12 2.83e-01 -4.1 1.42e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0006302e+00 7.04e-13 1.16e-01 -4.1 5.80e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0006303e+00 2.86e-13 4.72e-02 -4.1 2.36e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0006302e+00 1.17e-13 1.93e-02 -4.1 9.66e-01 -20.0 1.00e+00 1.00e+00h 1 65 2.0006302e+00 4.77e-14 7.86e-03 -4.1 3.93e-01 -20.0 1.00e+00 1.00e+00h 1 66 2.0006302e+00 1.95e-14 3.22e-03 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00h 1 67 2.0006302e+00 7.94e-15 1.31e-03 -4.1 9.50e-02 -20.0 1.00e+00 1.00e+00h 1 68 2.0006302e+00 3.25e-15 5.37e-04 -4.1 9.50e-02 -20.0 1.00e+00 1.00e+00h 1 69 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0006836e+00 3.08e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 71 2.0004218e+00 9.67e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 72 2.0009586e+00 3.48e-09 5.54e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 73 2.0010396e+00 3.03e-09 1.06e+02 -3.9 5.32e+03 -20.0 1.00e+00 1.00e+00h 1 74 2.0010521e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 75 2.0010690e+00 5.73e-10 6.11e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0010707e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 77 2.0010735e+00 9.77e-11 1.07e+00 -3.9 5.33e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0010738e+00 2.24e-11 7.85e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0010742e+00 1.63e-11 1.79e-01 -3.9 8.96e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0010743e+00 3.74e-12 1.31e-01 -3.9 6.54e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0010744e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0010744e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0010744e+00 4.53e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 84 2.0010744e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 85 2.0010744e+00 7.54e-14 8.31e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 86 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 87 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 88 1.8266654e+00 2.01e-13 1.95e+06 -5.9 9.72e+07 -20.0 1.80e-03 1.00e+00f 1 89 1.8118954e+00 5.21e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.9417426e+00 5.20e-13 1.31e+06 -4.0 9.40e+10 -20.0 1.00e+00 6.95e-04f 1 91 1.9999586e+00 5.18e-13 6.46e+05 -3.2 6.39e+09 -20.0 1.00e+00 5.05e-03f 1 92 1.9999072e+00 1.91e-11 1.64e+03 -3.2 8.19e+04 -20.0 1.00e+00 1.00e+00f 1 93 2.0293328e+00 5.64e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0104089e+00 1.31e-03 8.56e+02 -3.2 8.56e+04 -20.0 1.00e+00 5.00e-01f 2 95 2.0086513e+00 2.36e-04 1.43e+02 -3.2 7.15e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0061726e+00 5.65e-04 1.42e+02 -3.2 7.09e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0064840e+00 7.15e-06 1.62e+02 -3.2 8.12e+03 -20.0 1.00e+00 1.00e+00h 1 98 2.0059395e+00 1.65e-05 3.24e+01 -3.2 1.63e+03 -20.0 1.00e+00 1.00e+00h 1 99 2.0059974e+00 1.08e-06 3.32e+01 -3.2 1.67e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0058946e+00 7.01e-07 3.76e+00 -3.2 2.27e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0058946245010327e+00 2.0058946245010327e+00 Dual infeasibility......: 3.7608916993435741e+00 3.7608916993435741e+00 Constraint violation....: 7.0128020623926642e-07 7.0128020623926642e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0525938596264338e-04 6.0525938596264338e-04 Overall NLP error.......: 3.7608916993435741e+00 3.7608916993435741e+00 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.308 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.101s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.327s) optimizer initialization complete (total: 0.428s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1768319e+00 4.32e+00 2.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3754461e+00 3.16e+00 3.93e+00 -1.0 1.19e+01 -2.0 6.40e-02 3.41e-01f 1 2 1.4159361e+00 3.10e+00 5.98e+00 -0.1 2.28e+01 -1.6 2.06e-01 2.02e-01h 1 3 1.4215277e+00 2.84e+00 5.30e+00 -4.0 1.91e+01 -1.1 6.49e-02 8.58e-02h 1 4 1.4825854e+00 1.87e+00 4.46e+00 -1.8 8.04e+00 -1.6 1.76e-01 3.37e-01h 1 5 1.7307200e+00 8.12e-01 1.29e+01 -4.0 2.25e+00 -0.3 1.09e-01 5.72e-01h 1 6 1.7370358e+00 7.66e-01 1.16e+01 0.1 1.01e+01 -0.8 2.89e-01 7.20e-02f 1 7 1.7671541e+00 3.15e-01 8.60e+00 -0.3 5.67e+00 -1.3 8.58e-01 4.12e-01f 1 8 1.8459830e+00 2.29e-01 4.44e+00 -0.8 2.25e+00 -1.7 9.15e-01 6.96e-01h 1 9 1.7633447e+00 1.51e-01 6.53e-01 -0.9 8.59e-01 -2.2 8.55e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.6355129e+00 2.05e-03 7.69e-02 -1.6 4.99e-01 -2.7 9.99e-01 1.00e+00h 1 11 1.3524390e+00 3.46e-03 1.50e-01 -4.0 2.58e-01 -3.2 7.36e-01 1.00e+00f 1 12 1.2024160e+00 3.89e-01 5.01e-02 -2.7 1.09e+00 -3.6 9.94e-01 9.35e-01h 1 13 1.2330834e+00 7.12e-01 1.64e+01 -0.8 7.71e+02 -4.1 2.49e-01 1.50e-02f 1 14 1.4766774e+00 5.49e-01 2.53e+00 -1.5 6.99e+01 -4.6 9.60e-01 2.00e-01h 1 15 1.8511775e+00 5.19e+00 7.09e+00 -1.5 4.50e+01 -5.1 4.79e-01 1.00e+00f 1 16 1.8001447e+00 4.31e+00 5.78e+00 -1.5 6.91e+00 -2.8 8.11e-01 1.64e-01h 1 17 1.5840675e+00 1.22e+00 1.59e+00 -1.5 3.92e+00 -3.3 1.00e+00 7.39e-01h 1 18 1.5485576e+00 5.55e-01 3.43e+00 -1.5 4.47e+01 -3.8 1.00e+00 1.00e+00f 1 19 1.4704100e+00 1.84e+00 1.22e+00 -1.5 2.75e+02 -3.4 3.29e-02 5.48e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.4992121e+00 6.79e-02 1.37e+00 -1.5 1.80e+01 -3.8 1.00e+00 1.00e+00f 1 21 1.4987858e+00 4.42e-01 4.92e-02 -1.5 3.09e+00 -4.3 1.00e+00 1.00e+00h 1 22 1.5210231e+00 1.91e-01 1.45e-01 -1.5 3.51e+00 -4.8 1.00e+00 5.84e-01h 1 23 1.3812159e+00 4.63e-03 6.37e-02 -2.2 3.22e-01 -5.3 8.50e-01 1.00e+00h 1 24 1.2133813e+00 3.00e-01 4.55e-02 -2.7 6.93e-01 -5.7 9.22e-01 1.00e+00f 1 25 1.1815026e+00 4.27e-01 2.89e-01 -3.5 3.56e+01 -6.2 9.59e-01 1.00e+00h 1 26 1.1657813e+00 7.84e-01 3.99e-02 -4.0 1.12e+02 -5.8 9.10e-01 2.88e-01h 1 27 1.1660704e+00 1.08e-01 6.34e-02 -4.0 2.94e+01 -6.3 1.00e+00 1.00e+00h 1 28 1.1627088e+00 3.66e-01 4.90e-02 -4.0 4.40e+01 -6.8 1.00e+00 1.00e+00h 1 29 1.1629773e+00 1.45e-01 1.48e-02 -4.0 5.62e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1614733e+00 4.11e-01 3.25e-02 -4.0 9.17e+01 -7.7 1.00e+00 1.00e+00h 1 31 1.1612550e+00 3.19e-01 7.93e-03 -4.0 1.25e+02 -8.2 1.00e+00 1.00e+00h 1 32 1.1605367e+00 4.75e-01 3.33e-02 -4.0 1.82e+02 -8.7 1.00e+00 1.00e+00h 1 33 1.1605733e+00 2.85e-01 8.87e-03 -4.0 2.02e+02 -9.1 1.00e+00 1.00e+00h 1 34 1.1608118e+00 2.42e-02 2.89e-03 -4.0 8.31e+01 -9.6 1.00e+00 1.00e+00h 1 35 1.1608496e+00 6.87e-04 1.67e-04 -4.0 9.15e+00 -10.1 1.00e+00 1.00e+00h 1 36 1.1608491e+00 5.96e-06 8.32e-07 -4.0 1.04e+00 -10.6 1.00e+00 1.00e+00h 1 37 1.1608491e+00 6.27e-10 2.15e-11 -4.0 1.05e-02 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 1.1608491308097126e+00 1.1608491308097126e+00 Dual infeasibility......: 2.1477459920130407e-11 2.1477459920130407e-11 Constraint violation....: 6.2657967703216855e-10 6.2657967703216855e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000098e-04 1.0000000000000098e-04 Overall NLP error.......: 6.2657967703216855e-10 6.2657967703216855e-10 Number of objective function evaluations = 38 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 21.615 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.044s jacobian structure: 180 nonzeros (0.076s) integrator 1 hessian structure: 0.042s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.287s sub-objective 2 (QuadraticRegularizer): 0.075s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.466s hessian structure: 375 nonzeros (0.508s) linear index maps built (0.0s) evaluator ready (total: 0.696s) evaluator created (0.696s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.095s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.183s) optimizer initialization complete (total: 2.985s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7225104e+00 9.93e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4283737e+00 2.14e-01 1.71e+00 -0.9 9.93e-01 0.0 9.93e-01 1.00e+00h 1 2 1.5122637e+00 8.26e-02 6.58e-01 -0.9 3.40e-01 -0.5 6.41e-01 6.13e-01h 1 3 1.5357047e+00 4.13e-02 1.66e+00 -1.5 1.19e+01 - 9.15e-01 5.00e-01f 2 4 1.7243494e+00 1.65e-02 1.42e+00 -1.5 3.52e-01 -1.0 1.00e+00 1.00e+00h 1 5 1.2850359e+00 4.46e-03 5.88e-01 -1.9 1.52e+00 -1.4 9.99e-01 4.99e-01f 1 6 1.1248066e+00 5.96e-04 5.90e-02 -3.2 2.16e-01 -1.9 1.00e+00 8.03e-01f 1 7 1.0923207e+00 5.61e-05 2.38e-01 -4.0 4.13e+00 - 1.00e+00 1.00e+00h 1 8 1.0909759e+00 7.22e-06 8.98e-03 -4.0 8.23e-01 - 1.00e+00 8.64e-01h 1 9 1.0910391e+00 1.23e-08 1.02e-03 -4.0 3.20e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 7.22e-15 4.27e-05 -4.0 5.72e-03 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 2.84e-26 4.25e-05 -4.0 8.44e-07 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 8.88e-16 2.90e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 3.19e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.1903874446806424e-09 3.1903874446806424e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619610e-04 1.0000114091619610e-04 Overall NLP error.......: 3.1903874446806424e-09 3.1903874446806424e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 17.835 EXIT: Optimal Solution Found. Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:781 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#33#34"{typeof(Main.var"##175".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:781 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#33#34"{typeof(Main.var"##175".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/gniE1/src/constraints/_constraints.jl:229 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.559s) optimizer initialization complete (total: 1.65s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2882308e+00 2.53e+00 1.88e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9262326e+00 1.83e-02 8.58e-01 -1.1 1.98e+00 -2.0 9.89e-01 1.00e+00h 1 2 2.2454115e+00 3.22e-02 1.18e-01 -1.8 5.08e-01 -1.6 9.86e-01 1.00e+00f 1 3 2.1327035e+00 1.63e-03 4.41e-01 -2.9 9.93e-02 -1.1 9.33e-01 1.00e+00h 1 4 2.0971150e+00 1.34e-03 3.83e-01 -3.9 2.62e-01 -1.6 1.00e+00 8.23e-01h 1 5 2.0931560e+00 8.99e-04 1.05e+00 -4.0 7.03e-01 -2.1 1.00e+00 3.48e-01h 1 6 2.0906896e+00 6.84e-05 3.78e-01 -4.0 9.49e-01 -2.6 1.00e+00 9.21e-01h 1 7 2.0909603e+00 5.81e-06 4.18e-02 -4.0 7.83e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910028e+00 9.55e-07 2.88e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909818e+00 3.74e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909198e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907370e+00 1.30e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902161e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888695e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861746e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830958e+00 9.14e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828588e+00 9.30e-04 2.31e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823466e+00 3.95e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.21e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.45e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.31e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.78e-10 3.25e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190915e+00 2.0819382907190915e+00 Dual infeasibility......: 1.2116061788840921e-11 1.2116061788840921e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 1.2116061788840921e-11 1.2116061788840921e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 21.452 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.03s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.072s) linear index maps built (0.0s) evaluator ready (total: 0.134s) evaluator created (0.134s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.053s) optimizer initialization complete (total: 0.186s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1363082e+00 2.64e+00 2.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8802098e+00 2.35e-02 5.81e-01 -1.1 1.92e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2729024e+00 2.81e-02 9.87e-02 -1.6 3.55e-01 -1.6 9.60e-01 1.00e+00h 1 3 2.1557267e+00 5.27e-03 4.51e-01 -2.8 9.12e-02 -1.1 9.79e-01 8.20e-01h 1 4 2.1082296e+00 1.63e-03 4.87e-01 -3.5 1.30e-01 -1.6 1.00e+00 8.72e-01h 1 5 2.0966527e+00 1.35e-03 5.28e-01 -4.0 5.20e-01 -2.1 1.00e+00 5.28e-01h 1 6 2.0910733e+00 1.21e-03 4.87e-01 -4.0 1.07e+00 -2.6 1.00e+00 5.19e-01h 1 7 2.0909110e+00 2.36e-05 3.17e-01 -4.0 5.54e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909069e+00 1.38e-06 5.83e-04 -4.0 5.83e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908955e+00 2.52e-07 1.93e-05 -4.0 1.68e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908602e+00 7.43e-08 1.10e-04 -4.0 4.71e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907612e+00 5.52e-07 3.38e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904541e+00 5.40e-06 5.66e-04 -4.0 3.86e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903313e+00 9.09e-07 5.84e-04 -4.0 1.61e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901817e+00 1.51e-06 2.21e-02 -4.0 7.20e+00 -5.5 1.00e+00 1.97e-01h 2 15 2.0889908e+00 6.78e-05 3.05e-03 -4.0 1.41e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0873978e+00 1.55e-04 5.88e-02 -4.0 3.77e+01 -6.4 1.00e+00 4.98e-01h 1 17 2.0836452e+00 1.60e-03 5.75e-02 -4.0 6.61e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827061e+00 9.59e-04 3.28e-02 -4.0 5.02e+01 -7.4 1.00e+00 4.01e-01h 1 19 2.0823054e+00 6.17e-04 2.51e-02 -4.0 1.54e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1454962e+00 3.75e-05 2.61e+00 -4.0 8.11e+02 -8.4 3.65e-02 1.00e+00H 1 21 2.0947380e+00 1.94e-04 9.69e+00 -4.1 1.56e+01 -2.5 1.02e-02 1.27e-01f 1 22 2.0895717e+00 1.80e-04 8.05e+00 -4.1 5.56e+00 -3.0 1.00e+00 1.73e-01f 1 23 2.0867390e+00 3.96e-04 4.45e+00 -4.0 6.81e+00 -3.5 3.72e-01 4.48e-01f 1 24 2.0854434e+00 2.43e-04 3.21e+00 -4.0 1.09e+00 -3.9 1.00e+00 3.87e-01h 1 25 2.0848342e+00 1.22e-04 1.50e+00 -4.0 7.75e-01 -4.4 1.00e+00 6.18e-01h 1 26 2.0849366e+00 3.45e-05 4.49e-04 -4.0 7.33e-01 -4.9 1.00e+00 1.00e+00h 1 27 2.0848071e+00 4.74e-06 2.09e-04 -4.0 2.08e+00 -5.4 1.00e+00 1.00e+00h 1 28 2.0845830e+00 1.89e-05 8.05e-04 -4.0 5.61e+00 -5.9 1.00e+00 1.00e+00h 1 29 2.0842622e+00 2.54e-05 1.69e-03 -4.0 1.49e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0836688e+00 1.45e-04 6.02e-03 -4.0 3.98e+01 -6.8 1.00e+00 1.00e+00h 1 31 2.0827761e+00 7.43e-04 2.32e-02 -4.0 9.08e+01 -7.3 1.00e+00 1.00e+00h 1 32 2.0820139e+00 2.14e-03 4.36e-02 -4.0 1.59e+02 -7.8 9.95e-01 1.00e+00h 1 33 2.0817585e+00 1.29e-03 2.63e-01 -4.0 5.83e+02 -7.3 4.94e-02 1.81e-01h 2 34 2.0818719e+00 7.75e-05 1.14e-03 -4.0 7.12e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0833572e+00 1.47e-05 3.33e-01 -4.0 4.61e+01 -6.5 3.79e-01 1.00e+00H 1 36 2.0831549e+00 1.36e-05 2.02e+01 -3.1 5.47e-01 -2.4 1.00e+00 6.88e-02f 2 37 2.0820513e+00 2.50e-07 2.46e-03 -3.9 7.08e-02 -2.9 1.00e+00 1.00e+00h 1 38 2.0816696e+00 3.15e-06 2.56e-03 -4.0 7.22e-02 -3.4 1.00e+00 1.00e+00h 1 39 2.0817375e+00 2.91e-06 1.03e-04 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817527e+00 3.43e-07 3.64e-05 -4.0 3.03e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0817971e+00 2.69e-06 2.05e-04 -4.0 7.27e-01 -4.8 1.00e+00 1.00e+00h 1 42 2.0817149e+00 1.22e-05 6.84e-04 -4.1 9.98e-01 -5.3 1.00e+00 1.00e+00h 1 43 2.0809886e+00 3.47e-04 9.44e-03 -6.1 4.54e+00 -5.8 9.56e-01 9.02e-01h 1 44 2.0808595e+00 4.70e-05 1.34e-02 -4.8 6.20e+00 -6.3 1.00e+00 8.14e-01h 1 45 2.0819616e+00 2.13e-03 1.31e-01 -4.0 2.01e+01 -6.7 3.36e-01 1.00e+00f 1 46 2.0812414e+00 1.46e-03 8.12e-02 -4.3 1.55e+01 -7.2 5.74e-01 1.00e+00h 1 47 2.0811294e+00 5.71e-07 1.11e-03 -4.3 1.31e-01 -4.1 1.00e+00 1.00e+00h 1 48 2.0817936e+00 5.70e-05 3.70e-03 -4.0 8.73e-01 -4.6 1.00e+00 1.00e+00f 1 49 2.0817770e+00 6.18e-04 1.17e+00 -4.0 2.75e+01 -5.0 5.39e-02 1.25e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815966e+00 5.61e-04 1.13e+00 -4.0 1.70e+00 -5.5 2.44e-01 8.01e-02h 2 51 2.0815536e+00 1.73e-04 9.61e-01 -4.0 4.42e+00 -6.0 1.00e+00 4.15e-01h 2 52 2.0817216e+00 1.17e-04 1.62e-02 -4.0 6.01e+00 -6.5 1.00e+00 1.00e+00h 1 53 2.0817370e+00 1.28e-04 1.22e-03 -4.0 7.31e+00 -6.9 1.00e+00 1.00e+00h 1 54 2.0817425e+00 6.31e-05 7.95e-04 -4.0 1.16e+01 -7.4 1.00e+00 1.00e+00h 1 55 2.0806855e+00 1.26e-03 3.47e-03 -6.0 1.35e+01 -7.9 9.78e-01 9.06e-01h 1 56 2.0818594e+00 4.93e-03 2.85e-03 -4.0 5.14e+01 -8.4 1.00e+00 1.00e+00f 1 57 2.0816077e+00 3.44e-04 3.17e-04 -4.1 1.44e+01 -8.9 1.00e+00 1.00e+00h 1 58 2.0806002e+00 3.20e-03 1.98e-04 -6.1 3.84e+01 -9.3 9.77e-01 9.65e-01h 1 59 2.0817087e+00 5.06e-03 2.51e-03 -4.0 5.76e+01 -9.8 1.00e+00 8.68e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815756e+00 1.84e-04 1.76e-05 -4.1 1.63e+01 -10.3 1.00e+00 1.00e+00h 1 61 2.0805947e+00 3.25e-03 1.39e-04 -6.2 4.02e+01 -10.8 9.77e-01 9.66e-01h 1 62 2.0807775e+00 2.91e-03 1.53e-02 -4.0 6.00e+01 -11.2 1.00e+00 1.46e-01f 1 63 2.0813668e+00 9.45e-04 4.77e-05 -4.2 1.86e+01 -11.7 1.00e+00 1.00e+00h 1 64 2.0813725e+00 4.98e-06 5.17e-06 -4.2 8.49e+00 -12.2 1.00e+00 1.00e+00h 1 65 2.0805837e+00 2.21e-03 1.90e-04 -6.3 3.39e+01 -12.7 9.81e-01 9.63e-01h 1 66 2.0819010e+00 7.12e-03 3.15e-04 -4.0 6.59e+01 -13.1 1.00e+00 1.00e+00f 1 67 2.0816244e+00 5.83e-04 1.55e-05 -4.1 2.53e+01 -13.6 1.00e+00 1.00e+00h 1 68 2.0806015e+00 3.52e-03 1.67e-04 -6.1 4.20e+01 -14.1 9.76e-01 9.63e-01h 1 69 2.0805512e+00 9.04e-05 2.33e-06 -6.1 1.74e+01 -14.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819773e+00 1.02e-02 3.92e-04 -4.0 8.40e+01 -15.1 1.00e+00 1.00e+00f 1 71 2.0816834e+00 9.23e-04 4.84e-05 -4.1 4.52e+01 -15.5 1.00e+00 1.00e+00h 1 72 2.0816481e+00 4.50e-07 7.29e-07 -4.1 8.37e+00 -16.0 1.00e+00 1.00e+00h 1 73 2.0818389e+00 1.14e-04 4.92e-06 -4.0 7.06e+00 -16.5 1.00e+00 1.00e+00h 1 74 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -17.0 1.00e+00 1.00e+00h 1 75 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.4 9.78e-01 9.71e-01h 1 76 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -17.9 1.00e+00 1.00e+00h 1 77 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.4 1.00e+00 1.00e+00f 1 78 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -18.9 1.00e+00 1.00e+00h 1 79 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -19.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -19.8 9.77e-01 9.75e-01h 1 81 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 94 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 102 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 103 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 104 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 105 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 106 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 107 2.0805365e+00 6.66e-16 2.22e-16 -9.0 2.00e-12 -20.0 1.00e+00 1.00e+00h 1 108 2.0805365e+00 4.44e-16 2.41e-16 -9.0 1.11e-13 -20.0 1.00e+00 1.00e+00 0 109 2.0805365e+00 8.88e-16 2.03e-16 -9.0 5.89e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 109 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 126 Number of objective gradient evaluations = 110 Number of equality constraint evaluations = 126 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 110 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 110 Total seconds in IPOPT = 22.903 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s jacobian structure: 180 nonzeros (0.077s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.283s sub-objective 2 (QuadraticRegularizer): 0.074s sub-objective 3 (MinimumTimeObjective): 0.014s objective hessian structure: 0.452s hessian structure: 375 nonzeros (0.496s) linear index maps built (0.0s) evaluator ready (total: 0.697s) evaluator created (0.697s) NL constraint bounds extracted (0.009s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.097s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.696s) optimizer initialization complete (total: 3.5s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7865638e+00 8.15e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3533591e+00 2.06e-01 1.73e+00 -0.9 7.37e-01 0.0 9.92e-01 1.00e+00h 1 2 1.3646977e+00 5.25e-02 2.93e-01 -0.7 4.54e-01 -0.5 1.00e+00 7.45e-01f 1 3 1.1910068e+00 4.42e-01 2.04e+00 -1.2 6.48e+00 - 9.69e-01 6.15e-01f 1 4 1.6250770e+00 1.80e-02 1.93e+00 -1.2 4.99e-01 -1.0 8.84e-01 1.00e+00h 1 5 1.3058615e+00 7.70e-03 6.95e-01 -1.5 1.03e-01 -1.4 1.00e+00 8.87e-01h 1 6 1.1360347e+00 8.75e-04 8.82e-01 -2.6 4.60e+00 - 9.97e-01 1.00e+00f 1 7 1.1144987e+00 7.63e-04 6.37e-01 -3.1 1.22e+00 - 1.00e+00 1.28e-01f 1 8 1.0909648e+00 6.86e-07 8.33e-03 -4.0 3.91e-01 - 1.00e+00 1.00e+00h 1 9 1.0909007e+00 2.07e-09 1.89e-03 -4.0 3.21e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 6.47e-15 1.01e-04 -4.0 2.14e-04 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.48e-24 1.01e-04 -4.0 8.38e-09 - 1.00e+00 1.00e+00h 1 12 1.0907198e+00 6.77e-28 7.08e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 2.91e-27 8.43e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 8.4258048569946925e-09 8.4258048569946925e-09 Constraint violation....: 2.9073966183120340e-27 2.9073966183120340e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 8.4258048569946925e-09 8.4258048569946925e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 20.467 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.097s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.097s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9273562e+00 3.80e+00 9.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6325384e+00 1.16e-01 2.61e+00 -0.9 2.46e+00 0.0 9.05e-01 1.00e+00h 1 2 2.6070685e+00 2.71e-02 1.90e+00 -0.6 3.15e-01 0.4 6.59e-01 7.35e-01h 1 3 2.6173947e+00 2.43e-03 7.16e-01 -1.2 1.23e-01 -0.1 9.49e-01 1.00e+00f 1 4 2.3561799e+00 1.03e-02 1.16e-01 -1.7 1.46e-01 -0.5 9.65e-01 1.00e+00f 1 5 2.2075431e+00 6.89e-03 2.26e-01 -2.1 2.98e-01 -1.0 9.19e-01 5.25e-01h 1 6 2.1062357e+00 1.37e-03 5.39e-02 -3.4 7.94e-02 -1.5 9.99e-01 9.12e-01h 1 7 2.0909397e+00 5.34e-05 8.03e-04 -4.0 1.79e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0907884e+00 2.13e-07 6.14e-05 -4.0 5.61e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0907866e+00 6.04e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907817e+00 9.81e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0907667e+00 8.82e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907219e+00 7.95e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0905877e+00 7.17e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901859e+00 6.48e-06 2.86e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0889895e+00 5.93e-05 2.56e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0854832e+00 5.60e-04 2.32e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796405e+00 2.25e-03 1.39e-01 -4.0 9.52e+01 -6.7 1.00e+00 6.19e-01h 1 18 2.0806428e+00 1.28e-04 1.69e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775264e+00 7.16e-03 2.22e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769528e+00 1.33e-03 5.29e-02 -4.0 2.01e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763017e+00 1.44e-03 3.63e-02 -4.0 3.48e+02 -8.6 1.00e+00 6.67e-01h 1 22 2.0755318e+00 3.41e-03 3.33e-02 -4.0 6.21e+02 -9.1 1.00e+00 7.49e-01h 1 23 2.0758070e+00 3.45e-03 1.85e-02 -4.0 1.86e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756807e+00 5.54e-04 9.13e-04 -4.0 9.84e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.84e-06 1.48e-05 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.87e-08 1.27e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.64e-09 1.10e-07 -4.0 4.67e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.77e-11 1.86e-09 -4.0 7.43e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121651248e+00 2.0756712121651248e+00 Dual infeasibility......: 1.8637482200991110e-09 1.8637482200991110e-09 Constraint violation....: 4.7695070115594262e-11 4.7695070115594262e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 1.8637482200991110e-09 1.8637482200991110e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 23.586 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.04s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.041s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.091s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.113s) optimizer initialization complete (total: 0.204s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.2087070e+00 2.97e+00 6.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8792470e+00 8.32e-02 1.98e+00 -1.0 1.60e+00 0.0 7.64e-01 1.00e+00f 1 2 2.3774144e+00 1.19e-01 1.04e+00 -1.7 7.08e-01 -0.5 5.51e-01 8.10e-01h 1 3 2.3010568e+00 7.57e-02 8.07e-01 -1.8 9.89e-02 -0.1 9.99e-01 3.71e-01h 1 4 2.1719195e+00 3.69e-02 5.30e-01 -2.7 1.69e-01 -0.5 9.99e-01 5.13e-01h 1 5 2.1229189e+00 3.67e-03 4.95e-01 -3.1 2.89e-01 -1.0 1.00e+00 9.05e-01h 1 6 2.0954727e+00 1.49e-03 3.36e-01 -4.0 2.43e-01 -1.5 1.00e+00 5.93e-01h 1 7 2.0941033e+00 1.35e-03 5.21e-01 -4.0 4.43e-01 -2.0 1.00e+00 9.16e-02h 1 8 2.0916744e+00 5.93e-04 3.75e-01 -4.0 2.53e-01 -2.4 1.00e+00 5.60e-01h 1 9 2.0909436e+00 9.94e-05 9.79e-02 -4.0 2.07e-01 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909146e+00 2.53e-06 2.77e-04 -4.0 5.41e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908953e+00 6.80e-07 3.07e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908504e+00 7.95e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907161e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903140e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891166e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856068e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796289e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807385e+00 1.59e-04 1.82e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775306e+00 7.38e-03 2.46e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769283e+00 1.12e-03 4.92e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760014e+00 1.01e-03 2.35e-02 -4.0 3.10e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754451e+00 4.99e-04 2.95e-02 -4.0 4.65e+02 -9.1 1.00e+00 7.26e-01H 1 23 2.0757757e+00 2.16e-03 1.08e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753821e+00 1.41e-03 4.82e-04 -4.1 7.81e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.05e-04 6.91e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.33e-04 8.10e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.11e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.60e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728799e-04 2.3095644031728799e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 23.650 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) integrator 1 hessian structure: 0.039s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.088s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.088s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6660971e+00 2.77e+00 6.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9187611e+00 1.10e-01 1.97e+00 -0.9 1.86e+00 0.0 9.97e-01 1.00e+00f 1 2 2.9881612e+00 1.04e-01 5.67e+00 -0.2 1.16e+01 -0.5 3.16e-01 3.96e-02f 2 3 2.6278469e+00 2.60e-02 1.24e+00 -0.8 3.26e-01 -0.1 8.96e-01 1.00e+00h 1 4 2.4926420e+00 3.52e-03 1.68e-01 -1.6 1.26e-01 -0.5 9.57e-01 1.00e+00h 1 5 2.1705359e+00 3.19e-03 4.12e-02 -2.1 9.64e-02 -1.0 9.80e-01 9.40e-01f 1 6 2.0962529e+00 3.47e-04 8.43e-03 -3.3 2.19e-02 -1.5 9.58e-01 9.51e-01h 1 7 2.0908738e+00 1.06e-05 2.32e-03 -4.0 8.24e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908562e+00 3.00e-08 3.12e-05 -4.0 8.53e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908546e+00 2.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908496e+00 9.74e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908346e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907898e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906555e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902536e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890567e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855485e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796345e+00 2.28e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0806777e+00 1.32e-04 1.72e-01 -4.0 6.78e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775264e+00 7.03e-03 2.27e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769505e+00 1.27e-03 5.08e-02 -4.0 1.96e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762838e+00 1.36e-03 3.26e-02 -4.0 3.43e+02 -8.6 1.00e+00 6.92e-01h 1 22 2.0755203e+00 3.22e-03 3.26e-02 -4.0 6.10e+02 -9.1 1.00e+00 7.47e-01h 1 23 2.0758057e+00 3.33e-03 1.79e-02 -4.0 1.82e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756805e+00 5.25e-04 8.75e-04 -4.0 9.62e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.60e-06 1.42e-05 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.56e-08 1.29e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.62e-09 1.10e-07 -4.0 4.59e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.65e-11 1.82e-09 -4.0 7.26e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121644685e+00 2.0756712121644685e+00 Dual infeasibility......: 1.8243148381378617e-09 1.8243148381378617e-09 Constraint violation....: 4.6468495717988390e-11 4.6468495717988390e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.8243148381378617e-09 1.8243148381378617e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 21.525 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! Test Summary: | Pass Fail Total Time Package | 220 2 222 19m00.3s src/solvers/ipopt_solver/solver.jl | 16 16 4m59.2s src/solvers/ipopt_solver/callbacks.jl | 2 2 29.6s src/constraints/linear/bounds_constraint.jl | 60 60 1m32.4s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 1m59.8s src/constraints/linear/all_equal_constraint.jl | 2 2 51.4s src/constraints/linear/time_consistency_constraint.jl | 19 19 15.7s src/constraints/linear/l1_slack_constraint.jl | 10 10 45.0s src/objectives/regularizers.jl | 6 6 12.0s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 17.2s src/constraints/linear/total_constraint.jl | 2 2 46.1s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m00.7s src/constraints/nonlinear/knot_point_constraint.jl | 22 2 24 1m34.3s NonlinearKnotPointConstraint - single variable | 2 2 11.4s NonlinearKnotPointConstraint - single variable with vector syntax | 3 2 5 20.2s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 13.8s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 12.7s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 9.4s NonlinearKnotPointConstraint - inequality vs equality | 7 7 15.9s NonlinearKnotPointConstraint - subset of times | 4 4 10.8s src/objectives/global_objectives.jl | 15 15 25.1s src/objectives/knot_point_objectives.jl | 6 6 7.1s src/constraints/linear/symmetry_constraint.jl | 20 20 1m16.2s src/constraints/linear/equality_constraint.jl | 3 3 1m14.2s src/objectives/_objectives.jl | 19 19 15.4s src/integrators/bilinear_integrator.jl | 3 3 33.1s src/constraints/nonlinear/global_constraint.jl | 2 2 12.3s src/integrators/derivative_integrator.jl | 3 3 13.7s ERROR: LoadError: Some tests did not pass: 220 passed, 2 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/gniE1/test/runtests.jl:6 Testing failed after 1205.88s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3138 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3003 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:586 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:562 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [12] include(mod::Module, _path::String) @ Base ./Base.jl:323 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 1981.47s: package has test failures