Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2064 (1d5dcac2d2*) started at 2026-04-21T23:59:43.889 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.52s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.9.0 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.5.2 [4fba245c] + ArrayInterface v7.24.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.8.0 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] + BracketingNonlinearSolve v1.12.1 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.1 [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 v0.1.7 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.4 [2b5f629d] + DiffEqBase v6.218.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.16 [c823fa1f] + DirectTrajOpt v0.9.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.19 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v1.3.1 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.18.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.30.0 [f6369f11] + ForwardDiff v1.3.3 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.5.0 [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 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.0 [ae98c720] + Jieko v0.2.1 [b964fa9f] + LaTeXStrings v1.4.0 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.7 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.50.1 [bb5d69b7] + MaybeInplace v0.1.4 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.7.1 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.8.4 [be0214bd] + NonlinearSolveBase v2.25.0 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.33.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.19 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 ⌅ [731186ca] + RecursiveArrayTools v3.54.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [94e857df] + SIMDTypes v0.1.0 ⌅ [0bca4576] + SciMLBase v2.155.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.16.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.9.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [ec057cc2] + StructUtils v2.7.2 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.5 [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+1 [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 v8.19.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.30+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+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 v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+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 6.5s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 36.8 s ✓ DirectTrajOpt 39.4 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 81 seconds. 240 already precompiled. Precompilation completed after 105.16s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_kEN22E/Project.toml` [c823fa1f] DirectTrajOpt v0.9.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.1 [5078a376] LazyArrays v2.9.7 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.50.1 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [189a3867] Reexport v1.2.2 ⌅ [0bca4576] SciMLBase v2.155.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_kEN22E/Manifest.toml` [47edcb42] ADTypes v1.21.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.5.2 [4fba245c] ArrayInterface v7.24.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.8.0 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [70df07ce] BracketingNonlinearSolve v1.12.1 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.1 [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 v0.1.7 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.4 [2b5f629d] DiffEqBase v6.218.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.16 [c823fa1f] DirectTrajOpt v0.9.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.19 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v1.3.1 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.5.0 [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 v0.6.4 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.5.0 [ae98c720] Jieko v0.2.1 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.7 [5c8ed15e] LinearOperators v2.13.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [2621e9c9] MadNLP v0.9.1 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.50.1 [bb5d69b7] MaybeInplace v0.1.4 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.7.1 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.25.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.33.0 [b1df2697] OrdinaryDiffEqTsit5 v1.12.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.19 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 ⌅ [731186ca] RecursiveArrayTools v3.54.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.18 [94e857df] SIMDTypes v0.1.0 ⌅ [0bca4576] SciMLBase v2.155.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.16.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.0 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.7.2 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.9.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [7792a7ef] StrideArraysCore v0.5.8 [ec057cc2] StructUtils v2.7.2 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.5 [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+1 [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 [4607b0f0] SuiteSparse [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 v8.19.0+0 [e37daf67] LibGit2_jll v1.9.2+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2026.3.19 [4536629a] OpenBLAS_jll v0.3.30+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+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 v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+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, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.861s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.954s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.046s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.08s sub-objective 2 (QuadraticRegularizer): 1.593s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 3.776s hessian structure: 1749 nonzeros (3.867s) linear index maps built (0.0s) evaluator ready (total: 6.319s) evaluator created (10.368s) NL constraint bounds extracted (0.089s) NLP block data built (0.0s) Ipopt optimizer configured (0.298s) variables set (0.801s) 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 (3.551s) optimizer initialization complete (total: 15.198s) ****************************************************************************** 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...: 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 3.7535392e+00 3.51e+00 1.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3560955e+00 2.84e+00 4.65e+00 -1.3 4.60e+01 -4.0 9.55e-01 1.00e+00h 1 2 2.2116996e+00 2.99e-01 3.23e+00 -1.6 2.20e+01 -4.5 1.00e+00 1.00e+00h 1 3 2.1456586e+00 1.71e-01 1.04e+00 -2.3 2.36e+01 -5.0 9.98e-01 1.00e+00h 1 4 2.0996194e+00 1.09e-01 2.24e-01 -3.1 2.07e+01 -5.4 1.00e+00 1.00e+00h 1 5 2.0898588e+00 2.63e-02 1.74e-02 -3.6 2.04e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0818280e+00 1.89e-02 2.71e-02 -4.0 4.40e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0849107e+00 1.22e-02 3.26e-02 -3.3 2.17e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0788809e+00 3.50e-02 7.64e-03 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0774337e+00 6.74e-04 8.15e-03 -4.0 1.19e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0765189e+00 1.26e-04 1.90e-02 -4.0 2.22e+02 -8.3 1.00e+00 8.97e-01h 1 11 2.0761444e+00 8.07e-04 2.90e-02 -4.0 3.54e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756194e+00 6.23e-05 2.31e-02 -4.0 3.95e+02 -9.2 1.00e+00 6.38e-01h 1 13 2.0758294e+00 5.31e-04 7.50e-03 -4.0 1.21e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754436e+00 9.90e-04 1.60e-04 -4.1 4.10e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 5.09e-04 4.03e-06 -4.0 2.03e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.50e-04 5.91e-07 -4.1 2.45e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.81e-04 7.02e-07 -4.0 1.44e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.54e-04 2.29e-07 -4.1 2.09e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.04e-04 9.83e-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......: 4.1148314624635750e-04 4.1148314624635750e-04 Constraint violation....: 1.1636767918259405e-02 1.1636767918259405e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0683766331762525e-05 1.0683766331762525e-05 Overall NLP error.......: 1.1636767918259405e-02 1.1636767918259405e-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 = 64.239 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: 0.146s jacobian structure: 180 nonzeros (0.183s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.31s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.494s hessian structure: 375 nonzeros (0.541s) linear index maps built (0.0s) evaluator ready (total: 0.852s) evaluator created (0.852s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.107s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.646s) optimizer initialization complete (total: 3.614s) 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 1.6553319e+00 8.74e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6523563e+00 1.90e-01 1.88e+00 -0.9 8.74e-01 0.0 1.00e+00 1.00e+00h 1 2 1.6074711e+00 1.13e-01 4.20e-01 -0.5 2.76e+00 - 6.56e-01 4.05e-01h 1 3 1.4087938e+00 3.39e-02 2.71e+00 -1.6 9.79e+00 - 9.35e-01 1.00e+00h 1 4 1.5277938e+00 2.79e-02 1.81e+00 -1.6 2.90e-01 -0.5 9.92e-01 8.80e-01h 1 5 1.2581183e+00 1.00e-02 9.60e-01 -1.4 9.04e-01 -1.0 1.00e+00 2.38e-01h 1 6 1.1606790e+00 1.65e-03 1.42e-01 -2.3 1.53e-01 -1.4 1.00e+00 8.62e-01h 1 7 1.1136539e+00 1.47e-04 1.01e+00 -2.8 9.19e+00 - 9.18e-01 1.00e+00h 1 8 1.1071900e+00 1.42e-04 2.66e-01 -3.2 5.48e-01 -1.9 1.00e+00 3.41e-02f 1 9 1.0919172e+00 6.04e-07 1.89e-03 -4.0 4.72e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0916445e+00 3.87e-11 1.26e-03 -4.0 5.74e-02 -2.0 1.00e+00 1.00e+00h 1 11 1.0915136e+00 1.94e-11 1.68e-03 -4.0 2.07e-01 -2.4 9.75e-01 5.00e-01f 2 12 1.0909120e+00 3.62e-14 3.06e-02 -4.0 1.74e+00 - 1.00e+00 1.00e+00f 1 13 1.0908995e+00 1.78e-19 3.07e-05 -4.0 1.38e-02 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.36e-27 3.48e-07 -4.0 1.44e-03 - 1.00e+00 1.00e+00f 1 15 1.0907198e+00 2.66e-27 4.36e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 3.09e-27 4.36e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997336732820e+00 1.0908997336732820e+00 Dual infeasibility......: 4.3615347163306019e-09 4.3615347163306019e-09 Constraint violation....: 3.0896147850091116e-27 3.0896147850091116e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081630408675e-04 1.0000081630408675e-04 Overall NLP error.......: 4.3615347163306019e-09 4.3615347163306019e-09 Number of objective function evaluations = 18 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 22.344 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! [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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.051s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) 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 (0.382s) optimizer initialization complete (total: 0.497s) 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 4.9942890e+00 3.10e+00 2.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7612521e+00 2.57e+00 1.83e+00 -0.4 2.02e+01 -2.0 2.06e-01 1.70e-01f 1 2 3.8526968e+00 2.55e+00 1.15e+01 1.3 3.10e+02 -1.6 2.49e-02 8.07e-03f 1 3 2.1709280e+00 1.48e+00 2.56e+01 -0.3 1.23e+01 -2.1 1.10e-01 4.85e-01f 1 4 2.0419354e+00 8.03e-01 1.67e+01 0.2 9.28e+00 -1.6 9.06e-01 3.90e-01h 1 5 1.9557569e+00 9.75e-01 7.16e+00 -0.3 1.21e+01 -2.1 7.38e-01 4.44e-01h 1 6 1.9194796e+00 3.24e+00 7.44e+00 -4.0 3.39e+01 -2.6 1.81e-01 2.85e-01H 1 7 1.9144078e+00 7.35e-02 5.10e+00 -1.1 1.50e+01 -3.1 9.41e-01 1.00e+00f 1 8 1.6801622e+00 1.46e-02 4.34e-02 -1.5 3.92e-01 -3.5 1.00e+00 1.00e+00h 1 9 1.4046441e+00 1.70e-01 4.52e-02 -2.1 1.18e+00 -4.0 7.92e-01 9.89e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2287029e+00 3.06e-01 3.91e-02 -2.6 9.71e-01 -4.5 9.61e-01 9.43e-01h 1 11 1.1811060e+00 1.49e-02 7.44e-02 -3.6 2.04e+01 -5.0 9.93e-01 1.00e+00h 1 12 1.1702224e+00 1.19e-01 3.82e-02 -4.0 9.97e+00 -5.4 1.00e+00 1.00e+00h 1 13 1.1654778e+00 3.28e-01 2.16e-02 -4.0 2.10e+01 -5.9 1.00e+00 1.00e+00h 1 14 1.1652132e+00 1.73e-01 1.91e-02 -4.0 3.00e+01 -6.4 1.00e+00 1.00e+00h 1 15 1.1630171e+00 3.60e-01 2.15e-02 -4.0 4.63e+01 -6.9 1.00e+00 1.00e+00h 1 16 1.1625630e+00 2.79e-01 4.63e-04 -4.0 6.63e+01 -7.4 1.00e+00 1.00e+00h 1 17 1.1613898e+00 4.40e-01 2.75e-02 -4.0 1.01e+02 -7.8 1.00e+00 1.00e+00h 1 18 1.1610407e+00 3.92e-01 1.52e-02 -4.0 1.40e+02 -8.3 1.00e+00 1.00e+00h 1 19 1.1604830e+00 4.81e-01 3.10e-02 -4.0 1.95e+02 -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 1.1605664e+00 2.61e-01 7.31e-03 -4.0 2.02e+02 -9.3 1.00e+00 1.00e+00h 1 21 1.1608528e+00 2.27e-04 1.81e-03 -4.0 3.80e+01 -9.7 1.00e+00 1.00e+00h 1 22 1.1608490e+00 5.03e-05 5.78e-07 -4.0 2.87e+00 -10.2 1.00e+00 1.00e+00h 1 23 1.1608491e+00 2.41e-09 1.25e-09 -4.0 1.66e-02 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.1608491306722328e+00 1.1608491306722328e+00 Dual infeasibility......: 1.2494222064829245e-09 1.2494222064829245e-09 Constraint violation....: 2.4085959893227482e-09 2.4085959893227482e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000999489297e-04 1.0000000999489297e-04 Overall NLP error.......: 2.4085959893227482e-09 2.4085959893227482e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 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 = 24.198 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s jacobian structure: 180 nonzeros (0.082s) integrator 1 hessian structure: 0.044s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.31s sub-objective 2 (QuadraticRegularizer): 0.081s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.493s hessian structure: 375 nonzeros (0.538s) linear index maps built (0.0s) evaluator ready (total: 0.731s) evaluator created (0.731s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.106s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.871s) optimizer initialization complete (total: 3.72s) 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 1.5012931e+00 8.98e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5499807e+00 3.21e-01 2.67e+00 -1.4 2.99e+00 - 9.41e-01 1.00e+00h 1 2 1.5888682e+00 1.03e-01 8.38e-01 -1.1 2.91e-01 0.0 1.00e+00 7.02e-01h 1 3 1.4808664e+00 9.00e-02 1.50e+00 -1.2 5.81e+01 - 2.19e-01 1.27e-01h 1 4 1.4130910e+00 3.09e-02 2.09e-01 -1.7 2.57e-01 -0.5 9.77e-01 8.44e-01h 1 5 1.1385936e+00 2.46e-03 1.15e-01 -2.4 1.61e+00 - 9.88e-01 9.21e-01h 1 6 1.0956046e+00 2.85e-05 1.56e-01 -4.0 1.98e+00 - 1.00e+00 1.00e+00h 1 7 1.0910631e+00 5.30e-07 4.43e-02 -4.0 1.37e+00 - 1.00e+00 9.82e-01h 1 8 1.0910415e+00 3.92e-11 1.51e-02 -4.0 1.16e+00 - 1.00e+00 1.00e+00h 1 9 1.0910385e+00 4.60e-19 3.14e-06 -4.0 1.69e-02 - 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 8.88e-16 1.15e-12 -4.0 9.96e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779863396e+00 1.0910385779863396e+00 Dual infeasibility......: 1.1505302732663786e-12 1.1505302732663786e-12 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000013659809e-04 1.0000000013659809e-04 Overall NLP error.......: 1.1505302732663786e-12 1.1505302732663786e-12 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 = 20.306 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/LpRux/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: 0.08s hessian structure: 30 nonzeros (0.08s) linear index maps built (0.0s) evaluator ready (total: 0.08s) evaluator created (0.08s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) 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 (2.859s) optimizer initialization complete (total: 3.048s) 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 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 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 1.5021076e-02 8.33e-17 9.98e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4916332e-02 5.01e-12 1.19e-02 -2.2 2.16e-02 -2.0 9.88e-01 1.00e+00f 1 2 7.5422804e-03 5.45e-12 7.73e-02 -3.0 9.37e-02 -1.6 9.95e-01 1.00e+00f 1 3 1.0690023e-03 2.53e-11 5.43e-02 -3.4 1.43e-01 -1.1 9.98e-01 1.00e+00f 1 4 5.0884515e-04 1.84e-11 1.67e-02 -3.1 5.12e-01 -1.6 1.00e+00 1.67e-01f 3 5 8.1803463e-04 2.50e-12 2.31e-02 -2.8 1.60e+00 -2.1 1.00e+00 4.94e-01f 2 6 8.1803463e-04 2.50e-12 1.04e-02 -3.0 4.92e-01 -1.7 1.00e+00 4.14e-15h 48 7 7.5328809e-04 6.78e-12 9.03e-03 -3.0 1.20e+00 -2.2 6.71e-01 6.71e-01s 63 8 6.7199014e-04 6.37e-12 1.47e-02 -4.5 1.51e+00 -2.6 4.58e-01 6.38e-02f 2 9 3.8593244e-04 5.07e-12 1.55e-02 -4.5 4.96e-01 -3.1 7.33e-01 2.83e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.8593244e-04 5.07e-12 1.31e-02 -4.0 7.84e-01 -3.6 1.00e+00 9.77e-15h 45 11 3.0728932e-04 4.99e-12 2.15e-02 -3.4 4.96e+00 -3.2 8.26e-02 6.13e-02f 3 12 3.0728932e-04 4.99e-12 2.59e-02 -3.6 6.15e-01 -1.8 9.99e-01 1.20e-14h 45 13 3.0728932e-04 4.99e-12 2.17e-02 -3.4 1.49e+00 -2.3 1.00e+00 1.03e-14h 44 14 3.0460701e-04 4.96e-12 1.32e-02 -3.4 4.28e-01 -2.8 1.00e+00 1.56e-02f 7 15 3.0460701e-04 4.96e-12 1.44e-02 -3.9 4.38e-01 -3.3 9.99e-01 1.39e-14h 47 16 2.7429613e-04 4.81e-12 1.85e-02 -3.3 1.82e+00 -3.7 1.00e+00 9.17e-02f 4 17 2.7429613e-04 4.81e-12 1.43e-02 -3.5 4.78e-01 -4.2 9.93e-01 1.23e-14h 47 18 2.6035215e-04 4.73e-12 1.36e-02 -3.2 1.34e+00 -4.7 1.00e+00 5.46e-02f 5 19 2.6035215e-04 4.73e-12 1.27e-02 -3.6 4.40e-01 -5.2 9.92e-01 6.80e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.6035215e-04 4.73e-12 1.21e-02 -3.2 1.05e+00 -5.6 1.00e+00 1.82e-12h 40 21 3.5172503e-04 3.16e-12 1.40e-02 -3.2 5.20e-01 -6.1 1.00e+00 1.00e+00S 61 22 3.5172503e-04 3.16e-12 1.84e-02 -3.2 8.84e-01 -2.1 1.00e+00 1.34e-14h 46 23 1.5299952e-04 1.39e-12 1.82e-02 -3.2 9.63e-01 -2.6 5.11e-01 5.11e-01S 60 24 1.3627979e-04 7.90e-13 1.99e-02 -3.6 9.69e-01 -3.0 9.97e-01 1.67e-01f 2 25 1.3627979e-04 7.90e-13 2.51e-02 -4.0 9.16e-01 -3.5 1.00e+00 6.34e-15h 48 26 1.3424812e-04 7.16e-13 2.33e-02 -3.5 7.22e-01 -4.0 1.00e+00 3.12e-02f 6 27 1.3424812e-04 7.16e-13 2.45e-02 -3.8 6.08e-01 -4.5 1.00e+00 1.38e-14h 47 28 1.3424812e-04 7.16e-13 2.33e-02 -3.5 5.77e-01 -4.9 1.00e+00 2.27e-13h 43 29 1.0743555e-04 1.55e-12 1.28e-02 -3.5 4.21e-01 -5.4 1.00e+00 1.00e+00s 62 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0743555e-04 1.55e-12 1.73e-02 -4.0 3.16e-01 -5.9 1.00e+00 1.42e-14h 47 31 1.0743555e-04 1.55e-12 1.90e-02 -3.7 2.03e-01 -6.4 1.00e+00 1.42e-14h 47 32 1.2874861e-05 6.59e-17 1.09e-02 -3.7 1.70e-01 -6.9 1.00e+00 1.00e+00S 59 33 1.2874861e-05 6.59e-17 3.26e-03 -4.0 1.33e-01 -7.3 1.00e+00 1.16e-10h 34 34 1.2874861e-05 6.59e-17 3.11e-03 -3.9 1.21e-01 -7.8 1.00e+00 2.33e-10h 33 35 1.2874861e-05 6.59e-17 3.23e-03 -3.9 1.02e-01 -8.3 1.00e+00 4.66e-10h 32 36 1.2874861e-05 6.59e-17 3.34e-03 -3.9 9.51e-02 -8.8 1.00e+00 5.82e-11h 35 37 1.2874861e-05 6.59e-17 3.45e-03 -3.9 8.78e-02 -9.2 1.00e+00 4.66e-10h 32 38 1.2874861e-05 6.59e-17 3.54e-03 -3.9 8.03e-02 -9.7 1.00e+00 1.16e-10h 34 39 1.2874861e-05 6.59e-17 3.63e-03 -3.9 7.27e-02 -10.2 1.00e+00 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.2874861e-05 6.59e-17 3.72e-03 -3.9 6.47e-02 -10.7 1.00e+00 2.33e-10h 33 41 1.2874861e-05 6.59e-17 3.80e-03 -3.9 5.66e-02 -11.2 1.00e+00 2.33e-10h 33 42 1.2874861e-05 6.59e-17 3.88e-03 -3.9 4.82e-02 -11.6 1.00e+00 5.82e-11h 35 43 1.2874861e-05 6.59e-17 3.96e-03 -3.9 3.96e-02 -12.1 1.00e+00 2.33e-10h 33 44 1.2874861e-05 6.59e-17 4.03e-03 -3.9 3.07e-02 -12.6 1.00e+00 2.33e-10h 33 45 1.2874861e-05 6.59e-17 4.11e-03 -3.9 2.15e-02 -13.1 1.00e+00 7.28e-12h 38 46 1.2874861e-05 6.59e-17 4.18e-03 -3.9 1.54e-02 -13.5 1.00e+00 2.33e-10h 33 47 1.2874861e-05 6.59e-17 4.25e-03 -3.9 1.03e-02 -14.0 1.00e+00 5.82e-11h 35 48 1.2874861e-05 6.59e-17 4.32e-03 -3.9 1.03e-02 -14.5 1.00e+00 2.33e-10h 33 49 1.2874861e-05 6.59e-17 4.40e-03 -3.9 1.79e-02 -15.0 1.00e+00 2.33e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.2874861e-05 6.59e-17 4.47e-03 -3.9 2.85e-02 -15.4 1.00e+00 5.82e-11h 35 51 1.2874861e-05 6.59e-17 4.54e-03 -3.9 3.95e-02 -15.9 1.00e+00 1.16e-10h 34 52 1.2874861e-05 6.59e-17 4.62e-03 -3.9 5.07e-02 -16.4 1.00e+00 2.91e-11h 36 53 1.2874861e-05 6.59e-17 4.70e-03 -3.9 6.23e-02 -16.9 1.00e+00 1.16e-10h 34 54 1.2874861e-05 6.59e-17 4.77e-03 -3.9 7.43e-02 -17.4 1.00e+00 5.82e-11h 35 55 1.2874861e-05 6.59e-17 4.86e-03 -3.9 8.66e-02 -17.8 1.00e+00 1.16e-10h 34 56 1.2874861e-05 6.59e-17 4.94e-03 -3.9 9.92e-02 -18.3 1.00e+00 2.91e-11h 36 57 1.2874861e-05 6.59e-17 5.03e-03 -3.9 1.12e-01 -18.8 1.00e+00 5.82e-11h 35 58 1.2874861e-05 6.59e-17 5.12e-03 -3.9 1.26e-01 -19.3 1.00e+00 1.16e-10h 34 59 1.2874861e-05 6.59e-17 5.21e-03 -3.9 1.39e-01 -19.7 1.00e+00 1.16e-10h 34 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.2874861e-05 6.59e-17 5.31e-03 -3.9 1.54e-01 -20.0 1.00e+00 1.16e-10h 34 61 1.2874861e-05 6.59e-17 5.42e-03 -3.9 1.68e-01 -20.0 1.00e+00 2.91e-11h 36 62 1.2874861e-05 6.59e-17 5.53e-03 -3.9 1.83e-01 -20.0 1.00e+00 1.46e-11h 37 63 1.2874861e-05 6.59e-17 5.65e-03 -3.9 1.98e-01 -20.0 1.00e+00 5.82e-11h 35 64 1.2874861e-05 6.59e-17 5.78e-03 -3.9 2.14e-01 -20.0 1.00e+00 1.46e-11h 37 65 1.2874861e-05 6.59e-17 5.92e-03 -3.9 2.30e-01 -20.0 1.00e+00 2.91e-11h 36 66 1.2874861e-05 6.59e-17 6.06e-03 -3.9 2.47e-01 -20.0 1.00e+00 7.28e-12h 38 67 1.2874861e-05 6.59e-17 6.22e-03 -3.9 2.63e-01 -20.0 1.00e+00 1.46e-11h 37 68 1.2874861e-05 6.59e-17 6.39e-03 -3.9 2.80e-01 -20.0 1.00e+00 5.82e-11h 35 69 1.2874861e-05 6.59e-17 6.58e-03 -3.9 2.98e-01 -20.0 1.00e+00 2.91e-11h 36 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.2874861e-05 6.59e-17 6.78e-03 -3.9 3.16e-01 -20.0 1.00e+00 5.82e-11h 35 71 1.2874861e-05 6.59e-17 7.00e-03 -3.9 3.34e-01 -20.0 1.00e+00 5.82e-11h 35 72 1.2874861e-05 6.59e-17 7.24e-03 -3.9 3.64e-01 -20.0 1.00e+00 5.82e-11h 35 73 1.2874861e-05 6.59e-17 7.50e-03 -3.9 4.01e-01 -20.0 1.00e+00 3.64e-12h 39 74 1.2874861e-05 6.59e-17 7.78e-03 -3.9 4.41e-01 -20.0 1.00e+00 2.91e-11h 36 75 1.2874861e-05 6.59e-17 8.10e-03 -3.9 4.85e-01 -20.0 1.00e+00 1.46e-11h 37 76 1.2874861e-05 6.59e-17 8.43e-03 -3.9 5.34e-01 -20.0 1.00e+00 7.28e-12h 38 77 1.2874861e-05 6.59e-17 8.80e-03 -3.9 5.86e-01 -20.0 1.00e+00 9.09e-13h 41 78 1.2874861e-05 6.59e-17 9.19e-03 -3.9 6.42e-01 -20.0 1.00e+00 3.64e-12h 39 79 1.2874861e-05 6.59e-17 9.61e-03 -3.9 7.02e-01 -20.0 1.00e+00 1.46e-11h 37 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.2874861e-05 6.59e-17 1.00e-02 -3.9 7.64e-01 -20.0 1.00e+00 1.82e-12h 40 81 1.2874861e-05 6.59e-17 1.05e-02 -3.9 8.27e-01 -20.0 1.00e+00 3.64e-12h 39 82 1.2874861e-05 6.59e-17 1.09e-02 -3.9 8.91e-01 -20.0 1.00e+00 3.64e-12h 39 83 1.2874861e-05 6.59e-17 1.14e-02 -3.9 9.53e-01 -20.0 1.00e+00 3.64e-12h 39 84 1.2874861e-05 6.59e-17 1.18e-02 -3.9 1.01e+00 -20.0 1.00e+00 7.28e-12h 38 85 1.2874861e-05 6.59e-17 1.22e-02 -3.9 1.07e+00 -20.0 1.00e+00 1.46e-11h 37 86 1.2874861e-05 6.59e-17 1.25e-02 -3.9 1.12e+00 -20.0 1.00e+00 7.28e-12h 38 87 1.2874861e-05 6.59e-17 1.28e-02 -3.9 1.16e+00 -20.0 1.00e+00 7.28e-12h 38 88 1.2874861e-05 6.59e-17 1.31e-02 -3.9 1.21e+00 -20.0 1.00e+00 3.64e-12h 39 89 1.2874861e-05 6.59e-17 1.34e-02 -3.9 1.24e+00 -20.0 1.00e+00 9.09e-13h 41 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.2874861e-05 6.59e-17 1.36e-02 -3.9 1.28e+00 -20.0 1.00e+00 1.82e-12h 40 91 1.2874861e-05 6.59e-17 1.38e-02 -3.9 1.31e+00 -20.0 1.00e+00 1.82e-12h 40 92 1.2874861e-05 6.59e-17 1.40e-02 -3.9 1.34e+00 -20.0 1.00e+00 4.55e-13h 42 93 1.2874861e-05 6.59e-17 1.42e-02 -3.9 1.36e+00 -20.0 1.00e+00 7.28e-12h 38 94 1.2874861e-05 6.59e-17 1.44e-02 -3.9 1.38e+00 -20.0 1.00e+00 1.82e-12h 40 95 1.2874861e-05 6.59e-17 1.45e-02 -3.9 1.40e+00 -20.0 1.00e+00 4.55e-13h 42 96 1.2874861e-05 6.59e-17 1.46e-02 -3.9 1.42e+00 -20.0 1.00e+00 4.55e-13h 42 97 1.2874861e-05 6.59e-17 1.47e-02 -3.9 1.44e+00 -20.0 1.00e+00 7.28e-12h 38 98 1.2874861e-05 6.59e-17 1.49e-02 -3.9 1.45e+00 -20.0 1.00e+00 7.28e-12h 38 99 1.2874861e-05 6.59e-17 1.50e-02 -3.9 1.46e+00 -20.0 1.00e+00 3.64e-12h 39 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.2874861e-05 6.59e-17 1.50e-02 -3.9 1.48e+00 -20.0 1.00e+00 3.64e-12h 39 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.2874861155147833e-05 1.2874861155147833e-05 Dual infeasibility......: 1.5044089986059217e-02 1.5044089986059217e-02 Constraint violation....: 6.5919492087118670e-17 6.5919492087118670e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.1594420780276428e-04 9.1594420780276428e-04 Overall NLP error.......: 1.5044089986059217e-02 1.5044089986059217e-02 Number of objective function evaluations = 3487 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3487 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 = 4.065 EXIT: Maximum Number of Iterations Exceeded. 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): 0.09s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.19s hessian structure: 40 nonzeros (0.19s) linear index maps built (0.0s) evaluator ready (total: 0.19s) evaluator created (0.19s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.124s) 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 (3.162s) optimizer initialization complete (total: 3.477s) 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 1.7707416e+00 4.75e-01 8.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2130246e+00 2.15e-09 2.83e-01 -0.7 9.43e-01 -2.0 8.31e-01 1.00e+00f 1 2 4.2279763e-01 1.25e-09 2.12e-01 -1.0 7.94e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.7083319e-01 5.93e-10 6.64e-02 -2.0 6.84e-01 -1.1 9.97e-01 1.00e+00f 1 4 4.4029860e-02 7.97e-11 4.62e-02 -2.9 8.92e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.8811209e-03 3.50e-11 1.96e-02 -3.8 7.61e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.7600028e-03 8.65e-12 6.31e-03 -4.0 5.07e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.5834274e-04 2.11e-12 1.75e-03 -4.0 2.45e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4642489e-04 3.45e-13 2.08e-04 -4.0 7.54e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6111383e-04 1.57e-14 1.60e-04 -4.0 2.50e-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 3.0222955e-04 1.47e-14 4.15e-04 -4.1 7.61e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6038683e-04 7.65e-15 3.60e-04 -4.0 1.94e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7454875e-04 4.33e-15 5.22e-04 -4.1 9.90e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6667496e-04 3.22e-15 4.64e-04 -4.0 2.46e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6359664e-04 2.55e-15 5.91e-04 -4.1 1.14e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6753384e-04 2.44e-15 5.06e-04 -4.0 2.68e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5993248e-04 1.89e-15 6.21e-04 -4.1 1.20e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6746746e-04 2.00e-15 5.24e-04 -4.0 2.79e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5873538e-04 1.55e-15 6.40e-04 -4.1 1.24e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6699213e-04 1.67e-15 5.34e-04 -4.0 2.85e-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 2.5836738e-04 1.33e-15 6.55e-04 -4.1 1.27e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6641231e-04 1.44e-15 5.40e-04 -4.0 2.89e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5826464e-04 1.22e-15 6.68e-04 -4.1 1.29e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6581119e-04 1.22e-15 5.45e-04 -4.0 2.93e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5824443e-04 1.11e-15 6.80e-04 -4.1 1.32e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6521876e-04 1.11e-15 5.49e-04 -4.0 2.96e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5824795e-04 9.99e-16 6.92e-04 -4.1 1.34e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0931763e-05 9.60e-15 8.67e-04 -6.2 3.69e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7488284e-03 2.66e-15 7.51e-03 -4.0 1.95e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4354698e-05 2.46e-14 2.81e-03 -4.1 9.93e-01 -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 1.5808910e-03 3.24e-14 7.83e-03 -4.0 9.62e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0052508e-05 1.90e-14 2.23e-03 -4.2 1.07e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6839501e-04 1.67e-15 2.72e-03 -4.0 1.35e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1921597e-04 3.22e-15 2.32e-04 -4.2 3.68e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0163387e-05 4.66e-15 7.86e-04 -6.4 4.02e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.1095981e-06 3.39e-15 9.69e-05 -6.4 1.02e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5716633e-03 1.11e-15 5.49e-03 -4.0 9.46e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6320683e-05 5.55e-14 3.45e-03 -4.0 7.90e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5431720e-04 3.77e-14 3.53e-03 -4.0 5.33e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8075432e-04 7.11e-15 4.28e-04 -4.0 4.15e-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 3.5520327e-05 5.55e-15 1.30e-03 -6.0 4.94e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4636218e-05 5.50e-15 1.57e-04 -6.0 1.23e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0346562e-06 9.44e-16 9.92e-05 -6.0 1.40e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1090137e-03 7.36e-16 3.35e-03 -4.0 1.53e+01 -20.0 1.00e+00 7.84e-02f 4 44 1.5511470e-04 4.95e-14 2.93e-03 -4.0 6.02e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.8625446e-04 2.44e-14 2.87e-03 -4.0 4.31e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9090486e-04 4.44e-15 4.20e-04 -4.0 3.66e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5574427e-05 5.88e-15 1.43e-03 -6.0 5.37e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4775452e-05 4.94e-15 1.68e-04 -6.0 1.31e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9510873e-06 7.77e-16 1.08e-04 -6.0 1.54e-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 8.9438613e-04 5.13e-16 2.34e-03 -4.0 1.65e+01 -20.0 1.00e+00 7.28e-02f 4 51 1.8999292e-04 4.24e-14 2.57e-03 -4.0 5.06e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2438748e-04 1.71e-14 2.42e-03 -4.0 3.69e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8749247e-04 3.11e-15 4.04e-04 -4.0 3.29e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4665701e-05 5.55e-15 1.52e-03 -6.1 5.73e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4495566e-05 4.44e-15 1.74e-04 -6.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8089483e-06 7.22e-16 1.14e-04 -6.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.3591101e-04 4.44e-16 1.42e-03 -4.0 1.79e+01 -20.0 1.00e+00 6.70e-02f 4 58 2.2603369e-04 3.73e-14 2.16e-03 -4.1 4.10e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6380695e-04 1.18e-14 1.92e-03 -4.1 2.99e-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 3.8434685e-04 1.78e-15 3.69e-04 -4.1 2.79e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3650683e-05 5.44e-15 1.59e-03 -6.1 6.07e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4208957e-05 4.11e-15 1.79e-04 -6.1 1.43e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6881795e-06 6.66e-16 1.20e-04 -6.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.2027872e-04 3.43e-16 6.38e-04 -4.0 1.92e+01 -20.0 1.00e+00 6.21e-02f 4 65 2.5883789e-04 3.31e-14 1.74e-03 -4.1 3.22e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1011713e-04 7.77e-15 1.44e-03 -4.1 2.30e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8021327e-04 1.11e-15 3.23e-04 -4.1 2.26e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2557588e-05 5.11e-15 1.66e-03 -6.1 6.38e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3893218e-05 3.77e-15 1.82e-04 -6.1 1.47e-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 3.5777703e-06 6.11e-16 1.24e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.3450505e-04 3.57e-16 7.76e-05 -4.0 2.05e+01 -20.0 1.00e+00 5.81e-02f 4 72 2.8762991e-04 3.00e-14 1.34e-03 -4.1 2.43e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6486101e-04 5.11e-15 1.00e-03 -4.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9994628e-04 3.77e-15 9.62e-04 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.5810308e-04 2.66e-15 8.72e-04 -4.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0687473e-04 3.33e-15 8.69e-04 -4.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5143899e-04 2.66e-15 7.82e-04 -4.1 1.28e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3778967e-05 4.66e-15 1.82e-03 -6.1 7.68e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2326071e-05 3.89e-15 1.22e-04 -6.1 1.08e-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 80 3.0818680e-06 4.44e-16 1.16e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9096852e-04 5.83e-16 5.68e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.16e-02f 4 82 3.1063327e-04 2.91e-14 1.05e-03 -4.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4097442e-04 3.55e-15 7.07e-04 -4.1 1.17e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4435363e-05 4.44e-15 1.89e-03 -6.1 7.89e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2453440e-05 3.77e-15 1.33e-04 -6.1 1.17e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1198254e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9698708e-06 2.22e-16 2.05e-05 -6.1 3.56e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4322970e-06 4.68e-17 5.75e-06 -6.1 1.03e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6014620e-07 5.55e-17 5.29e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4465756e-03 4.16e-16 1.20e-02 -4.0 1.05e+02 -20.0 1.00e+00 2.32e-02f 3 91 8.4539094e-05 4.84e-14 7.10e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7201007e-04 2.89e-14 5.38e-03 -3.9 8.14e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3930189e-04 5.77e-15 7.74e-04 -3.9 5.38e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3424567e-05 4.33e-15 2.14e-03 -5.9 7.16e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7930565e-05 4.00e-15 2.63e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1277607e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8283090e-06 3.33e-16 1.75e-05 -5.9 2.49e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3861557e-06 7.46e-17 2.72e-06 -5.9 3.91e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8731545e-07 6.77e-17 7.97e-05 -8.9 2.87e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5580829e-07 3.21e-17 8.37e-06 -8.9 6.35e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5580829455207818e-07 1.5580829455207818e-07 Dual infeasibility......: 8.3734188254430628e-06 8.3734188254430628e-06 Constraint violation....: 3.2092384305570931e-17 3.2092384305570931e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3662165676014121e-08 5.3662165676014121e-08 Overall NLP error.......: 9.9998668419647337e-05 9.9998668419647337e-05 Number of objective function evaluations = 167 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 167 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 = 3.518 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s 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: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) 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 (1.862s) optimizer initialization complete (total: 1.981s) 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 6.4312267e+00 2.57e+00 3.73e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9611193e+00 1.62e-02 1.16e+00 -1.1 2.81e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3496873e+00 1.12e-02 7.42e-02 -1.7 1.98e-01 -1.6 9.68e-01 1.00e+00h 1 3 2.1640522e+00 4.02e-03 1.96e-01 -3.1 1.94e-01 -1.1 9.40e-01 1.00e+00h 1 4 2.1011963e+00 1.83e-03 1.30e-01 -4.0 1.14e-01 -1.6 1.00e+00 8.15e-01h 1 5 2.0929840e+00 6.67e-04 6.58e-01 -4.0 7.74e-01 -2.1 1.00e+00 4.45e-01h 1 6 2.0910562e+00 6.33e-04 3.05e-01 -4.0 7.24e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910095e+00 3.33e-06 9.74e-03 -4.0 9.88e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909959e+00 2.52e-07 2.06e-05 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909752e+00 1.78e-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 2.0909132e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907305e+00 1.30e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902099e+00 1.10e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888639e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861706e+00 4.40e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830934e+00 9.12e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828569e+00 9.27e-04 2.31e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823462e+00 3.93e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820405e+00 9.33e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.71e-04 8.72e-03 -4.0 9.95e+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 3.71e-05 8.50e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.36e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191031e+00 2.0819382907191031e+00 Dual infeasibility......: 1.2198551061414972e-11 1.2198551061414972e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.2198551061414972e-11 1.2198551061414972e-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 = 25.478 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: 0.046s 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: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) 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 (0.052s) optimizer initialization complete (total: 0.163s) 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 2.8825913e+00 4.12e+00 2.65e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9238030e+00 2.96e-02 4.00e-01 -1.1 2.75e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2473211e+00 3.16e-02 5.96e-02 -1.8 3.91e-01 -1.6 9.41e-01 1.00e+00f 1 3 2.1393230e+00 2.47e-03 1.44e-01 -3.2 1.18e-01 -1.1 9.62e-01 9.99e-01h 1 4 2.1138021e+00 9.45e-04 2.32e+00 -3.4 3.11e-01 -1.6 1.00e+00 5.74e-01h 1 5 2.0965360e+00 7.83e-04 6.33e-01 -4.0 5.82e-01 -2.1 1.00e+00 5.05e-01h 1 6 2.0943671e+00 6.23e-04 1.05e+00 -4.0 6.60e-01 -2.6 1.00e+00 1.54e-01h 1 7 2.0915177e+00 3.35e-04 5.43e-01 -4.0 1.11e+00 -3.1 1.00e+00 5.70e-01h 1 8 2.0910346e+00 1.78e-04 1.61e-01 -4.0 6.45e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0909058e+00 2.56e-05 1.11e-03 -4.0 1.99e-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 2.0908691e+00 8.97e-07 2.29e-04 -4.0 5.13e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907691e+00 5.59e-07 7.44e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904872e+00 5.94e-06 6.40e-04 -4.0 4.21e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903643e+00 7.81e-07 5.64e-04 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902269e+00 1.34e-06 1.86e-02 -4.0 6.34e+00 -5.5 1.00e+00 2.14e-01h 2 15 2.0890896e+00 6.05e-05 2.38e-03 -4.0 1.36e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0875119e+00 1.48e-04 5.76e-02 -4.0 3.76e+01 -6.4 1.00e+00 4.95e-01h 1 17 2.0837417e+00 1.63e-03 5.61e-02 -4.0 6.69e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827657e+00 5.05e-04 1.40e-02 -4.0 1.21e+01 -6.5 1.00e+00 6.55e-01h 1 19 2.0828124e+00 1.42e-04 8.94e-03 -4.0 2.88e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825131e+00 2.92e-04 3.19e-03 -4.0 7.44e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821283e+00 8.31e-04 8.78e-03 -4.0 1.73e+02 -7.9 6.53e-01 1.00e+00h 1 22 2.0821848e+00 8.45e-04 5.55e-01 -4.0 9.95e+01 -6.6 6.64e-01 6.99e-02h 4 23 2.0816657e+00 3.23e-04 6.94e-02 -4.1 2.08e+01 -7.1 8.71e-01 7.76e-01H 1 24 2.0819714e+00 1.86e-04 5.90e-01 -4.0 1.22e+01 -4.8 1.06e-01 2.03e-01f 1 25 2.0821473e+00 8.44e-04 2.42e-01 -4.0 1.11e+01 -5.3 1.94e-01 2.57e-01h 2 26 2.0816481e+00 3.49e-07 2.33e-03 -4.2 4.76e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0817738e+00 2.54e-07 7.01e-04 -4.0 3.79e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0817564e+00 8.66e-09 2.57e-04 -4.0 4.41e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0817561e+00 1.05e-08 1.13e-04 -4.0 5.89e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0817577e+00 2.39e-08 2.04e-05 -4.0 3.21e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0816847e+00 6.61e-07 1.31e-04 -4.1 4.41e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0812753e+00 1.58e-05 1.37e-01 -6.1 2.12e-01 -4.1 6.56e-01 1.00e+00h 1 33 2.0819538e+00 3.45e-05 2.22e-03 -4.0 3.14e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0817238e+00 2.10e-05 2.50e-04 -4.1 6.54e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0811429e+00 1.96e-04 2.71e-03 -6.1 2.39e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0818312e+00 1.81e-05 3.43e-02 -4.0 8.70e-02 -3.3 1.00e+00 9.23e-01h 1 37 2.0814398e+00 1.16e-05 1.85e-03 -4.1 2.27e-01 -3.8 1.00e+00 1.00e+00f 1 38 2.0816532e+00 1.57e-05 5.41e-04 -4.0 5.06e-01 -4.3 1.00e+00 1.00e+00h 1 39 2.0816488e+00 2.86e-06 1.00e-03 -4.1 4.54e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816866e+00 1.91e-06 2.31e-04 -4.1 9.90e-01 -5.3 1.00e+00 1.00e+00h 1 41 2.0810995e+00 2.09e-04 1.58e-02 -6.1 2.68e+00 -5.7 9.71e-01 1.00e+00h 1 42 2.0811100e+00 9.45e-05 1.24e-01 -4.8 4.58e-01 -4.4 1.00e+00 5.46e-01h 1 43 2.0813410e+00 8.45e-05 3.48e-01 -4.0 1.84e+00 -4.9 1.00e+00 2.97e-01f 1 44 2.0815729e+00 5.42e-05 9.20e-04 -4.1 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0816788e+00 1.45e-05 8.23e-04 -4.1 1.88e+00 -5.8 1.00e+00 1.00e+00h 1 46 2.0817311e+00 5.47e-06 4.14e-04 -4.1 2.48e+00 -6.3 1.00e+00 1.00e+00h 1 47 2.0809111e+00 1.07e-03 5.23e-03 -6.2 1.45e+01 -6.8 9.94e-01 1.00e+00h 1 48 2.0809911e+00 1.56e-04 8.62e-03 -4.9 2.93e+00 -6.4 1.00e+00 8.46e-01h 1 49 2.0812605e+00 1.92e-04 6.86e-02 -4.0 1.76e+01 -6.8 7.27e-01 2.83e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830758e+00 4.70e-07 1.62e-02 -4.3 2.73e+01 -7.3 1.00e+00 1.00e+00H 1 51 2.0823453e+00 4.19e-07 2.50e+00 -4.3 2.52e-01 -1.5 1.00e+00 2.60e-01h 1 52 2.0818307e+00 1.55e-05 4.24e-01 -4.3 1.67e-01 -1.9 1.00e+00 7.63e-01f 1 53 2.0815652e+00 1.82e-05 1.18e-01 -4.3 6.68e-02 -2.4 9.57e-01 1.00e+00f 1 54 2.0819049e+00 2.41e-06 1.06e-03 -4.0 2.96e-02 -2.9 1.00e+00 1.00e+00h 1 55 2.0816821e+00 4.63e-07 8.68e-05 -4.1 1.58e-02 -3.4 1.00e+00 1.00e+00h 1 56 2.0811805e+00 9.95e-06 1.14e-01 -6.1 1.14e-01 -3.9 6.70e-01 1.00e+00h 1 57 2.0819494e+00 1.41e-05 2.43e-03 -4.0 1.24e-01 -4.3 1.00e+00 1.00e+00h 1 58 2.0816951e+00 1.41e-05 7.16e-05 -4.1 3.70e-01 -4.8 1.00e+00 1.00e+00h 1 59 2.0810658e+00 1.67e-04 6.76e-03 -6.1 1.94e+00 -5.3 9.54e-01 9.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0808414e+00 7.45e-05 5.50e-03 -6.1 4.81e+00 -5.8 1.00e+00 7.05e-01h 1 61 2.0830407e+00 3.45e-03 7.06e-02 -4.0 2.70e+01 -6.2 1.00e+00 1.00e+00f 1 62 2.0830177e+00 8.10e-06 1.57e-03 -3.9 6.44e-01 -4.9 1.00e+00 1.00e+00h 1 63 2.0829053e+00 3.67e-05 5.92e-04 -3.9 2.42e+00 -5.4 1.00e+00 1.00e+00h 1 64 2.0814364e+00 1.24e-03 3.78e-02 -5.9 8.67e+00 -5.9 5.93e-01 1.00e+00h 1 65 2.0813943e+00 3.21e-04 2.63e-03 -5.9 4.33e-01 -4.5 8.67e-01 7.41e-01h 1 66 2.0813543e+00 2.40e-06 4.09e-04 -5.9 1.10e+00 -5.0 1.00e+00 1.00e+00h 1 67 2.0812752e+00 1.93e-06 2.51e+00 -5.5 2.05e+01 -5.5 1.00e+00 7.49e-02h 1 68 2.0833179e+00 6.90e-03 4.08e-01 -4.0 2.78e+01 -6.0 1.00e+00 8.82e-02f 1 69 2.0818327e+00 1.02e-02 3.35e-02 -4.0 3.87e+00 -6.4 1.00e+00 8.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.5850940e+00 7.47e-05 2.32e+00 -4.0 1.36e+02 -6.9 7.95e-02 1.00e+00H 1 71 2.2683386e+00 3.43e-08 1.41e+00 -4.0 1.68e-01 0.9 1.00e+00 1.00e+00f 1 72 2.1033258e+00 4.12e-08 4.74e-01 -4.0 1.77e-01 0.4 7.72e-01 1.00e+00f 1 73 2.0829276e+00 1.74e-08 6.53e-02 -4.0 7.56e-02 -0.0 1.00e+00 1.00e+00f 1 74 2.0827907e+00 7.21e-09 2.46e-02 -4.0 4.02e-03 -0.5 1.00e+00 5.53e-01h 1 75 2.0828938e+00 1.02e-08 1.22e-03 -4.0 1.18e-02 -1.0 1.00e+00 1.00e+00f 1 76 2.0828096e+00 1.06e-07 1.01e-03 -4.0 2.95e-02 -1.5 1.00e+00 1.00e+00h 1 77 2.0827334e+00 3.94e-07 5.79e-04 -4.0 5.08e-02 -1.9 1.00e+00 1.00e+00h 1 78 2.0821256e+00 2.07e-06 6.90e-03 -6.1 4.09e-02 -2.4 8.55e-01 8.25e-01h 1 79 2.0819185e+00 4.48e-07 7.95e-05 -6.1 1.39e-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 80 2.0819175e+00 1.43e-08 1.25e-05 -6.1 2.96e-02 -3.4 1.00e+00 1.00e+00h 1 81 2.0819121e+00 3.21e-10 1.25e-05 -6.1 8.88e-02 -3.9 1.00e+00 1.00e+00h 1 82 2.0829053e+00 2.46e-05 1.20e-03 -4.0 1.71e-01 -4.3 1.00e+00 1.00e+00f 1 83 2.0826070e+00 1.82e-05 6.00e-05 -4.1 5.03e-01 -4.8 1.00e+00 1.00e+00h 1 84 2.0817885e+00 2.31e-04 1.19e-03 -6.1 2.34e+00 -5.3 1.00e+00 1.00e+00h 1 85 2.0813591e+00 4.72e-05 6.68e-04 -6.1 6.57e+00 -5.8 1.00e+00 1.00e+00h 1 86 2.0811531e+00 3.61e-05 3.36e-02 -6.1 1.61e+01 -6.2 1.00e+00 2.35e-01h 1 87 2.0869247e+00 1.31e-02 3.18e-01 -4.0 9.65e+01 -6.7 1.00e+00 1.00e+00f 1 88 2.0846200e+00 1.17e-02 2.19e-01 -3.6 1.13e+02 -7.2 5.47e-01 1.00e+00h 1 89 2.1211350e+00 1.12e-02 9.99e-01 -3.6 5.70e+02 -6.8 2.94e-01 4.65e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.1185066e+00 1.07e-02 2.04e-01 -3.6 1.23e+02 -7.2 1.00e+00 4.73e-02h 5 91 2.0845943e+00 2.13e-03 1.41e-01 -3.6 2.93e+01 -7.7 1.00e+00 8.60e-01h 1 92 2.0837559e+00 6.02e-04 2.05e-03 -3.6 3.56e+01 -8.2 1.00e+00 1.00e+00f 1 93 2.0807251e+00 2.16e-02 3.26e-03 -5.4 8.19e+01 -8.7 9.44e-01 1.00e+00h 1 94 2.0815657e+00 5.89e-03 5.60e-03 -4.0 2.09e+01 -9.2 1.00e+00 7.43e-01h 1 95 2.0815154e+00 4.21e-05 3.81e-04 -4.1 1.28e+01 -9.6 1.00e+00 1.00e+00h 1 96 2.0805896e+00 2.90e-03 1.36e-04 -6.2 3.79e+01 -10.1 9.79e-01 9.67e-01h 1 97 2.0807774e+00 2.62e-03 1.60e-02 -4.0 6.19e+01 -10.6 1.00e+00 1.49e-01f 1 98 2.0818375e+00 3.46e-03 8.40e-04 -4.0 3.83e+01 -11.1 1.00e+00 1.00e+00h 1 99 2.0815787e+00 2.28e-04 3.67e-05 -4.1 9.28e+00 -11.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805860e+00 3.29e-03 1.39e-04 -6.1 3.98e+01 -12.0 9.78e-01 9.75e-01h 1 101 2.0811879e+00 3.22e-03 9.81e-03 -4.0 6.17e+01 -12.5 1.00e+00 4.71e-01f 1 102 2.0814635e+00 2.50e-04 5.76e-06 -4.1 9.50e+00 -13.0 1.00e+00 1.00e+00h 1 103 2.0805791e+00 2.68e-03 1.14e-04 -6.2 3.64e+01 -13.4 9.80e-01 9.75e-01h 1 104 2.0806932e+00 2.49e-03 1.79e-02 -4.0 6.51e+01 -13.9 1.00e+00 9.01e-02f 1 105 2.0818313e+00 4.02e-03 1.80e-04 -4.0 4.13e+01 -14.4 1.00e+00 1.00e+00h 1 106 2.0815797e+00 3.22e-04 3.86e-06 -4.1 1.30e+01 -14.9 1.00e+00 1.00e+00h 1 107 2.0805847e+00 3.30e-03 1.43e-04 -6.1 3.98e+01 -15.4 9.78e-01 9.76e-01h 1 108 2.0805494e+00 5.53e-05 1.57e-06 -6.1 1.49e+01 -15.8 1.00e+00 1.00e+00h 1 109 2.0819888e+00 1.08e-02 4.00e-04 -4.0 8.70e+01 -16.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0816922e+00 9.57e-04 5.35e-05 -4.1 4.78e+01 -16.8 1.00e+00 1.00e+00h 1 111 2.0816529e+00 6.07e-07 8.05e-07 -4.1 9.09e+00 -17.3 1.00e+00 1.00e+00h 1 112 2.0805907e+00 3.70e-03 1.62e-04 -6.1 4.17e+01 -17.7 9.77e-01 9.75e-01h 1 113 2.0805511e+00 6.78e-05 1.96e-06 -6.1 1.62e+01 -18.2 1.00e+00 1.00e+00h 1 114 2.0805469e+00 4.74e-08 2.04e-08 -6.1 2.96e+00 -18.7 1.00e+00 1.00e+00h 1 115 2.0820214e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.2 1.00e+00 1.00e+00f 1 116 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.6 1.00e+00 1.00e+00h 1 117 2.0816664e+00 1.22e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 118 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 119 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+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 120 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 121 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 122 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 123 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 124 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 125 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 126 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 127 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 128 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 129 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-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 130 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 131 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 132 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 133 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 134 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 135 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 136 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 137 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 138 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 139 2.0805365e+00 4.44e-16 2.40e-16 -9.0 2.00e-12 -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 140 2.0805365e+00 4.44e-16 2.41e-16 -9.0 8.37e-14 -20.0 1.00e+00 1.00e+00 0 141 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 141 (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 = 164 Number of objective gradient evaluations = 142 Number of equality constraint evaluations = 164 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 142 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 142 Total seconds in IPOPT = 28.196 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: 0.049s jacobian structure: 180 nonzeros (0.086s) integrator 1 hessian structure: 0.045s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.31s sub-objective 2 (QuadraticRegularizer): 0.081s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 0.493s hessian structure: 375 nonzeros (0.538s) linear index maps built (0.0s) evaluator ready (total: 0.745s) evaluator created (0.745s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.108s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.484s) optimizer initialization complete (total: 4.347s) 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 1.3850378e+00 8.64e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8630502e+00 3.17e-01 2.80e+00 -0.9 2.29e+00 -2.0 9.84e-01 8.70e-01h 1 2 1.9182541e+00 2.77e-01 3.47e+00 -0.9 4.50e-01 -0.7 9.67e-01 1.00e+00f 1 3 1.6235351e+00 1.15e-01 1.40e+00 -0.7 2.56e-01 -0.2 1.00e+00 1.00e+00h 1 4 1.5015544e+00 5.07e-02 1.52e+00 -1.5 1.90e+00 - 9.75e-01 1.00e+00h 1 5 1.4179435e+00 2.57e-02 1.09e+00 -1.5 3.14e-01 -0.7 9.85e-01 4.94e-01h 1 6 1.3693498e+00 3.38e-02 9.85e-01 -1.3 8.45e-01 -1.2 1.00e+00 2.86e-01H 1 7 1.2033160e+00 3.71e-03 6.60e-01 -2.2 1.89e+00 - 1.00e+00 9.82e-01h 1 8 1.1197443e+00 1.24e-03 1.95e-01 -3.4 5.83e-01 - 1.00e+00 6.69e-01h 1 9 1.0914756e+00 6.27e-05 2.78e-02 -4.0 1.08e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908967e+00 4.48e-07 1.02e-02 -4.0 7.32e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.84e-11 1.16e-05 -4.0 2.51e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.53e-20 4.46e-13 -4.0 4.93e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263267513e+00 1.0908997263267513e+00 Dual infeasibility......: 4.4649017556103177e-13 4.4649017556103177e-13 Constraint violation....: 1.5325061069855897e-20 1.5325061069855897e-20 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000014307417e-04 1.0000000014307417e-04 Overall NLP error.......: 4.4649017556103177e-13 4.4649017556103177e-13 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 23.009 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.425s jacobian structure: 1600 nonzeros (2.484s) integrator 1 hessian structure: 0.229s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.794s 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: 0.001s hessian structure: 1749 nonzeros (4.026s) linear index maps built (0.0s) evaluator ready (total: 6.511s) evaluator created (6.536s) NL constraint bounds extracted (0.115s) NLP block data built (0.0s) MadNLP optimizer configured (0.184s) variables set (0.66s) 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 (3.171s) optimizer initialization complete (total: 10.774s) This is MadNLP version v0.9.1, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.5172951e+00 5.03e+00 7.61e-01 9.66e-01 -1.0 - 0.00e+00 1 0 1 2.6245795e+00 6.27e-02 2.95e+00 1.72e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5664817e+00 2.84e-02 7.78e-01 1.32e-01 -1.0 0.4 1.00e+00 1 1h 3 2.3993598e+00 1.10e-03 2.80e-01 3.68e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.2312347e+00 9.59e-04 8.18e-02 2.17e-02 -1.7 -0.5 1.00e+00 1 1h 5 2.1216336e+00 5.47e-04 2.72e-02 4.48e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0911081e+00 1.53e-04 5.64e-03 1.76e-04 -3.8 -1.5 1.00e+00 1 1h 7 2.0913964e+00 1.96e-07 1.21e-04 1.51e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0900577e+00 1.02e-06 2.87e-05 9.15e-06 -5.7 -2.4 1.00e+00 1 1h 9 2.0900526e+00 1.45e-07 4.61e-05 2.79e-06 -5.7 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900444e+00 1.15e-06 7.17e-05 1.90e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900277e+00 1.05e-05 2.10e-05 1.85e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899816e+00 1.10e-04 6.91e-04 1.85e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0899665e+00 9.31e-06 1.22e-04 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0899392e+00 2.57e-05 1.26e-03 1.85e-06 -5.7 -4.4 5.06e-01 1 1h 15 2.0898075e+00 2.44e-04 3.41e-04 3.22e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0897561e+00 9.02e-05 1.19e-03 1.85e-06 -5.7 -4.4 6.43e-01 1 1h 17 2.0896039e+00 2.58e-05 3.47e-04 4.35e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0894233e+00 2.58e-05 1.18e-02 1.90e-06 -5.7 -5.4 3.63e-01 1 1h 19 2.0881834e+00 8.46e-05 2.54e-03 4.49e-06 -5.7 -5.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0877341e+00 7.33e-05 9.94e-02 2.37e-06 -5.7 -6.4 1.44e-01 1 1h 21 2.0828220e+00 4.05e-05 6.41e-02 4.39e-06 -5.7 -6.8 1.00e+00 1 1h 22 2.0817473e+00 3.12e-05 1.00e-01 2.39e-06 -5.7 -7.3 2.87e-01 1 1h 23 2.0813807e+00 1.14e-04 1.15e-01 3.23e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0811377e+00 8.06e-05 3.98e-02 2.05e-04 -5.7 -8.3 2.57e-01 1 1h 25 2.0806698e+00 1.11e-05 3.90e-02 9.17e-05 -5.7 -8.7 8.63e-01 1 1h 26 2.0806999e+00 8.87e-06 3.04e-02 7.17e-05 -5.7 -6.5 3.47e-01 1 1h 27 2.0806893e+00 7.57e-06 1.71e-01 3.64e-05 -5.7 -7.0 1.45e-01 1 1h 28 2.0806595e+00 5.38e-06 5.32e-02 2.30e-05 -5.7 -7.5 2.80e-01 1 1h 29 2.0806275e+00 5.17e-07 2.91e-03 6.31e-06 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805849e+00 2.53e-07 1.12e-03 2.38e-06 -5.7 -7.5 9.00e-01 1 1h 31 2.0805801e+00 1.81e-06 4.40e-01 2.75e-05 -5.7 -7.1 1.30e-01 1 2h 32 2.0805666e+00 1.03e-06 1.74e-02 1.90e-06 -5.7 -7.6 8.45e-01 1 1h 33 2.0805783e+00 7.88e-07 8.20e-02 7.90e-06 -5.7 -5.3 5.64e-01 1 1h 34 2.0805716e+00 1.13e-07 4.07e-04 2.81e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0805701e+00 1.88e-08 2.37e-05 1.96e-06 -5.7 -4.5 1.00e+00 1 1h 36 2.0805695e+00 1.01e-08 3.92e-05 1.84e-06 -5.7 -5.0 1.00e+00 1 1h 37 2.0805698e+00 1.37e-08 1.65e-05 1.84e-06 -5.7 -5.4 1.00e+00 1 1h 38 2.0805512e+00 5.32e-07 8.91e-03 5.25e-07 -8.6 -5.9 8.48e-01 1 1h 39 2.0805508e+00 4.88e-07 8.60e-03 4.84e-07 -8.6 -6.4 8.26e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805643e+00 4.73e-07 3.98e-02 3.03e-06 -8.6 -6.9 1.40e-01 1 1h 41 2.0805585e+00 5.28e-07 4.45e-02 1.95e-06 -8.6 -7.3 3.44e-01 1 1h 42 2.0805466e+00 2.16e-08 7.40e-01 1.87e-07 -8.6 -4.2 9.60e-01 1 1h 43 2.0805465e+00 1.52e-08 5.81e-01 1.26e-07 -8.6 -4.7 2.94e-01 1 1h 44 2.0805462e+00 5.11e-10 2.21e-05 2.74e-08 -8.6 -5.2 1.00e+00 1 1h 45 2.0805461e+00 2.01e-10 1.91e-03 1.25e-08 -8.6 -5.6 5.97e-01 1 1h 46 2.0805456e+00 1.30e-11 7.10e-04 4.73e-09 -8.6 -6.1 8.96e-01 1 1h 47 2.0805453e+00 1.69e-11 1.41e-03 1.44e-07 -8.6 -6.6 1.00e+00 1 1h 48 2.0805452e+00 7.91e-11 4.75e-02 1.27e-07 -8.6 -7.1 8.07e-02 1 4h 49 2.0805450e+00 8.42e-11 6.06e-02 6.52e-08 -8.6 -5.7 2.67e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805447e+00 2.35e-11 4.56e-03 2.52e-09 -8.6 -6.2 8.44e-01 1 1h 51 2.0805443e+00 5.74e-11 6.86e-06 3.58e-09 -8.6 -6.7 1.00e+00 1 1h 52 2.0805437e+00 4.53e-11 3.48e-04 3.09e-09 -8.6 -7.2 4.37e-01 1 1h 53 2.0805413e+00 8.87e-11 5.34e-05 5.28e-09 -8.6 -7.7 1.00e+00 1 1h 54 2.0805386e+00 1.32e-10 2.15e-04 2.51e-09 -8.6 -8.1 9.31e-01 1 1h 55 2.0805368e+00 1.66e-10 1.94e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 56 2.0816329e+00 8.88e-16 1.02e-02 7.36e-06 -8.6 -7.3 1.00e+00 1 1H 57 2.0815615e+00 6.32e-11 1.80e-01 7.10e-06 -8.6 -4.1 2.88e-02 1 2h 58 2.0815510e+00 8.63e-11 1.13e-01 7.13e-06 -8.6 -4.6 1.52e-03 1 4h 59 2.0815379e+00 9.10e-11 2.02e-01 7.20e-06 -8.6 -4.2 5.42e-03 1 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0815309e+00 9.20e-11 2.73e-01 7.19e-06 -8.6 -3.8 3.33e-03 1 9h 61 2.0805471e+00 6.73e-07 6.06e+00 2.91e-08 -8.6 -4.2 6.21e-01 1 1h 62 2.0805466e+00 6.15e-07 6.24e+00 5.85e-08 -8.6 -4.7 8.75e-02 1 1h 63 2.0805426e+00 1.68e-07 1.71e+00 1.70e-08 -8.6 -5.2 7.26e-01 1 1h 64 2.0805414e+00 1.12e-08 1.09e-01 1.11e-06 -8.6 -5.7 9.33e-01 1 1h 65 2.0805414e+00 1.10e-08 1.28e-01 2.96e-07 -8.6 -6.2 1.57e-02 1 1h 66 2.0805410e+00 8.98e-09 1.02e-01 2.41e-07 -8.6 -6.6 1.87e-01 1 1h 67 2.0805397e+00 2.50e-09 2.93e-02 2.30e-08 -8.6 -7.1 7.25e-01 1 1h 68 2.0805377e+00 1.27e-09 7.91e-05 3.89e-09 -8.6 -7.6 1.00e+00 1 1h 69 2.0805366e+00 7.58e-11 2.38e-03 2.75e-09 -8.6 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805368e+00 8.88e-16 3.87e-05 1.78e-06 -8.6 -6.7 1.00e+00 1 1H 71 2.0805365e+00 5.20e-11 3.00e-03 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 72 2.0805365e+00 7.27e-13 2.70e-05 2.51e-09 -8.6 -5.9 9.89e-01 1 1h 73 2.0805365e+00 5.89e-13 3.20e-06 1.28e-08 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 8.99e-13 5.61e-04 2.55e-09 -8.6 -6.8 4.53e-02 1 5h 75 2.0805365e+00 6.31e-13 7.84e-04 6.52e-09 -8.6 -6.4 5.00e-01 1 2h 76 2.0805365e+00 8.84e-13 1.83e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 77 2.0805365e+00 5.16e-13 3.66e-06 2.74e-09 -8.6 -6.5 1.00e+00 1 1h 78 2.0805365e+00 7.74e-13 2.69e-07 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 79 2.0805365e+00 1.93e-12 6.81e-08 2.51e-09 -8.6 -7.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 2.28e-12 3.46e-07 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 81 2.0805365e+00 1.29e-12 9.87e-07 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 82 2.0805365e+00 7.54e-13 8.36e-07 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 83 2.0805365e+00 1.69e-13 1.30e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 84 2.0805365e+00 4.11e-15 2.80e-09 2.51e-09 -8.6 -9.8 1.00e+00 1 1h Number of Iterations....: 84 (scaled) (unscaled) Objective...............: 2.0805364803022433e+00 2.0805364803022433e+00 Dual infeasibility......: 2.8008955710312478e-09 2.8008955710312478e-09 Constraint violation....: 4.1078251911130792e-15 4.1078251911130792e-15 Complementarity.........: 2.5059035603805415e-09 2.5059035603805415e-09 Overall NLP error.......: 2.8008955710312478e-09 2.8008955710312478e-09 Number of objective function evaluations = 117 Number of objective gradient evaluations = 85 Number of constraint evaluations = 117 Number of constraint Jacobian evaluations = 85 Number of Lagrangian Hessian evaluations = 84 Number of KKT factorizations = 204 Number of KKT backsolves = 94 Total wall secs in initialization = 23.953 s Total wall secs in linear solver = 0.195 s Total wall secs in NLP function evaluations = 21.313 s Total wall secs in solver (w/o init./fun./lin. alg.) = 56.211 s Total wall secs = 101.672 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.553s jacobian structure: 1600 nonzeros (2.619s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.181s 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 (4.237s) linear index maps built (0.0s) evaluator ready (total: 6.856s) evaluator created (6.882s) 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 (0.001s) optimizer initialization complete (total: 6.901s) 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 5.2014556e+00 4.51e+00 6.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 5.1591292e+00 4.51e+00 1.91e+01 1.4 2.13e+03 -2.0 2.64e-02 1.10e-03f 2 Hello, world! 2 2.9543068e+00 9.19e-02 2.61e+00 -0.4 4.51e+00 -2.5 9.92e-01 1.00e+00f 1 Hello, world! 3 2.7140702e+00 1.79e-01 1.12e+00 -0.9 2.03e+00 -2.1 9.98e-01 8.66e-01h 1 Hello, world! 4 2.3623952e+00 1.28e-01 7.13e-01 -1.9 2.78e+00 -2.5 9.10e-01 1.00e+00h 1 Hello, world! 5 2.1536344e+00 5.70e-02 9.53e-02 -2.3 1.60e+00 -3.0 9.96e-01 9.15e-01h 1 Hello, world! 6 2.0968123e+00 4.05e-03 1.39e-02 -3.2 4.12e-01 -3.5 9.84e-01 1.00e+00h 1 Hello, world! 7 2.0908124e+00 8.48e-05 2.59e-04 -4.0 1.44e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0907627e+00 2.63e-06 6.68e-05 -4.0 4.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0906749e+00 4.31e-07 2.65e-04 -4.0 1.16e+00 -4.9 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 2.0904059e+00 4.11e-06 4.71e-04 -4.0 3.40e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0902985e+00 7.13e-07 4.60e-04 -4.0 1.40e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0901443e+00 1.42e-06 1.68e-02 -4.0 5.70e+00 -5.4 1.00e+00 2.62e-01h 2 Hello, world! 13 2.0890464e+00 5.46e-05 2.06e-03 -4.0 1.27e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0865135e+00 3.83e-04 1.70e-02 -4.0 3.35e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0852836e+00 3.76e-04 1.30e-01 -4.0 6.26e+01 -6.9 1.00e+00 2.45e-01h 1 Hello, world! 16 2.0827366e+00 7.55e-04 6.51e-02 -4.0 7.28e+01 -7.4 1.00e+00 7.20e-01h 1 Hello, world! 17 2.0826224e+00 2.35e-03 4.70e-02 -4.0 1.39e+02 -7.8 9.83e-01 1.00e+00h 1 Hello, world! 18 2.0829035e+00 6.74e-04 1.51e-02 -4.0 2.54e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829475e+00 4.94e-06 2.69e-02 -4.0 7.58e+01 -7.0 5.44e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827562e+00 2.40e-05 3.31e-01 -4.0 1.27e+00 -4.7 1.00e+00 3.39e-01h 2 Hello, world! 21 2.0845620e+00 6.54e-05 2.98e-03 -3.5 2.07e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0836343e+00 2.73e-04 7.55e-04 -3.6 4.30e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821074e+00 6.92e-04 4.63e-02 -5.4 2.83e+00 -5.3 8.82e-01 1.00e+00h 1 Hello, world! 24 2.0822795e+00 3.14e-04 4.15e-03 -4.0 4.58e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0836694e+00 2.01e-03 1.58e-02 -3.6 2.20e+01 -6.2 9.24e-01 1.00e+00h 1 Hello, world! 26 2.0832067e+00 2.14e-07 2.04e-03 -3.8 1.38e-01 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0825881e+00 3.86e-06 1.76e-03 -4.0 4.70e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0826082e+00 4.17e-07 1.71e-05 -4.0 1.20e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0826163e+00 4.53e-07 9.52e-06 -4.0 3.96e-02 -3.6 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 30 2.0826180e+00 4.04e-07 9.78e-06 -4.0 1.22e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0826206e+00 2.62e-06 2.07e-05 -4.0 3.89e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824416e+00 5.17e-05 1.62e-04 -4.1 9.87e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825156e+00 8.10e-05 2.41e-03 -4.0 2.50e+01 -5.5 9.40e-02 9.47e-02h 3 Hello, world! 34 2.0824646e+00 5.59e-05 1.64e-01 -4.2 4.54e+00 -6.0 1.00e+00 4.70e-01H 1 Hello, world! 35 2.0819133e+00 1.62e-04 8.97e-03 -4.2 1.51e+01 -6.5 1.00e+00 1.00e+00f 1 Hello, world! 36 2.0821812e+00 3.56e-04 5.62e-03 -4.0 9.46e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818243e+00 8.88e-04 6.39e-04 -4.1 3.03e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819415e+00 1.05e-03 5.61e-03 -4.0 4.46e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816075e+00 1.46e-03 4.50e-03 -4.1 6.02e+01 -8.4 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 40 2.0818470e+00 1.04e-03 1.27e-03 -4.0 4.41e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818436e+00 7.70e-06 1.04e-04 -4.0 1.27e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 3.68e-08 1.42e-06 -4.0 1.51e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 5.40e-11 2.67e-09 -4.0 6.42e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 2.0818434105900572e+00 2.0818434105900572e+00 Dual infeasibility......: 2.6675078842845756e-09 2.6675078842845756e-09 Constraint violation....: 5.3974602565176610e-11 5.3974602565176610e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 2.6675078842845756e-09 2.6675078842845756e-09 Number of objective function evaluations = 58 Number of objective gradient evaluations = 44 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 44 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 27.182 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 (0.001s) 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: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) 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: 0.005s) 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 5.2014556e+00 4.51e+00 6.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 5.1591292e+00 4.51e+00 1.91e+01 1.4 2.13e+03 -2.0 2.64e-02 1.10e-03f 2 Hello, world! 2 2.9543068e+00 9.19e-02 2.61e+00 -0.4 4.51e+00 -2.5 9.92e-01 1.00e+00f 1 Hello, world! 3 2.7140702e+00 1.79e-01 1.12e+00 -0.9 2.03e+00 -2.1 9.98e-01 8.66e-01h 1 Hello, world! 4 2.3623952e+00 1.28e-01 7.13e-01 -1.9 2.78e+00 -2.5 9.10e-01 1.00e+00h 1 Hello, world! 5 2.1536344e+00 5.70e-02 9.53e-02 -2.3 1.60e+00 -3.0 9.96e-01 9.15e-01h 1 Hello, world! 6 2.0968123e+00 4.05e-03 1.39e-02 -3.2 4.12e-01 -3.5 9.84e-01 1.00e+00h 1 Hello, world! 7 2.0908124e+00 8.48e-05 2.59e-04 -4.0 1.44e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0907627e+00 2.63e-06 6.68e-05 -4.0 4.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0906749e+00 4.31e-07 2.65e-04 -4.0 1.16e+00 -4.9 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 2.0904059e+00 4.11e-06 4.71e-04 -4.0 3.40e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0902985e+00 7.13e-07 4.60e-04 -4.0 1.40e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0901443e+00 1.42e-06 1.68e-02 -4.0 5.70e+00 -5.4 1.00e+00 2.62e-01h 2 Hello, world! 13 2.0890464e+00 5.46e-05 2.06e-03 -4.0 1.27e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0865135e+00 3.83e-04 1.70e-02 -4.0 3.35e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0852836e+00 3.76e-04 1.30e-01 -4.0 6.26e+01 -6.9 1.00e+00 2.45e-01h 1 Hello, world! 16 2.0827366e+00 7.55e-04 6.51e-02 -4.0 7.28e+01 -7.4 1.00e+00 7.20e-01h 1 Hello, world! 17 2.0826224e+00 2.35e-03 4.70e-02 -4.0 1.39e+02 -7.8 9.83e-01 1.00e+00h 1 Hello, world! 18 2.0829035e+00 6.74e-04 1.51e-02 -4.0 2.54e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829475e+00 4.94e-06 2.69e-02 -4.0 7.58e+01 -7.0 5.44e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827562e+00 2.40e-05 3.31e-01 -4.0 1.27e+00 -4.7 1.00e+00 3.39e-01h 2 Hello, world! 21 2.0845620e+00 6.54e-05 2.98e-03 -3.5 2.07e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0836343e+00 2.73e-04 7.55e-04 -3.6 4.30e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821074e+00 6.92e-04 4.63e-02 -5.4 2.83e+00 -5.3 8.82e-01 1.00e+00h 1 Hello, world! 24 2.0822795e+00 3.14e-04 4.15e-03 -4.0 4.58e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0836694e+00 2.01e-03 1.58e-02 -3.6 2.20e+01 -6.2 9.24e-01 1.00e+00h 1 Hello, world! 26 2.0832067e+00 2.14e-07 2.04e-03 -3.8 1.38e-01 -2.2 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0825881e+00 3.86e-06 1.76e-03 -4.0 4.70e-02 -2.7 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0826082e+00 4.17e-07 1.71e-05 -4.0 1.20e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0826163e+00 4.53e-07 9.52e-06 -4.0 3.96e-02 -3.6 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 30 2.0826180e+00 4.04e-07 9.78e-06 -4.0 1.22e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0826206e+00 2.62e-06 2.07e-05 -4.0 3.89e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824416e+00 5.17e-05 1.62e-04 -4.1 9.87e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825156e+00 8.10e-05 2.41e-03 -4.0 2.50e+01 -5.5 9.40e-02 9.47e-02h 3 Hello, world! 34 2.0824646e+00 5.59e-05 1.64e-01 -4.2 4.54e+00 -6.0 1.00e+00 4.70e-01H 1 Hello, world! 35 2.0819133e+00 1.62e-04 8.97e-03 -4.2 1.51e+01 -6.5 1.00e+00 1.00e+00f 1 Hello, world! 36 2.0821812e+00 3.56e-04 5.62e-03 -4.0 9.46e+00 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818243e+00 8.88e-04 6.39e-04 -4.1 3.03e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0819415e+00 1.05e-03 5.61e-03 -4.0 4.46e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816075e+00 1.46e-03 4.50e-03 -4.1 6.02e+01 -8.4 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 40 2.0818470e+00 1.04e-03 1.27e-03 -4.0 4.41e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818436e+00 7.70e-06 1.04e-04 -4.0 1.27e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 3.68e-08 1.42e-06 -4.0 1.51e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0818434e+00 5.40e-11 2.67e-09 -4.0 6.42e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 2.0818434105900572e+00 2.0818434105900572e+00 Dual infeasibility......: 2.6675078842845756e-09 2.6675078842845756e-09 Constraint violation....: 5.3974602565176610e-11 5.3974602565176610e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 2.6675078842845756e-09 2.6675078842845756e-09 Number of objective function evaluations = 58 Number of objective gradient evaluations = 44 Number of equality constraint evaluations = 58 Number of inequality constraint evaluations = 58 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 44 Number of Lagrangian Hessian evaluations = 43 Total seconds in IPOPT = 0.943 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.671s jacobian structure: 1600 nonzeros (2.741s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.113s 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: 0.001s hessian structure: 1749 nonzeros (4.171s) linear index maps built (0.0s) evaluator ready (total: 6.912s) evaluator created (6.939s) 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: 6.94s) 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 3.1219070e+00 2.71e+00 4.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7418994e+00 1.40e-01 5.96e+00 -0.9 3.06e+00 0.0 9.60e-01 9.49e-01f 1 2 2.5542064e+00 2.45e-02 1.71e+00 -0.9 2.78e-01 0.4 8.37e-01 8.30e-01f 1 3 2.4645856e+00 1.45e-03 1.57e-01 -1.4 8.14e-02 -0.1 9.91e-01 1.00e+00h 1 4 2.2170166e+00 6.35e-03 6.83e-02 -2.0 1.21e-01 -0.5 9.29e-01 1.00e+00f 1 5 2.1219851e+00 2.92e-03 1.29e-01 -3.2 7.58e-02 -1.0 1.00e+00 6.73e-01h 1 6 2.0912319e+00 2.40e-05 5.02e-03 -4.0 5.76e-03 -1.5 1.00e+00 9.92e-01h 1 7 2.0909282e+00 9.38e-08 4.81e-05 -4.0 4.39e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909281e+00 1.95e-09 2.46e-05 -4.0 6.73e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909269e+00 9.81e-11 1.89e-05 -4.0 1.55e-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 2.0909230e+00 8.13e-10 1.86e-05 -4.0 4.57e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909122e+00 6.42e-09 1.78e-05 -4.0 1.31e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908845e+00 4.41e-08 9.49e-05 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908123e+00 2.77e-07 3.64e-04 -4.0 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906062e+00 2.84e-06 5.13e-04 -4.0 2.94e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903838e+00 2.89e-06 6.95e-03 -4.0 1.34e+01 -5.8 3.16e-01 1.48e-01h 1 16 2.0894560e+00 2.68e-04 4.95e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876933e+00 1.20e-04 3.64e-02 -4.0 4.42e+00 -4.9 1.00e+00 6.32e-01h 1 18 2.0876660e+00 2.29e-05 7.49e-03 -4.0 3.65e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865796e+00 4.66e-05 7.38e-03 -4.0 1.09e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849823e+00 2.11e-04 1.06e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828049e+00 3.63e-04 2.81e-02 -4.0 3.81e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831187e+00 1.14e-03 3.46e-02 -4.0 5.56e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821868e+00 1.12e-03 7.79e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0984200e+00 7.92e-06 7.09e-01 -4.0 4.81e+02 -8.3 1.12e-01 1.00e+00H 1 25 2.0845968e+00 1.56e-02 6.37e+00 -4.2 1.45e+02 -5.1 1.00e-02 8.82e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0845967706496520e+00 2.0845967706496520e+00 Dual infeasibility......: 6.3652563596852021e+00 6.3652563596852021e+00 Constraint violation....: 1.5615767574878703e-02 1.5615767574878703e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2602177329216977e-04 2.2602177329216977e-04 Overall NLP error.......: 6.3652563596852021e+00 6.3652563596852021e+00 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.414 EXIT: Stopping optimization at current point as requested by user. 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 (0.001s) 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: 0.002s) evaluator created (0.002s) 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) 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 3.1219070e+00 2.71e+00 4.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7418994e+00 1.40e-01 5.96e+00 -0.9 3.06e+00 0.0 9.60e-01 9.49e-01f 1 2 2.5542064e+00 2.45e-02 1.71e+00 -0.9 2.78e-01 0.4 8.37e-01 8.30e-01f 1 3 2.4645856e+00 1.45e-03 1.57e-01 -1.4 8.14e-02 -0.1 9.91e-01 1.00e+00h 1 4 2.2170166e+00 6.35e-03 6.83e-02 -2.0 1.21e-01 -0.5 9.29e-01 1.00e+00f 1 5 2.1219851e+00 2.92e-03 1.29e-01 -3.2 7.58e-02 -1.0 1.00e+00 6.73e-01h 1 6 2.0912319e+00 2.40e-05 5.02e-03 -4.0 5.76e-03 -1.5 1.00e+00 9.92e-01h 1 7 2.0909282e+00 9.38e-08 4.81e-05 -4.0 4.39e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909281e+00 1.95e-09 2.46e-05 -4.0 6.73e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909269e+00 9.81e-11 1.89e-05 -4.0 1.55e-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 2.0909230e+00 8.13e-10 1.86e-05 -4.0 4.57e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909122e+00 6.42e-09 1.78e-05 -4.0 1.31e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908845e+00 4.41e-08 9.49e-05 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908123e+00 2.77e-07 3.64e-04 -4.0 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906062e+00 2.84e-06 5.13e-04 -4.0 2.94e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903838e+00 2.89e-06 6.95e-03 -4.0 1.34e+01 -5.8 3.16e-01 1.48e-01h 1 16 2.0894560e+00 2.68e-04 4.95e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876933e+00 1.20e-04 3.64e-02 -4.0 4.42e+00 -4.9 1.00e+00 6.32e-01h 1 18 2.0876660e+00 2.29e-05 7.49e-03 -4.0 3.65e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865796e+00 4.66e-05 7.38e-03 -4.0 1.09e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849823e+00 2.11e-04 1.06e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828049e+00 3.63e-04 2.81e-02 -4.0 3.81e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831187e+00 1.14e-03 3.46e-02 -4.0 5.56e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821868e+00 1.12e-03 7.79e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0984200e+00 7.92e-06 7.09e-01 -4.0 4.81e+02 -8.3 1.12e-01 1.00e+00H 1 25 2.0845968e+00 1.56e-02 6.37e+00 -4.2 1.45e+02 -5.1 1.00e-02 8.82e-02f 1 26 2.0836025e+00 1.57e-02 6.34e+00 -4.2 3.11e+02 -3.8 1.20e-05 3.28e-03f 1 27 2.0836714e+00 1.57e-02 6.41e+00 -4.2 1.55e+03 -4.3 1.19e-07 1.47e-04f 2 28 2.0831986e+00 1.20e-02 5.10e+00 -4.2 5.90e-01 -2.9 1.00e+00 2.33e-01h 1 29 2.0832069e+00 7.05e-03 3.52e+00 -4.2 2.32e-01 -3.4 1.00e+00 4.14e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833135e+00 3.21e-06 7.72e-04 -4.2 8.28e-02 -3.9 1.00e+00 1.00e+00f 1 31 2.0835608e+00 8.29e-06 1.32e-04 -4.0 2.10e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0833311e+00 1.81e-05 6.23e-05 -4.1 6.81e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0824347e+00 2.84e-04 1.21e-03 -6.1 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0830471e+00 6.83e-04 4.16e-03 -4.0 4.85e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0824350e+00 4.16e-04 2.96e-03 -4.1 9.74e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0825158e+00 5.81e-04 2.44e-03 -4.0 2.29e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819207e+00 8.69e-04 9.29e-03 -4.1 5.06e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818241e+00 2.35e-03 5.18e-03 -4.0 1.06e+02 -7.7 7.89e-01 1.00e+00h 1 39 2.0816647e+00 1.34e-03 1.96e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817475e+00 4.10e-04 5.86e-03 -4.0 1.19e+01 -6.9 9.87e-01 1.00e+00h 1 41 2.0850335e+00 4.49e-04 4.01e-02 -4.0 2.08e+01 -7.3 1.00e+00 9.40e-01h 1 42 2.0821462e+00 2.75e-04 1.18e-02 -4.1 1.05e+01 -7.8 1.00e+00 1.00e+00h 1 43 2.0820478e+00 2.14e-08 9.80e-03 -4.1 9.28e-03 0.0 1.00e+00 1.00e+00h 1 44 2.0819271e+00 4.32e-08 7.04e-03 -4.0 1.98e-02 -0.5 1.00e+00 1.00e+00h 1 45 2.0818004e+00 1.01e-07 3.38e-03 -4.0 2.80e-02 -0.9 1.00e+00 1.00e+00h 1 46 2.0817630e+00 5.77e-08 9.62e-04 -4.0 2.26e-02 -1.4 1.00e+00 1.00e+00h 1 47 2.0817615e+00 1.21e-08 2.38e-04 -4.0 1.69e-02 -1.9 1.00e+00 1.00e+00h 1 48 2.0817607e+00 3.03e-09 1.29e-04 -4.0 2.97e-02 -2.4 1.00e+00 1.00e+00h 1 49 2.0817587e+00 4.70e-08 4.51e-05 -4.0 3.16e-02 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817577e+00 1.49e-07 1.67e-05 -4.0 2.32e-02 -3.3 1.00e+00 1.00e+00h 1 51 2.0817586e+00 3.89e-07 1.09e-05 -4.0 6.77e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0816498e+00 5.18e-06 1.37e-04 -4.1 1.90e-01 -4.3 1.00e+00 1.00e+00h 1 53 2.0817704e+00 1.01e-05 1.03e-04 -4.0 4.96e-01 -4.7 1.00e+00 1.00e+00h 1 54 2.0816514e+00 6.94e-05 5.08e-04 -4.1 1.06e+00 -5.2 1.00e+00 1.00e+00h 1 55 2.0809835e+00 3.36e-04 1.05e-02 -6.1 3.86e+00 -5.7 9.49e-01 1.00e+00h 1 56 2.0810271e+00 2.86e-05 1.80e-02 -4.8 2.39e-01 -3.5 1.00e+00 9.16e-01h 1 57 2.0815013e+00 1.21e-05 9.49e-02 -4.0 7.86e-01 -3.9 1.00e+00 6.14e-01f 1 58 2.0816178e+00 7.88e-06 5.26e-04 -4.0 3.09e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0816490e+00 1.54e-06 3.05e-04 -4.0 5.45e-01 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816922e+00 4.76e-06 3.16e-04 -4.0 7.58e-01 -5.4 1.00e+00 1.00e+00h 1 61 2.0815754e+00 3.53e-06 6.88e-05 -4.1 2.13e-01 -5.9 1.00e+00 1.00e+00h 1 62 2.0817846e+00 4.15e-05 2.31e-04 -4.0 2.18e+00 -6.3 1.00e+00 1.00e+00h 1 63 2.0815987e+00 3.66e-05 1.84e-04 -4.1 1.52e+00 -6.8 1.00e+00 1.00e+00h 1 64 2.0806935e+00 1.21e-03 2.91e-03 -6.1 1.74e+01 -7.3 9.82e-01 9.09e-01h 1 65 2.0818574e+00 2.52e-03 4.94e-03 -4.0 2.42e+01 -7.8 1.00e+00 1.00e+00f 1 66 2.0816150e+00 2.10e-04 6.06e-04 -4.1 7.91e+00 -8.2 1.00e+00 1.00e+00h 1 67 2.0806366e+00 3.14e-03 5.28e-04 -6.1 3.98e+01 -8.7 9.77e-01 9.31e-01h 1 68 2.0818805e+00 5.17e-03 1.35e-03 -4.0 4.96e+01 -9.2 1.00e+00 1.00e+00f 1 69 2.0816113e+00 4.35e-04 1.28e-04 -4.1 1.81e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806038e+00 3.47e-03 2.33e-04 -6.1 4.22e+01 -10.2 9.76e-01 9.58e-01h 1 71 2.0818175e+00 5.85e-03 1.04e-03 -4.0 5.93e+01 -10.6 1.00e+00 9.48e-01f 1 72 2.0815987e+00 3.38e-04 9.03e-06 -4.1 1.77e+01 -11.1 1.00e+00 1.00e+00h 1 73 2.0806016e+00 3.40e-03 2.18e-04 -6.1 4.18e+01 -11.6 9.76e-01 9.59e-01h 1 74 2.0808072e+00 3.01e-03 1.48e-02 -4.0 6.02e+01 -12.1 1.00e+00 1.65e-01f 1 75 2.0814028e+00 9.76e-04 4.76e-05 -4.2 1.91e+01 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0814028435205953e+00 2.0814028435205953e+00 Dual infeasibility......: 4.7554089153924314e-05 4.7554089153924314e-05 Constraint violation....: 9.7596057764981481e-04 9.7596057764981481e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8750391987188438e-05 8.8750391987188438e-05 Overall NLP error.......: 9.7596057764981481e-04 9.7596057764981481e-04 Number of objective function evaluations = 79 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 79 Number of inequality constraint evaluations = 79 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.270 EXIT: Stopping optimization at current point as requested by user. 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 (0.001s) 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: 0.002s) evaluator created (0.003s) 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: 0.003s) 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 3.1219070e+00 2.71e+00 4.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7418994e+00 1.40e-01 5.96e+00 -0.9 3.06e+00 0.0 9.60e-01 9.49e-01f 1 2 2.5542064e+00 2.45e-02 1.71e+00 -0.9 2.78e-01 0.4 8.37e-01 8.30e-01f 1 3 2.4645856e+00 1.45e-03 1.57e-01 -1.4 8.14e-02 -0.1 9.91e-01 1.00e+00h 1 4 2.2170166e+00 6.35e-03 6.83e-02 -2.0 1.21e-01 -0.5 9.29e-01 1.00e+00f 1 5 2.1219851e+00 2.92e-03 1.29e-01 -3.2 7.58e-02 -1.0 1.00e+00 6.73e-01h 1 6 2.0912319e+00 2.40e-05 5.02e-03 -4.0 5.76e-03 -1.5 1.00e+00 9.92e-01h 1 7 2.0909282e+00 9.38e-08 4.81e-05 -4.0 4.39e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909281e+00 1.95e-09 2.46e-05 -4.0 6.73e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909269e+00 9.81e-11 1.89e-05 -4.0 1.55e-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 2.0909230e+00 8.13e-10 1.86e-05 -4.0 4.57e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909122e+00 6.42e-09 1.78e-05 -4.0 1.31e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908845e+00 4.41e-08 9.49e-05 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908123e+00 2.77e-07 3.64e-04 -4.0 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906062e+00 2.84e-06 5.13e-04 -4.0 2.94e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0903838e+00 2.89e-06 6.95e-03 -4.0 1.34e+01 -5.8 3.16e-01 1.48e-01h 1 16 2.0894560e+00 2.68e-04 4.95e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0876933e+00 1.20e-04 3.64e-02 -4.0 4.42e+00 -4.9 1.00e+00 6.32e-01h 1 18 2.0876660e+00 2.29e-05 7.49e-03 -4.0 3.65e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865796e+00 4.66e-05 7.38e-03 -4.0 1.09e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849823e+00 2.11e-04 1.06e-02 -4.0 2.51e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828049e+00 3.63e-04 2.81e-02 -4.0 3.81e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831187e+00 1.14e-03 3.46e-02 -4.0 5.56e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821868e+00 1.12e-03 7.79e-03 -4.1 1.34e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0984200e+00 7.92e-06 7.09e-01 -4.0 4.81e+02 -8.3 1.12e-01 1.00e+00H 1 25 2.0845968e+00 1.56e-02 6.37e+00 -4.2 1.45e+02 -5.1 1.00e-02 8.82e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0845967706496520e+00 2.0845967706496520e+00 Dual infeasibility......: 6.3652563596852021e+00 6.3652563596852021e+00 Constraint violation....: 1.5615767574878703e-02 1.5615767574878703e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.2602177329216977e-04 2.2602177329216977e-04 Overall NLP error.......: 6.3652563596852021e+00 6.3652563596852021e+00 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.401 EXIT: Stopping optimization at current point as requested by user. [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_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! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.054s 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 (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.119s) evaluator created (0.119s) 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: 0.12s) 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 3.5926990e+00 3.14e+00 3.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7349417e+00 1.95e-01 2.93e+00 -1.0 2.70e+00 0.0 5.91e-01 9.39e-01f 1 2 2.8152998e+00 1.79e-01 3.40e+01 0.1 1.99e+00 0.4 4.33e-01 8.05e-02f 1 3 2.8237003e+00 1.71e-01 3.35e+00 -0.3 9.45e-01 -0.1 9.41e-01 9.00e-01h 1 4 2.5748856e+00 5.63e-02 6.91e+00 -4.0 6.96e-01 -0.5 6.59e-01 1.00e+00h 1 5 2.4478775e+00 1.39e-02 2.74e-01 -1.6 2.30e-01 -1.0 9.95e-01 1.00e+00h 1 6 2.2087059e+00 1.91e-02 2.56e-01 -2.2 5.80e-01 -1.5 9.85e-01 6.58e-01f 1 7 2.1185216e+00 8.40e-04 1.03e-02 -2.7 7.31e-02 -2.0 9.90e-01 1.00e+00h 1 8 2.0910128e+00 9.39e-05 4.67e-04 -4.0 2.07e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908497e+00 6.77e-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 2.0908448e+00 1.21e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908298e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907850e+00 7.86e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906507e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902488e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890519e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855439e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796315e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0806842e+00 1.61e-04 1.84e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775278e+00 7.65e-03 2.54e-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 2.0769542e+00 1.26e-03 6.67e-02 -4.0 1.86e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762430e+00 1.82e-03 1.76e-02 -4.0 3.33e+02 -8.6 1.00e+00 7.68e-01h 1 22 2.0754985e+00 1.74e-03 2.75e-02 -4.0 5.73e+02 -9.1 1.00e+00 7.49e-01h 1 23 2.0758007e+00 3.39e-03 1.46e-02 -4.0 1.71e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753914e+00 1.39e-03 7.46e-04 -4.1 9.83e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.58e-04 7.22e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.89e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.27e-09 8.55e-08 -4.0 4.38e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.92e-11 1.55e-09 -4.0 6.96e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121568004e+00 2.0756712121568004e+00 Dual infeasibility......: 1.5522956829986355e-09 1.5522956829986355e-09 Constraint violation....: 3.9176772936855286e-11 3.9176772936855286e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.5522956829986355e-09 1.5522956829986355e-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 = 27.033 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.056s 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 (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) 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 (0.164s) optimizer initialization complete (total: 0.292s) 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 3.0477185e+00 2.20e+00 8.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1982607e+00 7.05e-01 1.81e+00 -0.8 1.87e+00 0.0 1.00e+00 6.79e-01h 1 2 2.6390949e+00 1.89e-02 5.31e-01 -1.1 6.06e-01 -0.5 9.78e-01 1.00e+00h 1 3 2.2912115e+00 6.89e-03 6.23e-02 -1.9 9.32e-02 -1.0 9.64e-01 1.00e+00h 1 4 2.1273530e+00 2.46e-03 4.38e-02 -3.2 9.94e-02 -1.4 1.00e+00 8.64e-01h 1 5 2.0926322e+00 9.83e-04 3.54e-02 -4.0 1.57e-01 -1.9 1.00e+00 9.50e-01h 1 6 2.0909097e+00 9.78e-05 3.06e-02 -4.0 1.23e-01 -2.4 1.00e+00 9.41e-01h 1 7 2.0909308e+00 5.59e-07 8.92e-04 -4.0 2.06e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909199e+00 2.06e-07 4.81e-05 -4.0 4.51e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909066e+00 7.40e-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 2.0908668e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907473e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903898e+00 5.06e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893241e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861916e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796351e+00 2.53e-03 8.60e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812948e+00 1.57e-04 1.92e-01 -4.0 6.75e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778450e+00 5.80e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781332e+00 1.61e-02 3.39e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767361e+00 1.31e-02 1.86e-02 -3.8 2.80e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758147e+00 1.13e-02 2.13e-02 -3.9 4.15e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757806e+00 6.49e-03 9.54e-03 -4.0 1.39e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756781e+00 3.49e-04 4.16e-04 -4.0 6.07e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.49e-06 7.28e-06 -4.0 2.06e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.49e-08 1.33e-06 -4.0 1.46e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.77e-09 1.59e-07 -4.0 6.07e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 9.72e-11 3.81e-09 -4.0 1.11e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528785144e+00 2.0756712528785144e+00 Dual infeasibility......: 3.8061441098467472e-09 3.8061441098467472e-09 Constraint violation....: 9.7240993035541123e-11 9.7240993035541123e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 3.8061441098467472e-09 3.8061441098467472e-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 = 27.031 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.056s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.12s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.055s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.385s sub-objective 2 (QuadraticRegularizer): 0.104s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.608s hessian structure: 1749 nonzeros (0.717s) linear index maps built (0.0s) evaluator ready (total: 0.838s) evaluator created (0.838s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) 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 (5.412s) optimizer initialization complete (total: 6.379s) 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 1.2294798e+00 2.66e+00 7.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6309101e+00 1.38e-01 2.96e+00 -0.8 2.07e+00 0.0 6.14e-01 1.00e+00h 1 2 2.7331059e+00 1.09e-01 1.82e+00 -1.5 7.39e-01 -0.5 3.89e-01 8.79e-01h 1 3 3.0540891e+00 2.71e-01 7.58e-01 -0.8 1.59e+00 -1.0 7.88e-01 7.77e-01f 1 4 2.9938963e+00 1.50e-01 4.09e-01 -0.9 7.65e-01 -1.4 1.00e+00 1.00e+00f 1 5 2.3512840e+00 9.11e-02 5.41e-01 -4.0 7.75e-01 -1.9 6.72e-01 1.00e+00h 1 6 2.3026073e+00 6.83e-02 2.09e+00 -1.5 8.74e+00 -2.4 1.00e+00 1.92e-01h 1 7 2.1954045e+00 3.16e-02 1.49e-01 -2.0 1.21e+00 -2.9 9.93e-01 1.00e+00h 1 8 2.1040676e+00 4.34e-03 9.22e-03 -3.0 2.30e-01 -3.3 9.87e-01 1.00e+00h 1 9 2.0909409e+00 4.28e-04 5.96e-04 -4.0 1.86e-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 2.0909355e+00 4.58e-06 6.23e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908160e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904583e+00 5.02e-06 2.27e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893922e+00 4.58e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862581e+00 4.30e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796251e+00 2.55e-03 8.39e-02 -4.0 8.75e+01 -6.7 1.00e+00 7.67e-01h 1 16 2.0813245e+00 1.48e-04 1.94e-01 -4.0 6.80e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778446e+00 5.63e-03 2.70e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781552e+00 1.63e-02 3.20e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767376e+00 1.30e-02 1.79e-02 -3.8 2.81e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758378e+00 1.10e-02 2.16e-02 -3.9 4.09e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757750e+00 6.73e-03 9.56e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756775e+00 3.58e-04 4.14e-04 -4.0 5.88e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.71e-06 7.75e-06 -4.0 2.27e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.57e-08 1.46e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.47e-09 1.48e-07 -4.0 5.27e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.76e-11 3.04e-09 -4.0 9.30e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122090373e+00 2.0756712122090373e+00 Dual infeasibility......: 3.0354035519093107e-09 3.0354035519093107e-09 Constraint violation....: 7.7600814663014717e-11 7.7600814663014717e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.0354035519093107e-09 3.0354035519093107e-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 = 44.455 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.053s 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 (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep 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 (0.0s) optimizer initialization complete (total: 0.122s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 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 5.7588748e+00 2.25e+00 5.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.3711392e+00 2.10e+00 1.37e+01 -0.4 1.72e+01 0.0 2.07e-01 6.74e-02h 1 2 5.0896691e+00 1.89e+00 6.84e+01 0.3 1.27e+01 -0.5 5.54e-01 1.00e-01f 1 3 4.0160243e+00 1.37e+00 8.57e+01 0.3 1.30e+01 -1.0 8.62e-01 3.38e-01f 1 4 3.3944249e+00 7.93e-01 2.39e+02 0.7 2.23e+01 -1.4 8.00e-01 3.79e-01h 1 5 3.1074964e+00 9.34e-01 1.04e+03 0.9 2.60e+01 -1.0 3.41e-01 6.10e-01h 1 6 3.1348642e+00 4.73e-01 6.32e+02 1.0 4.35e+00 -0.6 2.88e-01 4.83e-01f 1 7 3.1092481e+00 3.56e-01 1.02e+03 0.8 7.14e-01 1.7 9.84e-01 2.47e-01h 1 8 3.0906206e+00 2.92e-01 5.72e+03 0.5 1.80e+00 1.2 1.00e+00 1.78e-01h 1 9 3.0593511e+00 1.42e-01 2.58e+03 0.2 4.37e+00 0.7 1.00e+00 5.04e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9621494e+00 1.04e-01 4.88e+02 1.0 3.74e+00 0.2 1.00e+00 1.00e+00f 1 11 3.0249163e+00 1.41e-01 6.58e+02 1.3 3.74e+00 -0.3 1.00e+00 1.00e+00f 1 12 3.0514054e+00 4.47e-03 9.33e+01 1.2 2.94e-01 1.1 1.00e+00 1.00e+00f 1 13 3.0456965e+00 6.07e-05 1.60e+01 -0.4 3.36e-02 0.6 9.93e-01 1.00e+00h 1 14 2.9792183e+00 1.89e-03 9.03e-02 -1.1 7.25e-02 0.1 1.00e+00 1.00e+00f 1 15 2.7857802e+00 8.22e-03 9.79e-02 -2.2 1.94e-01 -0.4 9.96e-01 1.00e+00f 1 16 2.7158806e+00 1.49e-02 5.28e-02 -3.1 3.81e-01 -0.8 9.95e-01 1.00e+00h 1 17 2.6367826e+00 2.95e-02 5.09e-02 -3.8 6.23e-01 -1.3 1.00e+00 1.00e+00h 1 18 2.5415078e+00 5.86e-02 7.26e-02 -4.0 1.45e+00 -1.8 1.00e+00 1.00e+00h 1 19 2.4900339e+00 2.94e-02 1.21e+00 -2.3 1.05e+00 -1.4 7.48e-01 8.72e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.4829681e+00 1.69e-02 6.56e-01 -2.8 8.67e-01 -1.8 7.95e-02 3.21e-01h 1 21 2.5458315e+00 6.08e-03 6.24e+00 -4.0 2.03e-01 0.4 1.64e-01 1.00e+00h 1 22 2.6306357e+00 1.33e-03 3.53e+00 -2.3 2.53e-01 -0.1 1.00e+00 8.82e-01H 1 23 2.5905119e+00 1.01e-03 8.29e-01 -2.6 3.40e-02 1.2 1.00e+00 1.00e+00f 1 24 2.5728954e+00 2.14e-04 1.61e-01 -3.8 2.56e-02 0.8 1.00e+00 1.00e+00h 1 25 2.5366798e+00 8.65e-04 9.96e-02 -4.0 4.71e-02 0.3 1.00e+00 1.00e+00f 1 26 2.5133860e+00 8.09e-04 6.75e-02 -4.0 8.57e-02 -0.2 1.00e+00 6.54e-01h 1 27 2.5115518e+00 7.03e-04 6.37e-01 -4.0 1.26e-01 -0.7 1.00e+00 1.32e-01h 1 28 2.5107744e+00 5.44e-05 1.99e-02 -4.0 1.09e-01 -1.1 1.00e+00 1.00e+00h 1 29 2.4993496e+00 1.93e-03 7.22e-03 -4.0 3.01e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4733870e+00 7.32e-03 2.20e-02 -4.0 1.03e+00 -2.1 1.00e+00 9.44e-01h 1 31 2.4859048e+00 5.30e-02 1.45e+00 -2.7 9.98e+00 -2.6 5.43e-01 1.37e-01f 3 32 2.4601309e+00 4.11e-03 9.31e-03 -3.0 7.63e-01 -2.1 1.00e+00 1.00e+00h 1 33 2.4484285e+00 5.41e-03 4.64e-01 -3.3 2.90e+00 -2.6 7.65e-01 2.17e-01h 1 34 2.4327425e+00 1.43e-03 1.55e-02 -3.4 7.28e-01 -2.2 1.00e+00 1.00e+00h 1 35 2.4189349e+00 1.30e-03 1.73e-01 -4.0 1.68e+00 -2.7 9.99e-01 3.89e-01h 1 36 2.3474567e+00 1.39e-01 1.45e-01 -4.0 3.60e+00 -3.2 1.00e+00 1.00e+00h 1 37 2.2769941e+00 2.72e-01 2.12e-01 -3.7 7.52e+00 -3.6 8.23e-01 1.00e+00h 1 38 2.2106273e+00 4.63e-01 5.91e-01 -3.5 2.36e+01 -4.1 1.00e+00 8.79e-01h 1 39 2.1772617e+00 5.38e-01 1.16e+00 -3.7 1.77e+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 40 2.1802069e+00 2.30e-01 3.21e-01 -4.0 9.86e-01 -2.4 3.70e-01 5.71e-01h 1 41 2.1798529e+00 3.39e-03 6.71e-02 -4.0 6.70e-01 -2.8 1.00e+00 1.00e+00h 1 42 2.1776580e+00 2.12e-03 1.76e-02 -3.9 1.20e+00 -3.3 9.90e-01 1.00e+00h 1 43 2.1721657e+00 5.01e-03 4.54e-03 -4.0 2.78e+00 -3.8 1.00e+00 1.00e+00h 1 44 2.1594297e+00 2.15e-02 1.65e-02 -4.0 7.00e+00 -4.3 1.00e+00 1.00e+00h 1 45 2.1396186e+00 7.60e-02 4.16e-02 -3.5 1.43e+01 -4.7 1.00e+00 9.72e-01h 1 46 2.1218539e+00 1.32e-01 3.36e-01 -3.3 2.33e+01 -5.2 1.00e+00 9.80e-01h 1 47 2.1009012e+00 2.60e-01 9.01e-02 -3.5 3.81e+01 -5.7 1.00e+00 1.00e+00h 1 48 2.1087477e+00 3.32e-01 1.28e+00 -2.9 8.29e+01 -6.2 1.00e+00 1.00e+00h 1 49 2.0898527e+00 2.44e-01 5.18e-01 -3.3 8.06e+01 -6.6 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0899879e+00 3.97e-02 9.58e-02 -3.0 8.42e+01 -7.1 1.00e+00 1.00e+00h 1 51 2.0801799e+00 1.52e-01 2.17e-02 -3.8 9.70e+01 -7.6 1.00e+00 9.96e-01h 1 52 2.0796692e+00 1.26e-02 1.34e-02 -4.0 9.75e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0791221e+00 4.33e-03 2.44e-03 -4.0 2.73e+02 -8.6 1.00e+00 1.00e+00h 1 54 2.1175216e+00 1.52e+01 1.83e+00 -2.2 7.65e+03 -9.0 1.00e-01 4.83e-01f 1 55 2.0919295e+00 1.13e+01 6.33e-01 -2.9 2.24e+03 -9.5 1.87e-01 6.76e-01h 1 56 2.0904334e+00 2.18e+00 5.43e-01 -2.9 1.98e+03 -10.0 1.00e+00 1.00e+00h 1 57 2.0910042e+00 1.97e-02 1.04e-02 -2.9 1.58e+02 -10.5 1.00e+00 1.00e+00h 1 58 2.0911363e+00 6.89e-03 9.43e-05 -2.9 7.61e+01 -10.9 1.00e+00 1.00e+00h 1 59 2.0787719e+00 3.40e-01 3.39e-03 -4.0 3.26e+02 -11.4 9.25e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0780249e+00 1.10e-02 2.90e-05 -4.0 2.55e+02 -11.9 1.00e+00 1.00e+00h 1 61 2.0780847e+00 4.27e-04 1.67e-06 -4.0 5.15e+01 -12.4 1.00e+00 1.00e+00h 1 62 2.0780753e+00 3.05e-07 1.08e-08 -4.0 3.46e+00 -12.8 1.00e+00 1.00e+00h 1 63 2.0780753e+00 4.50e-12 1.03e-12 -4.0 1.05e-02 -13.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 2.0780752850830102e+00 2.0780752850830102e+00 Dual infeasibility......: 1.0279430843855575e-12 1.0279430843855575e-12 Constraint violation....: 4.4990677849909844e-12 4.4990677849909844e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000201434758e-04 1.0000000201434758e-04 Overall NLP error.......: 4.4990677849909844e-12 4.4990677849909844e-12 Number of objective function evaluations = 68 Number of objective gradient evaluations = 64 Number of equality constraint evaluations = 68 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 = 63 Total seconds in IPOPT = 29.412 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.056s 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 (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) 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: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.055s) optimizer initialization complete (total: 0.183s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 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 4.6840996e+00 3.76e+00 2.80e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9598540e+00 9.63e-01 1.91e+01 -0.6 1.25e+01 - 1.00e+00 7.59e-01h 1 2 3.9717859e+00 9.48e-01 2.29e+03 0.6 2.47e+02 0.0 1.21e-01 1.61e-02h 1 3 3.9808815e+00 9.46e-01 6.85e+04 1.8 8.04e+02 -0.5 1.15e-01 1.84e-03h 1 4 8.6706749e+01 5.79e+00 3.88e+06 2.3 9.27e+02 -1.0 9.14e-01 3.50e-01f 1 5 6.6899590e+01 3.41e+00 2.98e+06 2.4 7.98e+01 1.3 9.47e-03 2.50e-01f 1 6 5.0460272e+01 2.21e+00 2.37e+07 2.4 5.43e+02 1.7 1.80e-02 9.49e-02f 2 7 5.3037169e+01 1.69e+00 2.24e+07 2.4 5.38e+02 1.2 7.58e-01 1.99e-01h 1 8 5.9967810e+01 1.64e+00 2.17e+07 2.4 8.32e+03 - 1.35e-02 2.85e-02f 5 9 5.5498763e+01 1.63e+00 2.15e+07 2.4 2.50e+02 0.7 4.53e-01 5.79e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.8436797e+02 4.52e+00 2.48e+07 2.4 9.09e+02 - 2.12e-01 1.00e+00F 1 11 5.7807194e+02 5.78e-01 1.69e+07 2.4 1.23e+01 3.9 6.84e-01 9.32e-01h 1 12 5.8562075e+02 5.19e-01 1.52e+07 2.4 1.04e+01 3.4 2.37e-01 1.03e-01H 1 13 5.8574943e+02 5.18e-01 1.52e+07 2.4 8.81e+01 2.9 1.94e-01 2.04e-03h 1 14 6.5145313e+02 3.11e+00 4.97e+08 1.7 1.09e+02 2.5 1.00e+00 1.00e+00f 1 15 6.4364091e+02 6.23e-01 1.12e+08 1.8 3.54e+01 2.9 1.00e+00 1.00e+00h 1 16 6.4273864e+02 9.56e-02 2.01e+07 0.2 2.24e+01 2.4 1.00e+00 1.00e+00h 1 17 6.4230522e+02 1.91e-02 1.66e+06 2.4 6.81e+00 1.9 9.61e-01 1.00e+00f 1 18 6.4109373e+02 4.36e-05 1.56e+04 0.3 2.78e-01 1.4 9.94e-01 1.00e+00f 1 19 6.3730037e+02 2.41e-05 1.51e+01 -1.2 5.39e-01 1.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.2638354e+02 8.68e-05 1.80e+01 -2.4 1.58e+00 0.5 1.00e+00 1.00e+00f 1 21 5.9724788e+02 6.72e-04 1.34e+02 -3.9 4.39e+00 0.0 1.00e+00 1.00e+00f 1 22 5.3247858e+02 5.83e-03 7.25e+02 -4.0 1.09e+01 -0.5 1.00e+00 1.00e+00f 1 23 4.2918696e+02 6.49e-02 2.21e+03 -3.7 2.26e+01 -0.9 1.00e+00 1.00e+00f 1 24 3.1738210e+02 3.08e-01 3.37e+03 -3.5 3.89e+01 -1.4 1.00e+00 1.00e+00f 1 25 3.2600548e+02 8.31e-02 5.07e+01 -3.8 2.17e+00 -0.1 1.00e+00 1.00e+00h 1 26 3.1350219e+02 1.91e-02 7.00e+01 -4.0 5.94e+00 -0.6 1.00e+00 1.00e+00f 1 27 2.8532247e+02 7.94e-03 2.98e+02 -4.0 1.50e+01 -1.0 1.00e+00 1.00e+00f 1 28 2.3899122e+02 3.59e-02 9.54e+02 -4.0 3.13e+01 -1.5 1.00e+00 1.00e+00f 1 29 1.8676934e+02 4.83e-01 1.51e+03 -4.0 5.35e+01 -2.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.4433537e+02 2.92e-01 1.48e+03 -3.8 7.57e+01 -2.5 1.00e+00 1.00e+00f 1 31 1.4918491e+02 1.86e-01 4.84e+01 -3.8 1.16e+00 -0.2 1.00e+00 1.00e+00h 1 32 1.4916293e+02 1.88e-01 4.64e+01 -3.4 1.23e+01 -0.7 1.00e+00 4.58e-02h 1 33 1.4880924e+02 1.19e-01 9.27e+01 -3.2 9.42e+00 -1.2 1.19e-02 3.19e-01F 1 34 1.4870929e+02 1.74e-01 1.45e+02 -2.5 1.41e+01 -0.8 1.00e+00 1.27e-01f 2 35 1.4829329e+02 2.22e-01 2.58e+02 -0.5 7.31e+00 -1.2 1.00e+00 1.22e-01f 2 36 1.4829598e+02 2.22e-01 6.81e+03 0.9 2.03e+02 -1.7 1.00e+00 1.79e-04h 7 37 1.4791643e+02 2.05e-01 3.45e+03 0.3 1.05e+02 -2.2 1.00e+00 1.19e-01h 4 38 1.7099499e+02 1.62e-01 1.21e+04 -0.3 1.16e+02 -2.7 1.00e+00 1.00e+00H 1 39 1.7189838e+02 2.71e-02 1.39e+02 -0.1 2.33e+00 -1.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.6792460e+02 1.47e-02 8.25e+00 -1.0 8.19e+00 -1.8 1.00e+00 1.00e+00f 1 41 1.5569000e+02 1.44e-01 2.47e+01 -2.0 2.47e+01 -2.3 9.99e-01 1.00e+00f 1 42 1.2687320e+02 9.15e-01 6.37e+01 -2.0 7.40e+01 -2.8 1.00e+00 1.00e+00f 1 43 1.1903805e+02 3.36e+00 7.37e+02 -4.0 4.39e+03 - 9.85e-03 4.67e-02f 4 44 1.1034092e+02 1.59e+00 2.02e+02 -1.2 5.26e+01 -2.4 1.00e+00 4.03e-01f 1 45 1.1011225e+02 1.57e+00 5.04e+02 -1.4 6.47e+01 -2.8 1.00e+00 9.71e-03f 1 46 3.0722760e+01 2.76e+00 2.07e+03 0.6 3.33e+03 - 1.98e-02 1.30e-01f 1 47 3.3895716e+01 2.31e+00 1.58e+03 -0.9 1.29e+03 - 2.48e-01 2.00e-01H 1 48 3.5692377e+01 1.72e+00 1.17e+03 -0.9 2.83e+01 -1.5 1.07e-01 2.64e-01h 1 49 3.3367115e+01 1.55e+00 2.68e+03 1.0 7.14e+01 -2.0 1.00e+00 9.71e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.0844679e+01 4.38e+00 8.11e+03 1.6 5.20e+02 -2.5 9.61e-01 7.19e-02f 3 51 2.4537311e+01 1.77e+00 5.62e+03 1.5 7.57e+01 -2.0 8.16e-01 1.00e+00f 1 52 7.4892207e+01 9.14e+00 2.17e+03 1.9 5.63e+01 -1.6 9.65e-01 1.00e+00f 1 53 7.7056655e+01 1.06e+01 1.60e+03 1.7 2.60e+03 - 7.62e-02 1.04e-01f 2 54 5.5271097e+01 7.39e+00 5.74e+02 1.7 2.39e+01 -1.2 1.00e+00 3.03e-01h 1 55 4.8883866e+01 1.28e+00 5.50e+04 1.7 3.04e+01 -1.7 1.84e-02 1.00e+00f 1 56 3.8205825e+01 4.15e-01 1.92e+04 1.4 2.35e+00 1.5 1.00e+00 6.67e-01h 1 57 3.7990096e+01 4.23e-01 5.74e+04 2.4 1.13e+02 1.0 3.67e-01 4.87e-02f 2 58 3.8948749e+01 8.11e-01 8.09e+04 2.4 1.88e+02 0.5 4.39e-02 1.16e-01f 2 59 3.8814233e+01 8.06e-01 8.02e+04 1.9 2.04e+02 1.0 9.63e-02 7.16e-03h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8713689e+01 8.03e-01 7.99e+04 1.9 2.17e+02 1.4 7.50e-02 3.01e-03h 5 61 3.8670246e+01 8.03e-01 7.99e+04 1.9 2.15e+02 0.9 4.45e-02 9.11e-04f 6 62 3.8624296e+01 8.02e-01 1.14e+05 1.9 1.79e+02 1.3 3.79e-01 1.11e-03h 6 63 3.8491666e+01 7.91e-01 2.06e+05 1.9 3.80e+02 0.9 1.28e-01 1.50e-02f 4 64 3.8199896e+01 7.55e-01 6.90e+05 1.9 3.93e+02 1.3 3.62e-02 4.66e-02f 2 65 3.7672698e+01 6.77e-01 6.41e+05 1.9 1.34e+02 0.8 8.56e-01 1.44e-01H 1 66 1.1663440e+02 1.12e+01 3.87e+06 2.4 2.71e+02 1.2 6.03e-02 5.00e-01f 2 67 6.3537329e+01 4.90e+00 1.49e+06 1.9 6.63e+02 1.7 1.50e-01 1.11e-01h 1 68 6.4935324e+01 1.96e+00 2.31e+07 1.9 1.06e+02 1.2 2.31e-01 8.68e-01h 1 69 1.3769522e+02 2.23e+00 9.64e+06 1.9 2.19e+02 0.7 4.00e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.4843384e+02 1.08e+00 3.84e+06 1.9 2.11e+02 0.2 7.70e-01 4.04e-01h 1 71 1.4839199e+02 1.07e+00 3.84e+06 1.9 2.66e+01 2.5 3.22e-01 5.62e-03h 1 72 1.4175071e+02 3.63e-02 2.79e+07 1.9 2.97e+01 2.0 2.77e-02 1.00e+00f 1 73 1.4099901e+02 9.54e-05 7.46e+05 1.0 2.65e+00 1.5 1.00e+00 1.00e+00f 1 74 1.3866272e+02 9.36e-04 5.15e+01 -0.5 3.76e-01 1.0 1.00e+00 1.00e+00f 1 75 1.3349380e+02 6.94e-03 4.27e+00 -1.9 9.23e-01 0.5 1.00e+00 1.00e+00f 1 76 1.2621096e+02 3.52e-02 2.03e+01 -2.9 1.68e+00 0.1 1.00e+00 1.00e+00f 1 77 1.2171734e+02 8.18e-02 3.16e+01 -3.7 1.87e+00 -0.4 1.00e+00 1.00e+00f 1 78 1.2169958e+02 3.91e-02 4.00e+00 -3.8 9.18e-01 -0.9 1.00e+00 1.00e+00h 1 79 1.2058548e+02 2.92e-02 4.50e-01 -4.0 2.80e+00 -1.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1611126e+02 3.92e-01 3.49e+00 -4.0 8.48e+00 -1.8 1.00e+00 1.00e+00f 1 81 1.0531648e+02 3.54e-01 9.96e+00 -4.0 2.56e+01 -2.3 1.00e+00 1.00e+00f 1 82 8.5528951e+01 7.93e-01 6.95e+01 -4.0 7.70e+01 -2.8 1.00e+00 1.00e+00f 1 83 5.4664904e+01 7.90e-01 2.25e+02 -2.0 4.02e+04 - 7.93e-03 3.67e-03f 1 84 5.4600655e+01 7.90e-01 2.25e+02 -2.7 2.64e+03 - 3.52e-02 3.04e-05F 1 85 1.9695015e+01 3.10e+00 1.97e+02 -2.2 2.63e+03 - 1.00e+00 9.39e-02f 3 86 1.4124581e+01 1.78e+00 1.12e+03 -1.2 1.79e+01 -1.5 1.00e+00 3.58e-01f 1 87 8.3886973e+00 5.99e-01 3.48e+02 -1.3 2.60e+02 -1.9 4.99e-01 1.02e-01f 1 88 8.3781428e+00 5.93e-01 4.37e+03 -0.0 6.56e+02 -2.4 1.00e+00 1.00e-02h 1 89 1.9325248e+01 4.89e+00 1.19e+03 1.9 9.39e+02 - 4.34e-01 8.36e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0532858e+02 1.08e+01 1.17e+04 1.4 9.53e+01 -2.0 1.00e+00 1.00e+00f 1 91 5.7430542e+01 6.60e+00 1.13e+04 1.4 9.84e+01 -1.6 2.10e-01 4.42e-01h 1 92 5.6940487e+01 6.58e+00 1.13e+04 1.4 3.73e+02 0.7 4.54e-03 2.10e-03f 2 93 1.3818951e+01 2.08e+00 3.14e+05 1.4 1.68e+01 2.0 2.56e-01 6.86e-01h 1 94 1.2568799e+01 1.97e+00 2.99e+05 1.4 6.84e+01 1.5 8.02e-03 4.79e-02h 1 95 1.2572725e+01 1.97e+00 2.99e+05 1.4 7.02e+02 1.0 1.80e-02 4.70e-04h 1 96 1.2572720e+01 1.97e+00 4.97e+06 1.4 1.27e+03 1.5 2.80e-02 3.63e-05h 1 97 1.2620021e+01 1.95e+00 1.25e+07 1.4 1.40e+03 1.9 1.67e-02 4.25e-03f 4 98 1.2405877e+01 1.94e+00 1.24e+07 1.4 1.40e+03 1.4 1.07e-01 8.16e-03f 3 99 1.2437092e+01 1.93e+00 5.09e+06 1.4 1.37e+03 0.9 4.02e-02 6.41e-03f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.2405110e+01 1.69e+00 1.11e+07 1.4 1.27e+03 0.5 1.95e-02 3.83e-02h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.2405109553956128e+01 1.2405109553956128e+01 Dual infeasibility......: 1.1134540706284057e+07 1.1134540706284057e+07 Constraint violation....: 1.6883872076179167e+00 1.6883872076179167e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.8695833903420635e+01 9.8695833903420635e+01 Overall NLP error.......: 7.8172005035055699e+03 1.1134540706284057e+07 Number of objective function evaluations = 200 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 200 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 = 29.375 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.45s jacobian structure: 1600 nonzeros (2.51s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.144s 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 (4.192s) linear index maps built (0.0s) evaluator ready (total: 6.702s) evaluator created (6.725s) 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: 6.727s) 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 3.0482804e+00 4.40e+00 2.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7271898e+00 3.67e-01 1.00e+00 -1.0 4.17e+00 -2.0 9.97e-01 9.89e-01h 1 2 2.4156496e+00 9.29e-02 6.37e-01 -1.4 1.79e+00 -2.5 7.17e-01 1.00e+00f 1 3 2.1969888e+00 2.81e-02 3.91e-02 -2.2 8.37e-01 -3.0 9.86e-01 1.00e+00h 1 4 2.0994790e+00 1.30e-02 3.06e-02 -3.2 1.05e+00 -3.4 9.99e-01 9.65e-01h 1 5 2.0910372e+00 2.32e-04 1.08e-03 -4.0 2.43e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908946e+00 8.75e-06 4.21e-04 -4.0 5.72e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0908053e+00 6.43e-07 1.68e-03 -4.0 1.10e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905864e+00 3.98e-06 1.64e-03 -4.0 3.38e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0899673e+00 3.40e-05 7.96e-04 -4.0 1.02e+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 2.0896166e+00 5.52e-06 2.35e-03 -4.0 3.83e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0888791e+00 4.64e-05 5.80e-03 -4.0 1.14e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0883144e+00 3.76e-05 3.40e-02 -4.0 8.64e+00 -5.4 1.00e+00 4.34e-01h 1 13 2.0874183e+00 5.67e-05 8.27e-03 -4.0 1.27e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0862885e+00 9.85e-05 6.42e-02 -4.0 3.37e+01 -6.4 1.00e+00 3.83e-01h 1 15 2.0833175e+00 9.75e-04 5.06e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0824742e+00 4.85e-04 1.83e-02 -4.0 6.78e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0822634e+00 4.89e-04 1.07e-02 -4.0 1.50e+02 -7.8 8.23e-01 1.00e+00h 1 18 2.0824570e+00 1.30e-03 1.91e-02 -4.0 3.19e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0820300e+00 1.39e-03 1.92e-02 -4.0 1.94e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0967484e+00 7.20e-04 1.46e-01 -4.0 1.54e+02 -6.5 2.01e-02 1.19e-01h 1 21 2.0906202e+00 3.60e-04 7.30e-01 -4.2 1.18e-01 -0.7 1.00e+00 5.00e-01h 1 22 2.0875669e+00 1.21e-04 1.57e+00 -4.2 1.05e-01 -1.2 3.94e-01 6.65e-01f 1 23 2.0849952e+00 7.49e-07 1.94e-02 -4.0 1.07e-01 -0.8 1.00e+00 1.00e+00f 1 24 2.0828625e+00 1.07e-06 7.38e-03 -3.7 1.68e-01 -1.2 1.00e+00 1.00e+00f 1 25 2.0824436e+00 5.08e-07 7.59e-02 -4.0 9.77e-02 -1.7 1.00e+00 8.27e-01H 1 26 2.0823686e+00 2.86e-07 1.39e-03 -4.0 4.09e-02 -2.2 1.00e+00 1.00e+00f 1 27 2.0823278e+00 1.63e-08 3.92e-05 -4.0 1.16e-02 -2.7 1.00e+00 1.00e+00h 1 28 2.0823106e+00 6.44e-09 5.80e-06 -4.0 8.05e-03 -3.1 1.00e+00 1.00e+00h 1 29 2.0823086e+00 6.76e-10 5.79e-06 -4.0 2.41e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823056e+00 5.07e-09 5.79e-06 -4.0 7.23e-02 -4.1 1.00e+00 1.00e+00h 1 31 2.0822969e+00 4.61e-08 5.80e-06 -4.0 2.17e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0822731e+00 4.19e-07 1.45e-05 -4.0 6.53e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0822146e+00 4.09e-06 6.54e-05 -4.0 2.02e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0820532e+00 7.49e-05 7.87e-04 -4.0 7.71e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0912285e+00 1.74e-05 6.86e-02 -4.0 1.96e+01 -6.5 2.33e-01 7.05e-01h 1 36 2.0840865e+00 2.12e-04 3.15e-01 -4.1 7.95e+00 -7.0 1.33e-02 1.00e+00f 1 37 2.0822670e+00 3.46e-08 9.21e-03 -4.1 1.28e-01 -1.1 1.00e+00 1.00e+00h 1 38 2.0819730e+00 1.69e-07 1.62e-03 -4.0 7.12e-02 -1.6 1.00e+00 1.00e+00f 1 39 2.0820052e+00 1.16e-07 2.20e-04 -4.0 1.36e-02 -2.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820033e+00 3.26e-08 2.83e-05 -4.0 7.99e-03 -2.5 1.00e+00 1.00e+00h 1 41 2.0820025e+00 7.11e-09 7.42e-06 -4.0 7.83e-03 -3.0 1.00e+00 1.00e+00h 1 42 2.0820041e+00 2.78e-09 7.37e-06 -4.0 2.33e-02 -3.5 1.00e+00 1.00e+00h 1 43 2.0820087e+00 1.86e-08 7.18e-06 -4.0 6.82e-02 -4.0 1.00e+00 1.00e+00h 1 44 2.0818925e+00 2.52e-06 1.06e-04 -4.1 1.06e-01 -4.5 1.00e+00 1.00e+00h 1 45 2.0820488e+00 1.07e-05 1.96e-04 -4.0 5.05e-01 -4.9 1.00e+00 1.00e+00h 1 46 2.0819381e+00 2.39e-05 2.36e-04 -4.1 1.07e+00 -5.4 1.00e+00 1.00e+00h 1 47 2.0812975e+00 2.08e-04 3.49e-02 -6.1 4.86e+00 -5.9 9.18e-01 6.93e-01h 1 48 2.0810513e+00 1.17e-04 8.44e-03 -5.0 4.84e+00 -6.4 1.00e+00 7.28e-01h 1 49 2.0821379e+00 2.67e-03 8.76e-03 -4.0 2.47e+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 50 2.0820039e+00 6.51e-04 5.05e-02 -4.1 2.54e+01 -7.3 6.11e-01 1.00e+00h 1 51 2.0817722e+00 2.36e-04 4.06e-01 -4.1 4.47e-01 -4.2 1.00e+00 6.38e-01h 1 52 2.0819650e+00 7.59e-06 1.58e-03 -4.1 2.14e-01 -4.7 1.00e+00 1.00e+00f 1 53 2.0819200e+00 1.10e-04 7.86e-04 -4.1 1.35e+00 -5.1 1.00e+00 1.00e+00h 1 54 2.0815524e+00 9.11e-05 2.30e-01 -6.1 9.03e-01 -4.7 8.12e-01 4.44e-01h 1 55 2.0820461e+00 7.61e-05 4.40e-04 -4.0 7.60e-01 -5.2 1.00e+00 1.00e+00f 1 56 2.0818906e+00 6.84e-05 2.51e-04 -4.1 2.76e+00 -5.7 1.00e+00 1.00e+00h 1 57 2.0817648e+00 1.93e-04 7.34e-01 -6.1 1.59e+02 -6.1 1.72e-01 2.66e-02h 1 58 2.0809529e+00 6.25e-04 6.97e-03 -6.1 6.98e+00 -6.6 9.96e-01 9.41e-01h 1 59 2.0808452e+00 3.89e-04 9.69e-04 -5.2 1.07e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0923043e+00 2.75e-05 2.72e-01 -4.0 1.56e+02 -7.6 1.54e-01 1.00e+00H 1 61 2.0843233e+00 2.81e-03 5.41e+00 -4.5 3.46e+02 -4.4 1.18e-03 8.83e-03f 1 62 2.0827836e+00 1.16e-03 2.25e+00 -4.5 2.31e-02 -2.2 1.00e+00 5.86e-01f 1 63 2.0822354e+00 4.94e-04 9.79e-01 -4.5 9.97e-01 -2.7 1.00e+00 5.73e-01f 1 64 2.0823099e+00 3.08e-06 3.21e-03 -4.5 2.03e-01 -3.2 1.00e+00 1.00e+00f 1 65 2.0819405e+00 3.38e-06 1.48e-03 -4.5 1.63e-01 -3.6 1.00e+00 1.00e+00h 1 66 2.0825151e+00 6.44e-06 7.53e-04 -4.0 6.66e-02 -4.1 1.00e+00 1.00e+00h 1 67 2.0822899e+00 7.02e-06 2.43e-05 -4.1 2.17e-01 -4.6 1.00e+00 1.00e+00h 1 68 2.0815731e+00 1.37e-04 8.26e-03 -6.1 1.44e+00 -5.1 9.45e-01 1.00e+00h 1 69 2.0812734e+00 3.99e-05 4.20e-04 -6.1 3.95e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0823979e+00 6.28e-04 7.75e-03 -4.0 4.71e+00 -6.0 1.00e+00 1.00e+00f 1 71 2.0820043e+00 3.51e-04 9.81e-04 -4.1 1.07e+01 -6.5 1.00e+00 1.00e+00h 1 72 2.0818365e+00 2.63e-05 1.61e-03 -4.1 2.63e+01 -7.0 1.00e+00 1.00e+00h 1 73 2.0818359e+00 1.34e-03 9.64e-03 -4.0 7.36e+01 -7.5 5.51e-01 1.00e+00h 1 74 2.0831947e+00 1.65e-03 1.08e-01 -4.1 2.31e+01 -6.1 9.24e-01 1.00e+00h 1 75 2.0822301e+00 3.34e-07 5.61e-03 -4.1 6.57e-02 -1.2 1.00e+00 1.00e+00h 1 76 2.0819037e+00 1.31e-08 1.26e-03 -4.1 6.62e-02 -1.7 1.00e+00 1.00e+00h 1 77 2.0820538e+00 4.57e-07 2.09e-04 -4.0 2.82e-02 -2.1 1.00e+00 1.00e+00h 1 78 2.0819318e+00 9.54e-08 6.08e-05 -4.1 6.83e-03 -2.6 1.00e+00 1.00e+00h 1 79 2.0813137e+00 2.96e-06 4.47e-02 -6.1 3.87e-02 -3.1 8.23e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0821993e+00 6.24e-06 1.67e-03 -4.0 5.54e-02 -3.6 1.00e+00 1.00e+00f 1 81 2.0819313e+00 2.66e-06 2.88e-05 -4.1 7.13e-02 -4.0 1.00e+00 1.00e+00h 1 82 2.0812874e+00 4.07e-05 3.87e-02 -6.1 4.13e-01 -4.5 8.53e-01 1.00e+00h 1 83 2.0821186e+00 8.81e-05 2.22e-03 -4.0 6.37e-01 -5.0 1.00e+00 1.00e+00h 1 84 2.0817372e+00 1.01e-04 2.21e-04 -4.1 2.11e+00 -5.5 1.00e+00 1.00e+00h 1 85 2.0816302e+00 1.63e-04 4.78e-02 -6.1 1.83e+02 -6.0 1.92e-02 2.41e-02h 3 86 2.0810725e+00 4.03e-05 2.35e-01 -6.1 4.34e-01 -4.6 7.38e-01 9.80e-01h 1 87 2.0818800e+00 3.04e-05 2.37e-03 -4.0 2.30e-01 -5.1 1.00e+00 1.00e+00f 1 88 2.0816143e+00 3.16e-05 8.52e-04 -4.1 5.23e-01 -5.6 1.00e+00 1.00e+00h 1 89 2.0816314e+00 2.69e-06 2.48e-04 -4.1 7.67e-01 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818562e+00 7.08e-05 2.22e-04 -4.0 2.88e+00 -6.5 1.00e+00 1.00e+00h 1 91 2.0816512e+00 6.71e-05 5.73e-04 -4.1 4.04e+00 -7.0 1.00e+00 1.00e+00h 1 92 2.0807154e+00 1.93e-03 6.67e-04 -6.1 2.56e+01 -7.5 9.80e-01 9.23e-01h 1 93 2.0818717e+00 3.40e-03 2.13e-03 -4.0 2.95e+01 -8.0 1.00e+00 1.00e+00f 1 94 2.0816209e+00 6.79e-04 6.81e-04 -4.1 2.83e+01 -8.4 1.00e+00 1.00e+00h 1 95 2.0806198e+00 4.09e-03 4.20e-04 -6.1 5.01e+01 -8.9 9.76e-01 9.46e-01h 1 96 2.0817599e+00 4.72e-03 2.83e-03 -4.0 4.97e+01 -9.4 1.00e+00 9.05e-01f 1 97 2.0815896e+00 2.60e-04 1.41e-04 -4.1 1.74e+01 -9.9 1.00e+00 1.00e+00h 1 98 2.0806007e+00 3.31e-03 2.17e-04 -6.1 4.11e+01 -10.4 9.76e-01 9.59e-01h 1 99 2.0807907e+00 2.96e-03 1.52e-02 -4.0 6.04e+01 -10.8 1.00e+00 1.52e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0814004e+00 1.03e-03 5.59e-05 -4.2 1.97e+01 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0814003738899682e+00 2.0814003738899682e+00 Dual infeasibility......: 5.5865543168193279e-05 5.5865543168193279e-05 Constraint violation....: 1.0268432831468388e-03 1.0268432831468388e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.9558859630684356e-05 8.9558859630684356e-05 Overall NLP error.......: 1.0268432831468388e-03 1.0268432831468388e-03 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.395 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.197s jacobian structure: 1680 nonzeros (6.264s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 13.457s 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): 0.621s objective hessian structure: 0.621s hessian structure: 1964 nonzeros (14.135s) linear index maps built (0.0s) evaluator ready (total: 20.4s) evaluator created (20.424s) 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: 20.425s) 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 1.1827151e+01 4.30e+00 3.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7243477e+00 2.70e-01 1.96e+00 -0.9 2.96e+00 -2.0 7.73e-01 9.87e-01f 1 2 2.8773993e+00 1.37e-02 1.01e+00 -0.9 5.35e-01 -1.6 8.74e-01 1.00e+00f 1 3 2.4512511e+00 3.71e-02 1.72e-01 -1.6 6.81e-01 -2.1 9.62e-01 1.00e+00h 1 4 2.1860857e+00 8.36e-02 2.69e-01 -2.3 2.06e+00 -2.5 9.76e-01 8.75e-01h 1 5 2.1096250e+00 1.40e-02 4.57e-02 -2.8 8.66e-01 -3.0 9.96e-01 9.66e-01h 1 6 2.0928129e+00 1.03e-04 2.33e-03 -3.5 6.98e-02 -3.5 9.94e-01 1.00e+00h 1 7 2.0907815e+00 4.80e-05 8.34e-04 -4.0 1.85e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0907300e+00 8.21e-07 2.91e-04 -4.0 4.50e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0906078e+00 5.97e-07 1.15e-04 -4.0 1.37e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0901646e+00 6.84e-06 1.24e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0892478e+00 5.48e-05 5.77e-03 -4.0 1.24e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0886359e+00 1.62e-05 4.18e-03 -4.0 5.28e+00 -5.4 1.00e+00 9.19e-01h 1 13 2.0877564e+00 5.96e-05 7.61e-03 -4.0 1.29e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0864410e+00 1.19e-04 6.20e-02 -4.0 3.43e+01 -6.4 1.00e+00 4.28e-01h 1 15 2.0833871e+00 1.06e-03 5.22e-02 -4.0 5.46e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0825496e+00 4.14e-04 1.44e-02 -4.0 6.99e+01 -7.4 1.00e+00 7.99e-01h 1 17 2.0823120e+00 8.93e-04 1.35e-02 -4.0 1.56e+02 -7.8 8.56e-01 1.00e+00h 1 18 2.0825382e+00 7.41e-04 1.50e-02 -4.0 2.60e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0822951e+00 6.43e-04 3.54e-02 -4.0 3.63e+01 -7.0 8.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0940526e+00 2.51e-04 7.66e-02 -4.0 3.39e+01 -7.5 4.25e-01 8.02e-01h 1 21 2.0913676e+00 1.56e-07 6.14e-02 -4.1 2.47e-02 0.4 1.00e+00 1.00e+00h 1 22 2.0882290e+00 5.85e-06 4.49e-02 -3.4 5.29e-02 -0.1 1.00e+00 1.00e+00f 1 23 2.0852019e+00 7.93e-07 2.77e-02 -3.4 6.20e-02 -0.6 9.87e-01 1.00e+00h 1 24 2.0833298e+00 4.66e-06 8.62e-03 -4.0 9.90e-02 -1.0 1.00e+00 1.00e+00h 1 25 2.0827034e+00 2.24e-06 1.52e-03 -4.0 4.75e-02 -1.5 1.00e+00 1.00e+00h 1 26 2.0826463e+00 8.50e-08 4.44e-04 -4.0 4.15e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0826356e+00 1.32e-07 2.41e-04 -4.0 7.37e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0825726e+00 1.87e-06 1.25e-03 -4.0 1.47e-01 -2.9 1.00e+00 1.00e+00h 1 29 2.0823480e+00 3.12e-06 1.28e-01 -4.0 5.20e-01 -2.5 1.00e+00 2.35e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819984e+00 1.44e-05 2.30e-01 -4.0 3.48e-01 -3.0 1.00e+00 5.62e-01f 1 31 2.0821568e+00 1.96e-06 3.18e-04 -4.0 4.69e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0821446e+00 3.55e-07 3.50e-05 -4.0 3.90e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0821479e+00 2.88e-08 3.50e-05 -4.0 1.17e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0821581e+00 3.68e-07 3.50e-05 -4.0 3.59e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0820073e+00 2.50e-05 8.50e-05 -4.1 9.08e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0812891e+00 2.81e-04 2.05e-02 -6.1 5.22e+00 -5.9 9.39e-01 7.63e-01h 1 37 2.0811148e+00 7.90e-05 1.19e-02 -4.7 4.85e+00 -6.3 1.00e+00 7.57e-01h 1 38 2.0821554e+00 2.25e-03 7.70e-03 -4.0 2.19e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0818242e+00 4.77e-04 4.73e-03 -4.1 1.55e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0827588e+00 6.08e-04 5.04e-01 -4.1 3.99e+00 -5.1 6.29e-01 1.00e+00h 1 41 2.0819460e+00 1.72e-06 6.21e-03 -4.1 7.04e-02 -1.0 1.00e+00 1.00e+00h 1 42 2.0820135e+00 3.09e-07 9.88e-04 -4.0 1.84e-02 -1.5 1.00e+00 1.00e+00h 1 43 2.0819640e+00 3.93e-08 2.96e-04 -4.1 2.78e-02 -2.0 1.00e+00 1.00e+00h 1 44 2.0815125e+00 1.74e-06 2.02e-02 -6.2 3.36e-02 -2.5 7.97e-01 8.78e-01h 1 45 2.0821896e+00 4.56e-06 3.00e-03 -4.0 7.28e-02 -2.9 1.00e+00 1.00e+00f 1 46 2.0819912e+00 1.18e-06 3.73e-04 -4.1 3.26e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0813912e+00 1.54e-05 3.89e-02 -6.1 1.49e-01 -3.9 7.81e-01 1.00e+00h 1 48 2.0819554e+00 3.92e-05 2.31e-01 -4.0 6.81e-01 -4.4 1.00e+00 7.07e-01h 1 49 2.0818071e+00 1.23e-05 9.42e-04 -4.1 3.04e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818193e+00 9.27e-06 1.81e-04 -4.1 3.86e-01 -5.3 1.00e+00 1.00e+00h 1 51 2.0811414e+00 3.24e-04 1.02e-02 -6.2 4.35e+00 -5.8 9.73e-01 1.00e+00h 1 52 2.0810907e+00 7.10e-05 3.76e-02 -6.2 2.28e-01 -3.6 9.94e-01 7.81e-01h 1 53 2.0813749e+00 5.38e-05 2.35e-01 -4.0 1.59e+00 -4.0 4.50e-01 2.76e-01f 1 54 2.0816108e+00 5.23e-05 1.03e+00 -4.0 1.25e+00 -4.5 1.00e+00 5.35e-01h 1 55 2.0816856e+00 7.20e-06 6.35e-04 -4.1 5.37e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0810935e+00 1.87e-04 1.75e-02 -6.1 2.15e+00 -5.5 9.30e-01 1.00e+00h 1 57 2.0810022e+00 1.47e-04 2.09e-01 -6.1 6.02e+00 -5.9 1.00e+00 2.23e-01h 1 58 2.0809393e+00 3.75e-05 2.50e-02 -5.0 4.19e+00 -6.4 1.00e+00 7.82e-01f 1 59 2.0813717e+00 5.85e-04 5.61e-02 -4.0 8.41e+01 -6.9 1.65e-01 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0811951e+00 1.73e-04 1.52e-01 -4.7 7.19e-01 -4.7 1.00e+00 7.15e-01h 1 61 2.0811549e+00 1.29e-04 4.49e-01 -4.7 8.06e-01 -5.1 1.00e+00 3.00e-01f 1 62 2.0811136e+00 1.39e-05 5.93e-04 -4.7 1.39e+00 -5.6 1.00e+00 1.00e+00f 1 63 2.0819670e+00 7.24e-04 5.00e-03 -4.0 8.69e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0817129e+00 2.17e-04 2.00e-02 -4.1 5.10e+00 -5.7 8.05e-01 1.00e+00h 1 65 2.0819919e+00 1.89e-04 6.22e-01 -4.1 1.08e+01 -6.2 1.00e+00 2.31e-01h 1 66 2.0818226e+00 5.12e-05 3.18e-03 -4.1 5.75e+00 -6.6 1.00e+00 1.00e+00f 1 67 2.0817778e+00 1.02e-04 1.10e-03 -4.1 9.13e+00 -7.1 1.00e+00 1.00e+00h 1 68 2.0817257e+00 3.08e-05 9.38e-04 -4.1 2.06e+01 -7.6 1.00e+00 1.00e+00h 1 69 2.0816666e+00 5.89e-05 2.23e-03 -4.1 3.89e+01 -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 70 2.0816347e+00 6.18e-05 1.85e-03 -4.1 4.65e+01 -8.5 1.00e+00 1.00e+00h 1 71 2.0816272e+00 1.64e-05 4.08e-04 -4.1 2.70e+01 -9.0 1.00e+00 1.00e+00h 1 72 2.0805952e+00 3.72e-03 1.46e-04 -6.1 4.35e+01 -9.5 9.77e-01 9.68e-01h 1 73 2.0818875e+00 6.28e-03 5.56e-04 -4.0 5.85e+01 -10.0 1.00e+00 1.00e+00f 1 74 2.0816117e+00 4.80e-04 3.69e-05 -4.1 2.01e+01 -10.4 1.00e+00 1.00e+00h 1 75 2.0806014e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -10.9 9.76e-01 9.61e-01h 1 76 2.0805507e+00 9.03e-05 3.04e-06 -6.1 1.70e+01 -11.4 1.00e+00 1.00e+00h 1 77 2.0819807e+00 1.03e-02 3.99e-04 -4.0 8.49e+01 -11.9 1.00e+00 1.00e+00f 1 78 2.0816781e+00 9.66e-04 4.78e-05 -4.1 4.57e+01 -12.4 1.00e+00 1.00e+00h 1 79 2.0816420e+00 4.60e-07 3.18e-05 -4.1 8.55e+00 -12.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -13.3 9.76e-01 9.71e-01h 1 81 2.0805508e+00 7.31e-05 1.95e-06 -6.1 1.62e+01 -13.8 1.00e+00 1.00e+00h 1 82 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -14.3 1.00e+00 1.00e+00f 1 83 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -14.7 1.00e+00 1.00e+00h 1 84 2.0816431e+00 4.96e-07 3.18e-05 -4.1 8.74e+00 -15.2 1.00e+00 1.00e+00h 1 85 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -15.7 9.76e-01 9.71e-01h 1 86 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -16.2 1.00e+00 1.00e+00h 1 87 2.0805467e+00 5.04e-08 3.17e-07 -6.1 2.91e+00 -16.6 1.00e+00 1.00e+00h 1 88 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -17.1 1.00e+00 1.00e+00f 1 89 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816573e+00 1.18e-06 3.22e-05 -4.1 1.10e+01 -18.1 1.00e+00 1.00e+00h 1 91 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -18.6 9.76e-01 9.71e-01h 1 92 2.0805512e+00 7.57e-05 2.02e-06 -6.1 1.64e+01 -19.0 1.00e+00 1.00e+00h 1 93 2.0805469e+00 5.37e-08 3.23e-07 -6.1 3.01e+00 -19.5 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816639e+00 1.62e-06 3.23e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 99 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+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 2.0805470e+00 5.53e-08 3.26e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805470382237843e+00 2.0805470382237843e+00 Dual infeasibility......: 3.2577474003528483e-07 3.2577474003528483e-07 Constraint violation....: 5.5338381876879339e-08 5.5338381876879339e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.9212115079303710e-07 8.9212115079303710e-07 Overall NLP error.......: 9.9200240259542579e-05 9.9200240259542579e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.678 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.912s jacobian structure: 1594 nonzeros (2.98s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.653s 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 (6.705s) linear index maps built (0.0s) evaluator ready (total: 9.685s) evaluator created (9.708s) 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: 9.71s) 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 8.6934501e+01 2.42e+00 2.92e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0657880e+01 1.06e+00 1.28e+01 -0.5 1.91e+00 0.0 7.23e-01 5.65e-01f 1 2 3.1999103e+00 4.65e-02 6.27e+00 -0.6 8.68e-01 -0.5 7.24e-01 1.00e+00f 1 3 2.9493460e+00 5.86e-02 3.30e-01 -0.8 3.49e-01 -1.0 9.61e-01 1.00e+00h 1 4 2.5098818e+00 4.38e-02 2.37e-01 -1.9 5.15e-01 -1.4 8.53e-01 1.00e+00h 1 5 2.2070450e+00 4.01e-02 1.81e-01 -2.1 8.40e-01 -1.9 9.85e-01 7.73e-01h 1 6 2.1253503e+00 7.00e-04 2.51e-02 -2.5 6.49e-02 -2.4 9.51e-01 1.00e+00h 1 7 2.0911167e+00 2.37e-04 8.26e-04 -4.0 5.18e-02 -2.9 1.00e+00 9.94e-01h 1 8 2.0909270e+00 6.71e-06 2.06e-04 -4.0 5.87e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909042e+00 3.78e-08 2.06e-04 -4.0 1.71e-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 2.0908520e+00 1.27e-07 2.20e-04 -4.0 4.47e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907744e+00 4.61e-07 1.11e-03 -4.0 9.48e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905946e+00 2.42e-06 1.64e-03 -4.0 2.69e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900847e+00 2.28e-05 6.38e-04 -4.0 8.28e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898198e+00 3.70e-06 1.68e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890136e+00 2.99e-05 3.96e-03 -4.0 9.54e+00 -5.8 1.00e+00 9.49e-01h 1 16 2.0877302e+00 2.47e-04 3.34e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0863763e+00 2.76e-04 5.84e-01 -4.0 1.22e+02 -5.8 1.00e+00 9.60e-02h 1 18 2.0849630e+00 4.77e-04 2.80e-02 -4.0 2.23e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830242e+00 3.66e-04 2.44e-02 -4.0 3.45e+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 2.0827802e+00 3.92e-04 1.37e-02 -4.0 5.47e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823174e+00 6.21e-04 9.17e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0822778e+00 6.61e-04 1.07e-02 -4.0 7.84e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821298e+00 6.49e-04 3.25e-02 -4.0 7.18e+01 -7.8 8.52e-01 1.00e+00h 1 24 2.0820545e+00 4.54e-05 3.32e-04 -4.0 5.28e-01 -4.7 1.00e+00 1.00e+00h 1 25 2.0820139e+00 5.16e-05 2.50e-04 -4.0 1.40e+00 -5.1 1.00e+00 1.00e+00h 1 26 2.0819227e+00 7.53e-06 1.19e-02 -4.0 2.28e+01 -5.6 1.34e-01 1.29e-01h 3 27 2.0819948e+00 1.80e-08 4.90e-03 -4.0 1.51e+00 -6.1 1.00e+00 1.00e+00H 1 28 2.0819954e+00 1.69e-05 1.43e-03 -4.0 3.64e+00 -6.6 1.00e+00 1.00e+00h 1 29 2.0817494e+00 1.70e-04 8.16e-04 -4.1 9.20e+00 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819374e+00 4.33e-04 1.21e-03 -4.0 1.89e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0816325e+00 8.53e-04 1.24e-03 -4.1 3.52e+01 -8.0 1.00e+00 1.00e+00h 1 32 2.0818489e+00 1.12e-03 2.05e-03 -4.0 4.74e+01 -8.5 1.00e+00 1.00e+00h 1 33 2.0815814e+00 7.04e-04 5.79e-04 -4.1 3.08e+01 -8.9 1.00e+00 1.00e+00h 1 34 2.0818394e+00 2.12e-04 2.06e-04 -4.0 8.82e+00 -9.4 1.00e+00 1.00e+00h 1 35 2.0815805e+00 2.12e-04 1.65e-04 -4.1 9.62e+00 -9.9 1.00e+00 1.00e+00h 1 36 2.0818395e+00 2.08e-04 2.06e-04 -4.0 9.49e+00 -10.4 1.00e+00 1.00e+00h 1 37 2.0815804e+00 2.10e-04 1.65e-04 -4.1 9.58e+00 -10.9 1.00e+00 1.00e+00h 1 38 2.0818395e+00 2.11e-04 2.06e-04 -4.0 9.61e+00 -11.3 1.00e+00 1.00e+00h 1 39 2.0815804e+00 2.11e-04 1.65e-04 -4.1 9.62e+00 -11.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818395e+00 2.11e-04 2.06e-04 -4.0 9.62e+00 -12.3 1.00e+00 1.00e+00h 1 41 2.0815804e+00 2.11e-04 1.65e-04 -4.1 9.62e+00 -12.8 1.00e+00 1.00e+00h 1 42 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.2 9.78e-01 9.71e-01h 1 43 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.7 1.00e+00 1.00e+00f 1 44 2.0816136e+00 4.88e-04 1.69e-04 -4.1 2.07e+01 -14.2 1.00e+00 1.00e+00h 1 45 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.7 9.76e-01 9.65e-01h 1 46 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -15.1 1.00e+00 1.00e+00h 1 47 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.6 1.00e+00 1.00e+00f 1 48 2.0816837e+00 9.34e-04 1.76e-04 -4.1 4.57e+01 -16.1 1.00e+00 1.00e+00h 1 49 2.0816477e+00 4.73e-07 1.76e-04 -4.1 8.52e+00 -16.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818389e+00 1.15e-04 2.06e-04 -4.0 7.07e+00 -17.1 1.00e+00 1.00e+00h 1 51 2.0815801e+00 2.08e-04 1.65e-04 -4.1 9.50e+00 -17.5 1.00e+00 1.00e+00h 1 52 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.0 9.78e-01 9.71e-01h 1 53 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -18.5 1.00e+00 1.00e+00h 1 54 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.0 1.00e+00 1.00e+00f 1 55 2.0816887e+00 9.54e-04 1.76e-04 -4.1 4.72e+01 -19.4 1.00e+00 1.00e+00h 1 56 2.0816504e+00 5.63e-07 1.76e-04 -4.1 8.93e+00 -19.9 1.00e+00 1.00e+00h 1 57 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 58 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0805469e+00 4.72e-08 1.63e-06 -6.1 2.95e+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 60 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 61 2.0817159e+00 1.04e-03 1.79e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0816648e+00 1.22e-06 1.79e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 64 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0805471e+00 4.99e-08 1.66e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 66 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 67 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 68 2.0817306e+00 1.08e-03 1.80e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0816723e+00 1.67e-06 1.80e-04 -4.1 1.19e+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 70 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 71 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805472e+00 5.15e-08 1.68e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 74 2.0805365e+00 9.27e-11 1.88e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 75 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817309e+00 1.08e-03 1.80e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816725e+00 1.68e-06 1.80e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 79 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+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 2.0805472e+00 5.16e-08 1.68e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 9.28e-11 1.88e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 4.44e-16 1.88e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 8.88e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-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 90 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 1.88e-09 -9.0 9.38e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 1.88e-09 -9.0 9.38e-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 1.88e-09 -9.0 9.38e-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......: 1.8767770409839031e-09 1.8767770409839031e-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 = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.218 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.048s 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.113s) 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: 0.113s) 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 4.3166249e+00 3.14e+00 4.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4720109e+00 4.76e-01 2.31e+00 -1.0 2.70e+00 0.0 7.76e-01 8.48e-01f 1 2 2.3650489e+00 1.23e-01 9.05e-01 -1.4 5.62e-01 -0.5 9.97e-01 7.30e-01h 1 3 2.2369452e+00 2.58e-02 3.50e-01 -1.7 4.08e-01 -1.0 9.96e-01 7.83e-01h 1 4 2.1305298e+00 1.91e-03 1.26e-02 -2.5 1.01e-01 -1.4 9.98e-01 1.00e+00h 1 5 2.0918285e+00 2.27e-04 7.80e-03 -4.0 4.40e-02 -1.9 9.89e-01 1.00e+00h 1 6 2.0908565e+00 2.48e-06 1.56e-03 -4.0 1.76e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908556e+00 3.31e-09 2.58e-05 -4.0 1.88e-02 -2.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908556256813715e+00 2.0908556256813715e+00 Dual infeasibility......: 2.5768013097401217e-05 2.5768013097401217e-05 Constraint violation....: 3.3063584910317939e-09 3.3063584910317939e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000069829653002e-04 1.0000069829653002e-04 Overall NLP error.......: 2.5768013097401217e-05 2.5768013097401217e-05 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 28.246 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.051s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) 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: 0.117s) 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 1.4939399e+00 2.72e+00 5.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7603765e+00 1.20e-01 6.89e-01 -1.0 1.92e+00 -2.0 9.99e-01 1.00e+00h 1 2 2.2850188e+00 1.66e-01 3.58e-01 -1.8 2.47e+00 -2.5 8.85e-01 8.75e-01h 1 3 2.1799477e+00 2.27e-02 1.07e-01 -2.0 7.93e-01 -3.0 9.27e-01 1.00e+00h 1 4 2.0993139e+00 3.54e-03 5.27e-03 -3.0 3.40e-01 -3.4 9.79e-01 1.00e+00h 1 5 2.0908164e+00 1.53e-04 1.31e-03 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907329e+00 4.44e-06 5.36e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905856e+00 8.48e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901448e+00 7.77e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888332e+00 7.12e-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 2.0849989e+00 6.75e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796393e+00 2.08e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.31e-01h 1 12 2.0802070e+00 3.94e-04 1.84e-01 -4.0 6.81e+01 -7.2 1.00e+00 9.73e-01H 1 13 2.0774653e+00 8.36e-03 2.12e-02 -4.0 1.23e+02 -7.7 1.00e+00 9.51e-01h 1 14 2.0768688e+00 1.67e-03 7.21e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762153e+00 2.57e-03 2.66e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.27e-01h 1 16 2.0755224e+00 1.49e-03 3.95e-02 -4.0 5.84e+02 -9.2 1.00e+00 6.88e-01h 1 17 2.0757709e+00 3.10e-03 1.31e-02 -4.0 1.64e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753787e+00 1.16e-03 5.40e-04 -4.1 8.22e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.63e-04 5.30e-06 -4.0 2.10e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.64e-07 9.27e-07 -4.0 1.09e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.64e-09 6.09e-08 -4.0 3.76e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.35e-11 9.43e-10 -4.0 5.45e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121321410e+00 2.0756712121321410e+00 Dual infeasibility......: 9.4325298957763197e-10 9.4325298957763197e-10 Constraint violation....: 2.3526958159436617e-11 2.3526958159436617e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 9.4325298957763197e-10 9.4325298957763197e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 29.157 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.054s 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 (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) 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: 0.125s) 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 3.1068165e+00 1.80e+00 3.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5730801e+00 3.99e-01 1.60e+01 -4.0 1.73e+00 0.0 4.48e-02 7.77e-01h 1 2 2.6058223e+00 2.34e-01 9.62e+00 -0.9 4.57e-01 0.4 7.20e-01 4.14e-01f 1 3 2.4732841e+00 7.23e-03 1.50e+00 -1.1 4.05e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.2984532e+00 1.21e-02 1.95e-01 -1.7 1.54e-01 -0.5 9.98e-01 9.45e-01h 1 5 2.1141184e+00 1.66e-03 1.99e-02 -2.8 6.50e-02 -1.0 9.99e-01 1.00e+00h 1 6 2.0909314e+00 4.85e-05 6.37e-03 -4.0 1.02e-02 -1.5 9.95e-01 9.87e-01h 1 7 2.0908347e+00 5.69e-08 1.44e-04 -4.0 1.31e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908345e+00 1.17e-09 7.28e-05 -4.0 1.99e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908329e+00 1.08e-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 2.0908279e+00 9.71e-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...............: 2.0908278771654119e+00 2.0908278771654119e+00 Dual infeasibility......: 2.0575600451801753e-05 2.0575600451801753e-05 Constraint violation....: 9.7087242412197128e-10 9.7087242412197128e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999910e-05 9.9999999999999910e-05 Overall NLP error.......: 2.0575600451801753e-05 2.0575600451801753e-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 = 27.709 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: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.046s 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 (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) 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 (0.001s) optimizer initialization complete (total: 0.107s) 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 2.6273189e+00 3.12e+00 5.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6196969e+00 8.82e-02 1.83e+00 -1.0 1.83e+00 - 9.81e-01 1.00e+00h 1 2 2.5697025e+00 1.59e-02 3.32e-01 -1.1 2.43e-01 - 9.78e-01 1.00e+00h 1 3 2.2467125e+00 2.40e-03 9.16e-02 -2.3 8.56e-02 - 9.63e-01 1.00e+00h 1 4 2.1047059e+00 2.56e-03 7.86e-02 -3.4 1.14e-01 - 9.95e-01 9.17e-01h 1 5 2.0909297e+00 9.41e-06 4.60e-03 -4.0 6.69e-03 - 1.00e+00 1.00e+00h 1 6 2.0908813e+00 3.86e-08 7.23e-04 -4.0 2.14e-03 - 1.00e+00 1.00e+00h 1 7 2.0908810e+00 8.44e-11 2.08e-04 -4.0 1.83e-03 - 1.00e+00 1.00e+00h 1 8 2.0867709e+00 1.18e-04 1.42e-01 -4.0 7.92e+01 - 1.00e+00 1.00e+00f 1 9 2.0828888e+00 1.21e-03 1.31e-01 -4.0 7.58e+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 2.0801841e+00 1.05e-03 8.53e-02 -4.0 6.50e+01 - 1.00e+00 7.96e-01h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0801841265286942e+00 2.0801841265286942e+00 Dual infeasibility......: 8.5276158421449449e-02 8.5276158421449449e-02 Constraint violation....: 1.0472505733720716e-03 1.0472505733720716e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0114266131488595e-04 1.0114266131488595e-04 Overall NLP error.......: 8.5276158421449449e-02 8.5276158421449449e-02 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 = 8.726 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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: 0.001s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.115s) 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: 0.116s) 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 2.1459471e+00 2.00e+00 3.96e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6633412e+00 4.28e-01 1.91e+00 -1.0 1.96e+00 0.0 2.67e-01 7.86e-01f 1 2 2.2089597e+00 1.28e-01 1.10e+00 -1.0 6.21e-01 -0.5 1.00e+00 6.98e-01h 1 3 2.8005289e+00 1.69e-02 8.87e-01 -1.0 3.72e-01 -1.0 1.00e+00 1.00e+00f 1 4 2.4066572e+00 3.97e-02 3.31e-01 -1.7 8.89e-01 -1.4 7.11e-01 4.38e-01f 1 5 2.2585648e+00 1.94e-02 2.14e-01 -1.7 5.93e-01 -1.9 1.00e+00 1.00e+00f 1 6 2.2581567e+00 8.49e-04 8.05e-03 -1.7 1.45e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0994284e+00 6.46e-03 9.00e-03 -3.8 3.58e-01 -2.9 9.70e-01 1.00e+00f 1 8 2.0914185e+00 7.00e-05 5.09e-04 -3.8 6.26e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909454e+00 7.44e-06 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 2.0909054e+00 4.14e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909053737808203e+00 2.0909053737808203e+00 Dual infeasibility......: 2.0585757447355512e-05 2.0585757447355512e-05 Constraint violation....: 4.1449687314398798e-08 4.1449687314398798e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000910618e-04 1.0000000000910618e-04 Overall NLP error.......: 2.0585757447355512e-05 2.0585757447355512e-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 = 26.740 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.054s 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 (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) 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: 0.124s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.058s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.127s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.481s sub-objective 2 (QuadraticRegularizer): 0.096s sub-objective 3 (LinearRegularizer): 0.077s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.771s hessian structure: 2431 nonzeros (0.876s) linear index maps built (0.0s) evaluator ready (total: 1.004s) evaluator created (1.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) 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 (3.47s) optimizer initialization complete (total: 4.604s) 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 2.9889319e+00 4.31e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0506663e+00 3.96e+00 1.27e+00 -0.7 4.23e+01 -4.0 7.41e-01 3.37e-01f 1 2 1.9618441e+00 2.64e+00 1.27e+00 -0.8 9.88e+00 -2.7 3.76e-01 3.37e-01f 1 3 2.1478233e+00 1.73e+00 5.62e+00 -1.7 5.32e+01 -3.1 2.91e-01 3.55e-01h 1 4 3.6083845e+00 8.33e-01 1.51e+00 -2.9 1.03e+01 -2.7 3.53e-01 1.00e+00h 1 5 2.4531586e+00 2.29e+00 1.54e+00 -1.5 5.79e+00 -2.3 5.67e-01 1.00e+00f 1 6 1.9104417e+00 9.25e-01 6.18e-01 -1.9 3.49e+00 -1.9 7.75e-01 1.00e+00h 1 7 1.6578305e+00 3.48e-01 3.89e-01 -2.3 2.96e+00 -2.3 6.65e-01 1.00e+00h 1 8 1.4481495e+00 5.36e-01 6.28e-01 -2.9 7.39e+00 -2.8 4.51e-01 5.90e-01h 1 9 1.2432439e+00 1.49e+00 1.88e-01 -2.9 8.89e+00 -3.3 8.05e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1667185e+00 1.25e+00 3.13e-01 -2.5 1.82e+01 -3.8 6.91e-01 1.00e+00h 1 11 1.0509352e+00 1.74e+00 2.44e-01 -2.3 2.32e+01 -4.3 8.55e-01 1.00e+00h 1 12 9.4793635e-01 6.05e-01 2.52e-01 -2.6 4.43e+01 -4.7 8.20e-01 1.00e+00h 1 13 8.3604027e-01 3.24e+00 9.50e-02 -3.2 5.62e+01 -5.2 9.98e-01 1.00e+00h 1 14 7.5600808e-01 1.81e+00 1.81e-01 -3.5 7.98e+01 -5.7 1.00e+00 1.00e+00h 1 15 7.1409201e-01 5.17e+00 6.07e-01 -3.0 1.05e+02 -6.2 1.00e+00 1.00e+00h 1 16 7.4394640e-01 1.41e+00 4.60e-01 -2.7 6.18e+01 -5.7 7.09e-01 1.00e+00h 1 17 6.7025583e-01 1.83e+00 2.10e-01 -3.3 1.05e+02 -6.2 9.99e-01 1.00e+00h 1 18 6.5933881e-01 1.59e-01 7.92e-02 -3.5 3.57e+01 -5.8 9.99e-01 1.00e+00h 1 19 6.3296124e-01 1.29e+00 1.21e-01 -3.9 8.64e+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 20 6.3236953e-01 1.12e-01 2.29e-02 -4.0 2.32e+01 -5.8 1.00e+00 1.00e+00h 1 21 6.2268159e-01 4.20e-01 5.18e-02 -4.0 7.20e+01 -6.3 1.00e+00 1.00e+00h 1 22 6.0732464e-01 1.99e+00 2.18e-01 -4.0 2.24e+02 -6.8 1.00e+00 1.00e+00h 1 23 6.0278586e-01 4.25e-01 5.32e-02 -4.0 3.88e+01 -6.4 1.00e+00 1.00e+00h 1 24 5.9500924e-01 6.29e-01 1.48e-01 -4.0 1.32e+02 -6.8 1.00e+00 1.00e+00h 1 25 5.8172977e-01 3.23e+00 3.43e-01 -4.0 3.48e+02 -7.3 1.00e+00 1.00e+00h 1 26 5.7852405e-01 1.09e+00 1.28e-01 -4.0 9.34e+01 -6.9 1.00e+00 1.00e+00h 1 27 5.7147698e-01 3.86e+00 3.26e-01 -4.0 2.89e+02 -7.4 1.00e+00 1.00e+00h 1 28 5.7025522e-01 7.80e-01 1.20e-01 -4.0 7.90e+01 -6.9 1.00e+00 1.00e+00h 1 29 5.6466781e-01 3.84e+00 3.14e-01 -4.0 2.75e+02 -7.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.6302644e-01 1.04e+00 1.31e-01 -4.0 7.92e+01 -7.0 1.00e+00 1.00e+00h 1 31 5.5829484e-01 4.24e+00 3.09e-01 -4.0 2.65e+02 -7.5 1.00e+00 1.00e+00h 1 32 5.5720475e-01 1.37e+00 1.40e-01 -4.0 8.50e+01 -7.1 1.00e+00 1.00e+00h 1 33 5.5288064e-01 4.34e+00 3.29e-01 -4.0 2.49e+02 -7.5 1.00e+00 1.00e+00h 1 34 5.5289802e-01 1.62e+00 1.57e-01 -4.0 9.13e+01 -7.1 1.00e+00 1.00e+00h 1 35 5.4863285e-01 4.12e+00 3.61e-01 -4.0 2.33e+02 -7.6 1.00e+00 1.00e+00h 1 36 5.4965646e-01 1.77e+00 1.74e-01 -4.0 9.66e+01 -7.2 1.00e+00 1.00e+00h 1 37 5.4540829e-01 3.92e+00 3.88e-01 -4.0 2.28e+02 -7.6 1.00e+00 1.00e+00h 1 38 5.4663773e-01 1.98e+00 1.75e-01 -4.0 1.03e+02 -7.2 1.00e+00 1.00e+00h 1 39 5.4256085e-01 3.91e+00 4.29e-01 -4.0 2.33e+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 40 5.4349734e-01 2.45e+00 2.12e-01 -4.0 1.15e+02 -7.3 1.00e+00 1.00e+00h 1 41 5.3937129e-01 3.95e+00 4.78e-01 -4.0 2.38e+02 -7.7 1.00e+00 1.00e+00h 1 42 5.4066201e-01 3.21e+00 3.78e-01 -4.0 1.35e+02 -7.3 1.00e+00 1.00e+00h 1 43 5.3576790e-01 3.84e+00 5.02e-01 -4.0 2.33e+02 -7.8 1.00e+00 1.00e+00h 1 44 5.5833305e-01 1.50e+00 5.80e-01 -4.0 1.60e+02 -7.4 1.00e+00 1.00e+00H 1 45 5.3610285e-01 1.71e+00 2.13e-01 -4.2 1.64e+02 -7.8 9.58e-01 9.05e-01h 1 46 5.4416768e-01 8.76e-01 2.32e-01 -4.0 1.29e+02 -7.4 1.00e+00 1.00e+00h 1 47 5.4388755e-01 5.52e+00 4.44e-01 -4.0 3.20e+02 -7.9 1.00e+00 1.00e+00h 1 48 5.3303070e-01 1.01e+01 7.87e-01 -4.1 5.89e+02 -8.4 7.38e-01 1.00e+00h 1 49 5.3514625e-01 1.07e+01 1.59e-01 -4.0 1.08e+03 -7.9 1.00e+00 4.11e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.3487997e-01 2.16e+01 9.92e-01 -4.0 1.32e+03 -8.4 1.00e+00 1.00e+00h 1 51 5.3298243e-01 2.85e+01 9.00e-01 -4.1 6.33e+03 -8.0 1.18e-01 9.49e-02h 2 52 5.3016528e-01 3.23e+01 7.93e-01 -4.0 3.99e+03 -8.5 3.82e-01 2.44e-01h 3 53 5.3843048e-01 1.61e-01 3.35e-01 -4.0 6.08e+01 -7.1 1.00e+00 1.00e+00h 1 54 5.3537873e-01 2.95e+00 5.73e-01 -4.0 1.71e+02 -7.6 1.00e+00 1.00e+00h 1 55 5.2983468e-01 6.27e+00 8.12e-01 -3.8 3.32e+02 -8.1 1.00e+00 1.00e+00h 1 56 5.5574071e-01 3.27e+00 9.46e-01 -3.8 6.28e+02 -7.7 1.00e+00 7.60e-01H 1 57 5.3363121e-01 2.66e+00 5.21e-01 -4.0 3.15e+02 -8.1 3.94e-02 8.46e-01h 1 58 5.3367828e-01 8.85e+01 1.26e+00 -4.0 3.40e+03 -8.6 1.00e+00 1.00e+00h 1 59 5.2425374e-01 5.95e+01 8.26e-01 -4.1 1.65e+03 -8.2 3.55e-01 4.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.4866978e-01 3.25e+01 3.19e+00 -4.0 6.12e+02 -6.9 1.16e-01 4.75e-01h 1 61 5.2223844e-01 1.08e+01 1.13e+00 -4.1 2.40e+02 -7.3 8.87e-01 7.17e-01h 1 62 5.2142737e-01 9.71e+00 2.83e-01 -4.0 5.61e+02 -7.8 3.29e-01 3.69e-01h 2 63 5.1990028e-01 1.22e+01 1.12e+00 -4.0 1.67e+03 -8.3 2.22e-01 2.03e-01h 2 64 5.3393649e-01 5.07e+00 6.58e-01 -4.0 3.72e+02 -7.0 6.43e-01 8.59e-01h 1 65 5.2208913e-01 3.64e+00 1.51e-01 -4.1 2.15e+02 -7.4 7.63e-01 3.36e-01h 1 66 5.3251025e-01 4.29e+00 1.24e+00 -3.6 2.45e+02 -7.9 2.65e-01 1.00e+00f 1 67 5.2303339e-01 4.82e+00 6.64e-01 -3.8 2.31e+03 -7.5 4.68e-02 8.31e-02h 2 68 5.1782459e-01 6.09e+00 1.94e+00 -3.8 1.38e+03 -7.1 1.85e-01 1.52e-01h 1 69 5.1789328e-01 9.64e+00 1.71e+00 -4.0 4.81e+03 -7.5 1.46e-02 5.95e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.0227903e-01 2.90e+00 2.99e+00 -3.9 2.26e+02 -6.2 9.15e-01 7.12e-01h 1 71 5.2223939e-01 1.74e+00 3.67e-01 -3.6 1.34e+02 -6.7 6.31e-01 8.33e-01h 1 72 5.8242754e-01 1.41e+00 2.14e+00 -3.2 2.01e+02 -7.2 2.41e-01 9.18e-01H 1 73 5.6467701e-01 2.40e+00 1.14e+00 -3.3 4.38e+02 -7.6 1.07e-02 3.53e-01h 1 74 5.6210212e-01 2.48e+01 1.61e+00 -3.3 9.43e+02 -8.1 6.03e-01 9.12e-01h 1 75 5.3639532e-01 1.83e+01 3.72e+00 -3.3 9.35e+02 -8.6 8.16e-01 1.00e+00h 1 76 5.4289011e-01 7.42e+00 7.32e-01 -3.3 1.72e+02 -8.2 1.00e+00 5.83e-01h 1 77 5.4979919e-01 8.99e+00 3.33e+00 -3.3 1.23e+03 -8.7 8.41e-01 1.00e+00h 1 78 5.4697037e-01 1.07e+01 2.23e+00 -3.3 1.19e+03 -8.2 4.80e-01 4.15e-01h 2 79 5.6177651e-01 2.42e+00 3.13e+00 -3.3 1.03e+03 -8.7 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.5307869e-01 2.40e+00 3.12e+00 -3.3 1.76e+04 -7.4 3.49e-03 4.35e-03h 2 81 5.5956490e-01 3.79e+00 9.00e-01 -3.3 6.72e+02 -7.9 1.00e+00 7.72e-01H 1 82 5.3942705e-01 5.41e+00 1.60e+00 -3.3 5.59e+02 -8.3 1.76e-01 1.00e+00h 1 83 5.5064559e-01 7.17e-02 4.86e-01 -3.3 6.14e+01 -7.9 1.00e+00 1.00e+00h 1 84 5.4951325e-01 4.54e-02 1.38e+00 -3.3 2.91e+02 -8.4 1.00e+00 1.00e+00H 1 85 5.3696183e-01 2.72e+00 1.76e+00 -3.5 6.81e+02 -8.9 1.00e+00 1.00e+00h 1 86 5.3904405e-01 1.38e+00 6.28e-01 -3.6 7.63e+02 -8.4 1.00e+00 1.00e+00H 1 87 5.2683446e-01 9.75e+00 1.92e+00 -3.6 8.91e+02 -8.9 7.77e-01 1.00e+00h 1 88 5.2604875e-01 5.69e+00 3.41e-01 -3.6 3.23e+02 -7.6 1.00e+00 5.00e-01h 2 89 5.2965807e-01 3.03e+00 1.14e+00 -3.6 2.47e+02 -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 90 5.2502527e-01 3.63e+00 1.57e-01 -3.6 5.40e+02 -7.6 5.22e-01 3.85e-01h 2 91 5.4254970e-01 1.36e+00 1.91e+00 -3.6 3.07e+02 -8.1 9.28e-01 1.00e+00H 1 92 5.3242185e-01 1.98e+00 9.09e-01 -3.6 1.18e+03 -7.7 1.36e-01 1.30e-01h 2 93 5.4180671e-01 2.09e+00 1.26e+00 -4.0 1.17e+03 -8.2 1.00e+00 8.20e-01H 1 94 5.2081140e-01 7.25e+00 3.28e-01 -4.1 1.17e+03 -8.6 4.64e-02 7.84e-01h 1 95 5.2259458e-01 4.83e-01 2.96e-01 -4.1 2.18e+02 -8.2 1.00e+00 1.00e+00h 1 96 5.3455923e-01 2.51e+00 1.77e+00 -3.5 7.38e+02 -8.7 1.00e+00 1.00e+00h 1 97 5.2907468e-01 1.67e+01 2.90e+00 -3.6 1.76e+03 -9.2 1.00e+00 1.00e+00h 1 98 5.2884485e-01 5.49e+00 1.36e+00 -3.6 3.13e+02 -7.8 1.00e+00 1.00e+00h 1 99 5.2181866e-01 5.89e+00 1.26e+00 -3.6 5.40e+02 -8.3 6.47e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.2586313e-01 5.40e+00 1.27e+00 -3.8 3.59e+02 -7.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.2586313271698870e-01 5.2586313271698870e-01 Dual infeasibility......: 1.2726739621229008e+00 1.2726739621229008e+00 Constraint violation....: 5.3986470639450452e+00 5.3986470639450452e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7353132674106998e-04 1.7353132674106998e-04 Overall NLP error.......: 5.3986470639450452e+00 5.3986470639450452e+00 Number of objective function evaluations = 144 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 144 Number of inequality constraint evaluations = 144 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 51.995 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.05s 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 (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) 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 (0.123s) optimizer initialization complete (total: 0.238s) 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 2.8103372e+00 2.80e+00 7.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8604264e+00 3.34e-02 5.58e-01 -1.1 1.99e+00 - 1.00e+00 1.00e+00f 1 2 2.5111785e+00 9.70e-03 2.75e-01 -1.4 1.76e-01 - 9.13e-01 1.00e+00f 1 3 2.1917278e+00 4.51e-03 7.50e-02 -2.2 8.02e-02 - 9.22e-01 7.57e-01h 1 4 2.0981891e+00 1.89e-04 3.28e-03 -3.3 2.07e-02 - 9.92e-01 1.00e+00h 1 5 2.0908986e+00 3.49e-05 2.74e-04 -4.0 3.71e-02 - 1.00e+00 1.00e+00h 1 6 2.0908969e+00 4.21e-07 4.44e-06 -4.0 1.79e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.81e-12 3.33e-11 -4.0 5.78e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971985023483e+00 2.0908971985023483e+00 Dual infeasibility......: 3.3312439043147943e-11 3.3312439043147943e-11 Constraint violation....: 3.8144943475572346e-12 3.8144943475572346e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000471697703696e-04 1.0000471697703696e-04 Overall NLP error.......: 4.7169770369537159e-09 4.7169770369537159e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 26.803 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.048s 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 (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) 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: 0.112s) 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 2.9240090e+00 1.34e+00 6.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3825242e+00 6.49e-01 1.37e+00 -0.7 6.90e+00 -2.0 5.63e-01 7.62e-01f 1 2 2.9221809e+00 5.72e-01 9.15e+00 -0.8 7.63e+00 -2.5 5.67e-01 1.00e+00f 1 3 2.6243719e+00 1.24e-02 1.02e+00 -0.7 1.55e-01 0.7 8.66e-01 1.00e+00f 1 4 2.4848523e+00 3.08e-03 3.35e-01 -1.5 5.61e-02 0.2 9.97e-01 1.00e+00h 1 5 2.2287998e+00 9.31e-03 9.05e-02 -2.1 1.20e-01 -0.3 9.85e-01 8.80e-01f 1 6 2.1545265e+00 5.96e-03 1.28e+00 -2.6 2.16e-01 -0.8 9.99e-01 3.61e-01h 1 7 2.1210682e+00 3.42e-03 8.49e-01 -2.6 1.18e-01 -1.3 9.98e-01 4.27e-01h 1 8 2.1042204e+00 1.23e-03 3.62e-01 -3.2 6.17e-02 -1.7 1.00e+00 6.41e-01h 1 9 2.0911186e+00 9.27e-05 2.74e-02 -4.0 2.71e-02 -2.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910077e+00 3.56e-07 1.38e-04 -4.0 1.01e-02 -2.7 1.00e+00 1.00e+00h 1 11 2.0910034e+00 2.20e-08 2.09e-05 -4.0 3.02e-02 -3.2 1.00e+00 1.00e+00h 1 12 2.0909946e+00 3.45e-09 2.08e-05 -4.0 9.00e-02 -3.6 1.00e+00 1.00e+00h 1 13 2.0909687e+00 2.98e-08 2.05e-05 -4.0 2.65e-01 -4.1 1.00e+00 1.00e+00h 1 14 2.0908949e+00 2.38e-07 8.20e-05 -4.0 7.56e-01 -4.6 1.00e+00 1.00e+00h 1 15 2.0907040e+00 1.55e-06 5.52e-04 -4.0 1.96e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0903271e+00 5.96e-06 2.40e-03 -4.0 3.99e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0899859e+00 7.06e-06 4.21e-03 -4.0 5.62e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0898845e+00 1.68e-06 2.28e-03 -4.0 6.52e+00 -6.5 1.00e+00 1.00e+00h 1 19 2.0898356e+00 9.68e-07 1.14e-03 -4.0 1.17e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898254e+00 1.35e-06 1.09e-03 -4.0 1.05e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0898224e+00 9.28e-07 2.14e-04 -4.0 5.08e+00 -7.9 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.41e-08 6.51e-06 -4.0 7.97e-01 -8.4 1.00e+00 1.00e+00h 1 23 2.0898219e+00 1.02e-10 2.67e-08 -4.0 6.64e-02 -8.9 1.00e+00 1.00e+00h 1 24 2.0898218e+00 2.55e-14 1.92e-11 -4.0 2.00e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218497857499e+00 2.0898218497857499e+00 Dual infeasibility......: 1.9225816495467909e-11 1.9225816495467909e-11 Constraint violation....: 2.5451862839531714e-14 2.5451862839531714e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000068e-04 1.0000000000000068e-04 Overall NLP error.......: 1.9225816495467909e-11 1.9225816495467909e-11 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 29.462 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) 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: 0.001s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) 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: 0.109s) 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 1.9132452e+00 3.76e+00 4.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9286670e+00 3.52e+00 5.87e+00 -0.0 2.63e+00 0.0 1.28e-02 6.36e-02f 1 2 1.9632368e+00 3.46e+00 1.57e+01 -1.5 4.44e+00 -0.5 6.25e-02 1.49e-02h 1 3 2.0840901e+00 3.31e+00 2.33e+02 -0.3 1.59e+01 -1.0 8.10e-01 4.51e-02f 1 4 2.4483152e+00 4.46e+00 3.28e+02 1.0 5.23e+01 -1.4 7.39e-01 1.02e-01f 1 5 2.4897005e+00 4.34e+00 1.11e+04 1.4 1.01e+02 -1.9 6.12e-01 2.69e-02h 1 6 2.4935848e+00 4.34e+00 1.68e+07 2.1 6.74e+02 -1.5 3.82e-01 2.77e-04h 1 7 2.4994087e+00 4.34e+00 2.23e+07 2.5 2.32e+06 -2.0 1.72e-05 7.49e-06f 3 8 2.9615914e+00 1.75e+02 1.99e+08 1.7 5.60e+05 -2.4 3.41e-05 6.65e-04f 1 9 2.9668102e+00 1.75e+02 2.42e+08 1.7 3.45e+04 -2.9 1.22e-02 1.17e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 2.9668102e+00 1.75e+02 9.99e+02 2.2 0.00e+00 -1.6 0.00e+00 2.51e-07R 4 11r 2.9647694e+00 9.43e+00 9.81e+02 -3.9 3.30e+05 - 1.90e-02 1.05e-03f 1 12 2.9644750e+00 9.43e+00 5.50e+04 1.0 1.60e+03 -2.1 1.77e-02 1.34e-05h 1 13r 2.9644750e+00 9.43e+00 9.99e+02 1.0 0.00e+00 -2.5 0.00e+00 4.56e-07R 4 14r 2.8382331e+00 2.21e+00 9.95e+02 2.6 2.90e+04 - 1.98e-02 1.70e-03f 1 15 2.8489362e+00 2.20e+00 1.64e+05 0.3 4.22e+01 -3.0 1.00e+00 3.38e-03h 1 16 2.8540117e+00 2.20e+00 1.88e+09 2.0 1.13e+03 -3.5 1.00e+00 8.72e-05h 1 17r 2.8540117e+00 2.20e+00 1.00e+03 2.4 0.00e+00 -4.0 0.00e+00 3.24e-07R 3 18r 2.9998180e+00 6.43e-01 8.95e+02 2.3 5.06e+01 - 6.25e-01 1.23e-01f 1 19 3.0137290e+00 5.76e-01 1.83e+00 -4.0 8.51e+00 -4.4 2.94e-01 1.04e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.0146854e+00 5.76e-01 1.83e+03 -1.0 8.65e+00 -4.9 5.47e-01 1.18e-03h 1 21 3.0411000e+00 5.75e-01 2.98e+06 0.1 3.63e+02 -5.4 1.00e+00 5.86e-04h 1 22r 3.0411000e+00 5.75e-01 9.99e+02 1.8 0.00e+00 -5.9 0.00e+00 2.64e-07R 6 23r 3.1169703e+00 2.00e-01 8.45e+02 1.0 1.15e+01 - 8.39e-01 8.77e-02f 1 24 3.1159884e+00 1.99e-01 3.81e+01 -4.0 1.39e+01 -6.4 7.77e-02 1.97e-03h 1 25 3.1154585e+00 1.99e-01 9.37e+03 -0.3 3.60e+01 -6.8 1.00e+00 2.28e-03h 1 26 3.1192074e+00 1.99e-01 1.57e+08 1.7 2.16e+02 -7.3 1.00e+00 6.31e-05h 1 27r 3.1192074e+00 1.99e-01 1.00e+03 2.5 0.00e+00 -7.8 0.00e+00 2.72e-07R 6 28r 3.3614747e+00 2.07e-01 2.19e+02 1.0 1.77e+00 - 7.78e-01 7.90e-01f 1 29r 3.5024647e+00 2.02e-01 5.92e+01 -0.2 6.86e-01 0.0 8.09e-01 7.38e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.7007343e+00 2.00e-01 1.00e+01 -0.3 2.08e-01 0.4 1.00e+00 9.51e-01f 1 31r 4.4807401e+00 2.45e-01 9.97e+00 -0.4 8.58e-01 -0.1 9.01e-01 1.00e+00f 1 32r 4.3521286e+00 1.99e-01 1.08e+01 -0.5 3.71e-01 0.4 8.77e-01 1.00e+00f 1 33r 4.1628816e+00 1.99e-01 3.23e+00 -1.1 7.85e-01 - 1.00e+00 9.81e-01f 1 34r 4.1420159e+00 1.99e-01 1.53e+00 -1.6 9.03e-02 -0.1 9.87e-01 1.00e+00f 1 35r 3.9152959e+00 1.99e-01 6.20e-02 -2.1 3.19e-01 - 1.00e+00 1.00e+00f 1 36r 3.9027411e+00 1.99e-01 1.13e+00 -3.2 1.07e-01 - 9.06e-01 1.00e+00f 1 37r 3.8980495e+00 1.99e-01 5.76e-03 -3.8 3.32e-02 - 1.00e+00 1.00e+00h 1 38r 3.9016901e+00 1.99e-01 1.21e-03 -4.0 4.15e-02 - 1.00e+00 1.00e+00h 1 39r 3.9181016e+00 1.99e-01 4.04e-05 -4.0 1.77e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.9190939e+00 1.99e-01 2.28e-06 -4.0 4.34e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 3.9191103302483725e+00 3.9191103302483725e+00 Dual infeasibility......: 1.9689322137054235e+00 1.9689322137054235e+00 Constraint violation....: 1.9875045046033779e-01 1.9875045046033779e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000004891773341e-04 1.0000004891773341e-04 Overall NLP error.......: 1.9689322137054235e+00 1.9689322137054235e+00 Number of objective function evaluations = 68 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 68 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 47 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 41 Total seconds in IPOPT = 30.243 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) 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: 0.11s) 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 3.8432772e+00 3.57e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5410174e+00 1.15e-01 3.55e+00 -1.0 1.77e+00 0.0 6.72e-01 1.00e+00f 1 2 3.2799197e+00 9.36e-02 9.79e+00 0.2 6.82e+00 -0.5 3.01e-01 6.13e-02f 1 3 3.4899460e+00 2.51e-02 6.11e+00 -0.2 4.46e-01 -0.1 7.39e-01 1.00e+00f 1 4 3.2519632e+00 2.26e-02 1.15e+00 -1.0 3.89e-01 -0.5 9.97e-01 1.00e+00h 1 5 2.6701169e+00 3.96e-02 3.28e-01 -1.3 2.99e-01 -1.0 8.03e-01 1.00e+00f 1 6 2.4214816e+00 3.69e-02 8.05e-01 -1.6 1.56e+00 -1.5 9.81e-01 4.36e-01h 1 7 2.2515955e+00 5.43e-03 7.67e-02 -1.8 1.81e-01 -2.0 9.49e-01 1.00e+00h 1 8 2.1096080e+00 2.49e-03 8.30e-03 -3.0 1.09e-01 -2.4 9.95e-01 9.55e-01h 1 9 2.0908836e+00 8.95e-05 4.34e-04 -4.0 3.00e-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 2.0909448e+00 1.24e-06 2.48e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909299e+00 9.25e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908850e+00 7.79e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907506e+00 7.03e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903485e+00 6.36e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891509e+00 5.82e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856401e+00 5.49e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796186e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.35e-01h 1 18 2.0807465e+00 1.49e-04 1.82e-01 -4.0 6.64e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775256e+00 7.19e-03 2.47e-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 2.0769533e+00 1.07e-03 4.62e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759793e+00 9.48e-04 2.29e-02 -4.0 3.15e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754510e+00 1.64e-03 2.71e-02 -4.0 4.64e+02 -9.1 1.00e+00 7.19e-01h 1 23 2.0757654e+00 2.04e-03 1.13e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756806e+00 2.47e-04 4.57e-04 -4.0 6.68e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 4.20e-06 7.86e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.14e-08 1.32e-06 -4.0 1.43e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.75e-09 1.14e-07 -4.0 4.71e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.89e-11 1.91e-09 -4.0 7.46e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121669065e+00 2.0756712121669065e+00 Dual infeasibility......: 1.9082349751449283e-09 1.9082349751449283e-09 Constraint violation....: 4.8859916113030977e-11 4.8859916113030977e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000030e-04 1.0000000000000030e-04 Overall NLP error.......: 1.9082349751449283e-09 1.9082349751449283e-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 = 28.670 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.146s jacobian structure: 1600 nonzeros (3.212s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.776s 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 (4.83s) linear index maps built (0.0s) evaluator ready (total: 8.042s) evaluator created (8.068s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP 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: 8.068s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.3922828e+00 1.67e+00 6.13e-01 9.57e-01 -1.0 - 0.00e+00 1 0 1 2.5055349e+00 8.58e-02 4.59e+00 8.46e-01 -1.0 0.0 9.57e-01 2 1h 2 3.0224575e+00 1.15e-01 1.42e+00 4.80e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.5900162e+00 6.64e-02 6.96e-01 1.54e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3071823e+00 2.94e-02 3.48e-01 4.25e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.2645968e+00 2.80e-03 3.13e-02 2.22e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1236273e+00 8.10e-04 5.55e-03 3.93e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0914259e+00 7.87e-04 1.50e-03 1.80e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0913603e+00 1.57e-06 2.50e-05 1.50e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0900048e+00 5.14e-05 2.88e-04 1.16e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899627e+00 8.71e-05 1.04e-04 1.86e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0899475e+00 3.82e-06 1.18e-04 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899047e+00 1.60e-05 1.42e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0897898e+00 4.69e-05 3.69e-04 4.52e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0897394e+00 1.45e-05 8.53e-04 1.85e-06 -5.7 -4.4 7.04e-01 1 1h 15 2.0896030e+00 6.14e-06 3.10e-04 3.32e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0894321e+00 6.22e-06 9.79e-03 1.89e-06 -5.7 -5.4 3.94e-01 1 1h 17 2.0883169e+00 2.35e-05 2.02e-03 4.64e-06 -5.7 -5.8 1.00e+00 1 1h 18 2.0878911e+00 2.03e-05 9.25e-02 2.32e-06 -5.7 -6.3 1.47e-01 1 1h 19 2.0831537e+00 3.54e-05 5.65e-02 4.60e-06 -5.7 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0821331e+00 2.83e-05 1.12e-01 2.51e-06 -5.7 -7.3 2.55e-01 1 1h 21 2.0817182e+00 2.57e-05 1.13e-01 6.31e-06 -5.7 -7.7 1.00e-01 2 1h 22 2.0814308e+00 2.82e-05 1.87e-01 7.35e-06 -5.7 -8.2 2.41e-01 1 1h 23 2.0806486e+00 3.76e-05 1.48e-01 4.82e-06 -5.7 -8.7 8.53e-01 1 1h 24 2.0806473e+00 2.77e-05 1.17e-01 2.76e-05 -5.7 -6.5 2.64e-01 1 1h 25 2.0806250e+00 2.36e-06 1.46e-03 5.99e-06 -5.7 -6.9 1.00e+00 1 1h 26 2.0805945e+00 9.96e-07 5.02e-03 3.01e-06 -5.7 -7.4 1.00e+00 1 1h 27 2.0805871e+00 3.76e-07 3.74e-02 2.29e-06 -5.7 -6.1 5.31e-01 1 1h 28 2.0805934e+00 5.93e-07 4.41e-04 1.20e-05 -5.7 -6.6 1.00e+00 1 1h 29 2.0805874e+00 3.24e-07 2.28e-04 1.97e-06 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805874e+00 4.98e-09 3.50e-06 2.15e-06 -5.7 -5.7 1.00e+00 1 1h 31 2.0805665e+00 1.37e-06 4.32e-03 5.77e-07 -8.6 -6.2 8.27e-01 2 1h 32 2.0805601e+00 7.97e-07 3.04e-05 9.56e-08 -8.6 -6.7 1.00e+00 2 1h 33 2.0805583e+00 4.52e-07 2.81e-03 2.45e-08 -8.6 -7.1 4.32e-01 2 1h 34 2.0805529e+00 1.04e-07 1.30e-03 4.03e-09 -8.6 -7.6 7.61e-01 2 1h 35 2.0805434e+00 2.71e-09 3.19e-04 2.62e-09 -8.6 -8.1 1.00e+00 1 1h 36 2.0805376e+00 5.22e-10 4.52e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 37 2.0805447e+00 2.22e-16 3.89e-04 3.49e-06 -8.6 -7.2 1.00e+00 1 1H 38 2.0805384e+00 5.79e-10 1.06e-01 2.79e-09 -8.6 -5.9 3.31e-01 1 1H 39 2.0805384e+00 5.60e-10 1.79e-01 3.05e-09 -8.6 -6.4 3.36e-02 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805381e+00 6.66e-16 1.94e-04 2.09e-08 -8.6 -6.9 1.00e+00 1 1H 41 2.0805376e+00 5.46e-10 1.06e-05 3.45e-09 -8.6 -7.3 1.00e+00 1 1h 42 2.0805370e+00 6.41e-11 1.15e-03 2.65e-09 -8.6 -7.8 1.00e+00 2 1h 43 2.0805370e+00 6.06e-11 2.26e-02 6.07e-07 -8.6 -6.5 1.99e-01 1 3h 44 2.0805369e+00 8.59e-12 5.09e-05 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 45 2.0805369e+00 8.08e-14 1.37e-06 3.40e-09 -8.6 -6.5 1.00e+00 1 1h 46 2.0805369e+00 3.81e-13 2.70e-07 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 47 2.0805368e+00 1.25e-12 1.03e-06 2.51e-09 -8.6 -7.5 1.00e+00 2 1h 48 2.0805367e+00 6.28e-12 4.72e-06 2.51e-09 -8.6 -8.0 1.00e+00 2 1h 49 2.0805365e+00 1.26e-11 8.60e-06 2.51e-09 -8.6 -8.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 6.29e-12 4.95e-06 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 51 2.0805365e+00 5.34e-13 5.00e-07 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 52 2.0805365e+00 6.11e-15 6.96e-09 2.51e-09 -8.6 -9.9 1.00e+00 1 1h Number of Iterations....: 52 (scaled) (unscaled) Objective...............: 2.0805364803022677e+00 2.0805364803022677e+00 Dual infeasibility......: 6.9586438833368902e-09 6.9586438833368902e-09 Constraint violation....: 6.1062266354383610e-15 6.1062266354383610e-15 Complementarity.........: 2.5059035603584041e-09 2.5059035603584041e-09 Overall NLP error.......: 6.9586438833368902e-09 6.9586438833368902e-09 Number of objective function evaluations = 59 Number of objective gradient evaluations = 53 Number of constraint evaluations = 59 Number of constraint Jacobian evaluations = 53 Number of Lagrangian Hessian evaluations = 52 Number of KKT factorizations = 123 Number of KKT backsolves = 78 Total wall secs in initialization = 5.633 s Total wall secs in linear solver = 0.074 s Total wall secs in NLP function evaluations = 19.458 s Total wall secs in solver (w/o init./fun./lin. alg.) = 29.248 s Total wall secs = 54.413 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.223s jacobian structure: 1680 nonzeros (3.287s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.151s 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: 0.001s hessian structure: 1964 nonzeros (12.205s) linear index maps built (0.0s) evaluator ready (total: 15.492s) evaluator created (15.517s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.093s) 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 (5.126s) optimizer initialization complete (total: 20.738s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 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 inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.3204498e+01 4.27e+00 3.32e+00 1.97e+00 -1.0 - 0.00e+00 1 0 1 2.7002017e+00 4.53e-01 5.17e+00 6.94e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.7090087e+00 2.46e-02 7.51e+00 1.14e-01 -1.0 1.1 1.00e+00 1 1h 3 2.7483726e+00 7.91e-04 9.50e-01 1.06e-01 -1.0 0.7 1.00e+00 2 1h 4 2.5186580e+00 4.52e-03 1.80e-01 3.63e-02 -1.7 0.2 1.00e+00 2 1h 5 2.1616807e+00 1.22e-02 8.39e-02 8.59e-03 -2.5 -0.3 8.46e-01 2 1h 6 2.1226953e+00 6.39e-03 2.40e-01 5.21e-03 -2.5 -0.8 4.77e-01 2 1h 7 2.1152728e+00 1.64e-03 5.17e-03 3.30e-03 -2.5 -1.3 1.00e+00 2 1h 8 2.0914876e+00 2.22e-05 1.71e-04 1.73e-04 -3.8 -1.7 1.00e+00 2 1h 9 2.0900142e+00 4.83e-07 1.18e-04 2.30e-05 -5.7 -2.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900010e+00 2.61e-07 1.29e-04 6.05e-06 -5.7 -2.7 1.00e+00 2 1h 11 2.0899885e+00 2.32e-06 1.91e-04 2.38e-06 -5.7 -3.2 1.00e+00 2 1h 12 2.0899777e+00 1.37e-05 4.38e-05 1.85e-06 -5.7 -3.6 1.00e+00 2 1h 13 2.0899528e+00 4.24e-05 1.98e-05 1.84e-06 -5.7 -4.1 1.00e+00 2 1h 14 2.0898782e+00 6.14e-05 1.97e-05 1.84e-06 -5.7 -4.6 1.00e+00 2 1h 15 2.0896885e+00 4.06e-05 1.24e-03 1.85e-06 -5.7 -5.1 8.54e-01 1 1h 16 2.0890724e+00 3.62e-05 1.12e-03 5.88e-06 -5.7 -5.5 1.00e+00 1 1h 17 2.0887638e+00 3.11e-05 6.17e-02 2.13e-06 -5.7 -6.0 1.56e-01 1 1h 18 2.0851635e+00 2.77e-05 2.57e-02 5.20e-06 -5.7 -6.5 1.00e+00 1 1h 19 2.0844086e+00 2.36e-05 1.59e-01 3.06e-06 -5.7 -7.0 1.52e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0816837e+00 2.64e-05 1.49e-01 2.42e-06 -5.7 -7.5 4.75e-01 1 1h 21 2.0812764e+00 1.82e-04 1.44e-01 3.87e-04 -5.7 -7.9 1.00e+00 1 1h 22 2.0810808e+00 1.40e-04 2.39e-02 2.64e-04 -5.7 -8.4 2.13e-01 1 1h 23 2.0809810e+00 6.10e-05 4.81e-02 9.61e-04 -5.7 -7.1 1.00e+00 1 1h 24 2.0808878e+00 3.14e-05 1.60e-01 3.64e-05 -5.7 -7.6 4.01e-01 1 1h 25 2.0808701e+00 2.75e-06 2.02e-02 4.16e-06 -5.7 -6.2 9.21e-01 1 1h 26 2.0808315e+00 1.78e-07 9.89e-05 2.36e-06 -5.7 -6.7 1.00e+00 1 1h 27 2.0807718e+00 4.00e-07 5.85e-03 1.92e-06 -5.7 -7.2 6.14e-01 2 1h 28 2.0807178e+00 5.48e-07 1.14e-02 2.11e-06 -5.7 -7.7 4.80e-01 1 1h 29 2.0806117e+00 2.11e-06 4.84e-03 1.86e-06 -5.7 -8.1 8.54e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805813e+00 1.42e-06 3.80e-03 1.87e-06 -5.7 -8.6 4.50e-01 1 1h 31 2.0805952e+00 5.99e-07 3.39e-02 1.76e-05 -5.7 -6.4 1.00e+00 1 1h 32 2.0805833e+00 2.20e-07 9.61e-03 6.34e-06 -5.7 -6.9 7.70e-01 2 1h 33 2.0805846e+00 2.70e-07 6.47e-04 5.71e-06 -5.7 -7.3 1.00e+00 1 1h 34 2.0805741e+00 1.78e-07 2.20e-03 2.67e-06 -5.7 -7.8 1.00e+00 1 1h 35 2.0805742e+00 2.29e-07 9.45e-05 1.17e-05 -5.7 -5.6 1.00e+00 1 1h 36 2.0805781e+00 6.48e-08 5.51e-03 1.93e-06 -5.7 -6.1 1.00e+00 1 1h 37 2.0805718e+00 6.48e-08 3.29e-04 1.85e-06 -5.7 -3.8 1.00e+00 1 1h 38 2.0805726e+00 6.48e-08 2.81e-06 1.91e-06 -5.7 -4.3 1.00e+00 1 1h 39 2.0805519e+00 3.78e-07 5.96e-03 5.04e-07 -8.6 -4.8 9.84e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805504e+00 1.51e-07 1.84e-02 1.57e-07 -8.6 -5.3 6.00e-01 2 1h 41 2.0805496e+00 2.34e-08 3.19e-03 3.76e-08 -8.6 -5.7 8.74e-01 1 1h 42 2.0805489e+00 9.62e-09 1.43e-03 1.28e-08 -8.6 -6.2 6.43e-01 2 1h 43 2.0805474e+00 4.16e-09 1.31e-03 9.85e-09 -8.6 -6.7 8.60e-01 2 1h 44 2.0805462e+00 1.46e-09 4.38e-05 3.38e-07 -8.6 -7.2 1.00e+00 1 1h 45 2.0805442e+00 5.51e-10 6.59e-04 1.39e-07 -8.6 -7.6 6.11e-01 1 1h 46 2.0805397e+00 1.87e-10 1.95e-04 2.59e-09 -8.6 -8.1 1.00e+00 1 1h 47 2.0805370e+00 2.81e-10 3.15e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 48 2.0805483e+00 8.88e-16 3.88e-04 1.97e-06 -8.6 -7.3 1.00e+00 1 1H 49 2.0805375e+00 1.94e-10 1.32e-01 2.86e-09 -8.6 -5.0 8.30e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805375e+00 1.49e-10 1.66e-01 2.99e-09 -8.6 -5.5 2.41e-01 1 1h 51 2.0805375e+00 9.06e-11 1.94e-05 1.97e-08 -8.6 -6.0 1.00e+00 1 1h 52 2.0805374e+00 9.72e-11 2.99e-07 3.86e-09 -8.6 -6.5 1.00e+00 1 1h 53 2.0805373e+00 1.08e-10 1.53e-06 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 54 2.0805370e+00 9.84e-11 6.90e-06 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 55 2.0805367e+00 9.05e-11 8.43e-04 2.59e-09 -8.6 -7.9 1.00e+00 1 1h 56 2.0805378e+00 8.40e-16 4.75e-04 4.40e-07 -8.6 -6.6 1.00e+00 1 1H 57 2.0805373e+00 3.79e-11 4.26e-02 9.25e-08 -8.6 -4.3 7.05e-01 1 1h 58 2.0805368e+00 8.92e-11 1.06e-04 1.81e-08 -8.6 -4.8 1.00e+00 1 1h 59 2.0805367e+00 8.93e-11 1.67e-05 6.11e-09 -8.6 -5.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805367e+00 8.93e-11 4.22e-07 3.56e-09 -8.6 -5.8 1.00e+00 1 1h 61 2.0805367e+00 9.00e-11 5.31e-08 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 62 2.0805367e+00 9.30e-11 4.84e-07 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 63 2.0806095e+00 8.88e-16 8.86e-03 2.54e-09 -8.6 -7.2 1.00e+00 1 1H 64 2.0806065e+00 8.05e-12 1.14e+00 5.16e-09 -8.6 -4.1 1.35e-02 1 1h 65 2.0805389e+00 3.29e-11 5.63e-01 4.08e-09 -8.6 -3.6 8.99e-01 1 1H 66 2.0805372e+00 1.29e-11 1.05e+00 2.51e-09 -8.6 -4.1 5.30e-01 1 1h 67 2.0805367e+00 6.31e-11 3.44e-01 4.41e-09 -8.6 -4.6 6.93e-01 1 1h 68 2.0805369e+00 8.88e-16 6.00e-06 3.50e-07 -8.6 -5.1 1.00e+00 1 1H 69 2.0805367e+00 8.88e-16 2.30e-06 8.33e-08 -8.6 -5.5 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805367e+00 9.23e-11 4.60e-07 1.76e-08 -8.6 -6.0 1.00e+00 1 1h 71 2.0805367e+00 1.04e-10 7.02e-08 4.25e-09 -8.6 -6.5 1.00e+00 1 1h 72 2.0805366e+00 1.20e-10 9.25e-08 2.67e-09 -8.6 -7.0 1.00e+00 1 1h 73 2.0805366e+00 1.04e-10 4.78e-07 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 74 2.0805366e+00 9.08e-11 1.89e-06 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 75 2.0805365e+00 9.32e-11 3.88e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 76 2.0805365e+00 8.36e-11 2.29e-02 6.28e-08 -8.6 -7.1 1.04e-01 1 4h 77 2.0805365e+00 8.92e-11 1.55e-06 1.21e-08 -8.6 -5.7 1.00e+00 1 1h 78 2.0805365e+00 6.66e-16 3.67e-03 2.53e-09 -8.6 -6.2 1.00e+00 1 1H 79 2.0805365e+00 8.91e-11 1.18e-06 2.52e-09 -8.6 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 8.91e-11 1.53e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 81 2.0805365e+00 8.92e-11 7.36e-06 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 82 2.0805365e+00 8.92e-11 6.18e-07 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 83 2.0805365e+00 8.92e-11 6.27e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 84 2.0805365e+00 8.92e-11 1.12e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 85 2.0805365e+00 8.93e-11 1.16e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 86 2.0805365e+00 8.94e-11 4.16e-07 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 87 2.0805365e+00 8.95e-11 5.04e-07 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 88 2.0805365e+00 8.93e-11 1.26e-07 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 89 2.0805365e+00 8.92e-11 4.65e-09 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 89 (scaled) (unscaled) Objective...............: 2.0805364803023108e+00 2.0805364803023108e+00 Dual infeasibility......: 4.6490556959710716e-09 4.6490556959710716e-09 Constraint violation....: 8.9188434415632400e-11 8.9188434415632400e-11 Complementarity.........: 2.5059035603657862e-09 2.5059035603657862e-09 Overall NLP error.......: 4.6490556959710716e-09 4.6490556959710716e-09 Number of objective function evaluations = 101 Number of objective gradient evaluations = 90 Number of constraint evaluations = 101 Number of constraint Jacobian evaluations = 90 Number of Lagrangian Hessian evaluations = 89 Number of KKT factorizations = 218 Number of KKT backsolves = 116 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.117 s Total wall secs in NLP function evaluations = 26.052 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.516 s Total wall secs = 37.687 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.884s jacobian structure: 1600 nonzeros (2.955s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.509s 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: 0.001s hessian structure: 1749 nonzeros (4.564s) linear index maps built (0.0s) evaluator ready (total: 7.519s) evaluator created (7.544s) 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: 7.545s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9028712e+01 5.11e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1523686e+01 1.82e-01 2.63e+00 -0.9 2.00e+00 -4.0 9.43e-01 1.00e+00f 1 2 1.0266753e+01 7.41e-02 2.31e-01 -1.0 7.74e-01 -4.5 8.97e-01 1.00e+00f 1 3 9.7055907e+00 6.12e-03 4.91e-02 -1.9 2.17e-01 -5.0 9.41e-01 1.00e+00h 1 4 9.5039790e+00 3.37e-03 2.73e-02 -2.8 1.26e-01 -5.4 9.64e-01 1.00e+00h 1 5 9.4385939e+00 6.58e-04 4.95e-03 -3.8 7.06e-02 -5.9 9.89e-01 1.00e+00h 1 6 9.4270390e+00 1.13e-04 5.47e-04 -4.0 2.25e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258553e+00 7.27e-06 3.14e-05 -4.0 4.36e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258088e+00 3.41e-08 1.28e-07 -4.0 2.73e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 8.03e-13 1.00e-09 -4.0 1.42e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225845297e+00 9.4258086225845297e+00 Dual infeasibility......: 1.0000000010457373e-09 1.0000000010457373e-09 Constraint violation....: 8.0258022450152566e-13 8.0258022450152566e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000338960516e-04 1.0000000338960516e-04 Overall NLP error.......: 1.0000000010457373e-09 1.0000000010457373e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 31.248 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 (0.001s) 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: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP 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) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.9028712e+01 5.11e+00 1.05e+00 9.53e-01 -1.0 - 0.00e+00 1 0 1 1.1471990e+01 1.71e-01 2.54e+00 2.53e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0206926e+01 1.05e-01 2.09e-01 1.25e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7177434e+00 5.15e-03 1.40e-02 3.54e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5023419e+00 3.89e-03 6.48e-02 9.78e-03 -3.8 -5.4 1.00e+00 2 1h 5 9.4398324e+00 7.28e-04 2.81e-03 2.42e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4277510e+00 1.68e-04 6.40e-04 5.33e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246679e+00 2.29e-05 1.70e-04 4.86e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245378e+00 4.60e-07 8.57e-07 2.59e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.09e-09 2.78e-09 4.80e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129864138164e+00 9.4245129864138164e+00 Dual infeasibility......: 2.7806552616027602e-09 2.7806552616027602e-09 Constraint violation....: 1.0909969594408153e-09 1.0909969594408153e-09 Complementarity.........: 4.7973497966312521e-09 4.7973497966312521e-09 Overall NLP error.......: 4.7973497966312521e-09 4.7973497966312521e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.203 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.007 s Total wall secs = 0.221 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/LpRux/src/solvers/evaluator.jl:420 Test Summary: | Pass Total Time Package | 257 257 33m28.0s Testing DirectTrajOpt tests passed Testing completed after 2091.51s PkgEval succeeded after 2244.47s