Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2082 (4fdd12e277*) started at 2026-04-26T23:19:02.164 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 12.17s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [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 v1.3.2 [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 v1.8.0 [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 v3.33.1 ⌅ [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 v2.155.1 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v1.9.1 [c0aeaf25] + SciMLOperators v1.17.0 [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 v2.8.0 [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 v1.4.0+0 [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 5.46s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 18.1 s ✓ MadNLP → MadNLPMOI 30.0 s ✓ DirectTrajOpt 31.0 s ✓ DirectTrajOpt → MadNLPSolverExt 3 dependencies successfully precompiled in 84 seconds. 239 already precompiled. Precompilation completed after 101.72s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_7G2HMR/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 v2.155.1 [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_7G2HMR/Manifest.toml` [47edcb42] ADTypes v1.22.0 [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 v1.3.2 [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 v1.8.0 [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 v3.33.1 ⌅ [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 v2.155.1 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v1.9.1 [c0aeaf25] SciMLOperators v1.17.0 [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 v2.8.0 [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 v1.4.0+0 [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: 1.644s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.741s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.042s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.887s sub-objective 2 (QuadraticRegularizer): 1.437s sub-objective 3 (MinimumTimeObjective): 0.014s objective hessian structure: 3.422s hessian structure: 1749 nonzeros (3.509s) linear index maps built (0.0s) evaluator ready (total: 5.692s) evaluator created (9.162s) NL constraint bounds extracted (0.084s) NLP block data built (0.0s) Ipopt optimizer configured (0.279s) variables set (0.862s) 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 (3.112s) optimizer initialization complete (total: 13.58s) ****************************************************************************** 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 4.8948733e+00 2.73e+00 1.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5584122e+00 2.67e+00 4.45e+00 -1.0 4.89e+01 -4.0 9.09e-01 1.00e+00f 1 2 2.3115361e+00 9.58e-02 1.34e+00 -1.6 9.33e+00 -4.5 9.97e-01 1.00e+00h 1 3 2.1583335e+00 1.91e-01 1.54e-01 -2.5 1.13e+01 -5.0 9.97e-01 1.00e+00h 1 4 2.1023238e+00 7.73e-02 7.42e-02 -3.0 1.21e+01 -5.4 9.94e-01 1.00e+00h 1 5 2.0889749e+00 2.55e-02 7.42e-03 -3.9 1.68e+01 -5.9 9.99e-01 1.00e+00h 1 6 2.0837803e+00 4.04e-03 6.72e-03 -4.0 4.69e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0798978e+00 1.90e-03 1.89e-01 -4.0 1.06e+02 -6.9 1.00e+00 3.60e-01h 1 8 2.0790784e+00 7.48e-03 1.76e-01 -4.0 7.58e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0784551e+00 2.01e-02 3.32e-02 -3.7 1.20e+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 2.0766266e+00 2.16e-02 2.68e-02 -4.0 2.08e+02 -8.3 1.00e+00 9.99e-01h 1 11 2.0761239e+00 2.90e-03 2.39e-02 -4.0 3.49e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769337e+00 2.53e-02 2.08e-02 -3.7 2.29e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0765117e+00 6.53e-03 2.40e-03 -3.8 1.09e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0764906e+00 2.54e-05 2.61e-05 -3.8 1.87e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757758e+00 1.52e-03 2.15e-06 -4.0 2.79e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 4.26e-06 1.12e-06 -4.0 1.94e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 3.09e-10 8.48e-08 -4.0 3.67e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.51e-12 6.31e-10 -4.0 3.93e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960889087e+00 2.0757703960889087e+00 Dual infeasibility......: 6.3123484708043666e-10 6.3123484708043666e-10 Constraint violation....: 1.5065240721590101e-12 1.5065240721590101e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000048e-04 1.0000000000000048e-04 Overall NLP error.......: 6.3123484708043666e-10 6.3123484708043666e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 55.906 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.043s jacobian structure: 180 nonzeros (0.077s) integrator 1 hessian structure: 0.04s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.272s sub-objective 2 (QuadraticRegularizer): 0.07s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.014s objective hessian structure: 0.435s hessian structure: 375 nonzeros (0.475s) linear index maps built (0.0s) evaluator ready (total: 0.648s) evaluator created (0.648s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.101s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.364s) optimizer initialization complete (total: 3.123s) 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 2.2483283e+00 9.82e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7416690e+00 1.73e-01 1.79e+00 -0.9 9.74e-01 0.0 9.92e-01 1.00e+00h 1 2 1.7909715e+00 7.83e-02 5.13e-01 -0.6 2.72e+00 - 8.24e-01 5.46e-01h 1 3 1.4314139e+00 3.50e-02 8.56e-01 -1.7 6.02e+00 - 8.97e-01 1.00e+00f 1 4 1.4678346e+00 1.10e-02 1.55e+00 -2.4 3.82e-01 -0.5 1.00e+00 8.89e-01h 1 5 1.1687076e+00 4.12e-03 6.25e-01 -2.9 3.81e-01 -1.0 1.00e+00 4.90e-01f 1 6 1.1121126e+00 1.16e-03 8.95e-02 -3.6 3.84e-02 -1.4 1.00e+00 6.95e-01h 1 7 1.0945553e+00 3.80e-06 9.72e-04 -4.0 3.80e-02 -1.9 1.00e+00 1.00e+00h 1 8 1.0947298e+00 3.44e-09 1.80e-02 -4.0 2.53e-01 -2.4 7.62e-01 1.00e+00h 1 9 1.0910325e+00 5.12e-11 2.06e-01 -4.0 4.53e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909693e+00 4.66e-11 1.18e-01 -4.0 8.83e-01 -2.9 4.30e-01 9.08e-02f 2 11 1.0908990e+00 7.76e-15 6.50e-04 -4.0 6.22e-02 - 1.00e+00 1.00e+00f 1 12 1.0909002e+00 1.24e-21 1.90e-04 -4.0 1.37e-01 - 1.00e+00 1.00e+00f 1 13 1.0907158e+00 7.85e-26 7.08e-05 -4.1 3.19e-02 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.36e-26 2.92e-06 -4.0 5.05e-03 - 1.00e+00 1.00e+00f 1 15 1.0907198e+00 1.68e-25 2.07e-08 -4.1 9.25e-04 - 1.00e+00 1.00e+00f 1 16 1.0900065e+00 8.66e-25 3.16e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 17 1.0908999e+00 6.77e-21 4.95e-08 -4.0 3.21e-02 - 1.00e+00 1.00e+00f 1 18 1.0907198e+00 8.84e-26 2.01e-09 -4.1 2.55e-02 - 1.00e+00 1.00e+00f 1 19 1.0900065e+00 1.40e-25 3.16e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0899999e+00 2.86e-23 2.62e-12 -9.0 8.02e-06 - 1.00e+00 1.00e+00f 1 21 1.0900002e+00 2.86e-23 2.63e-12 -4.0 6.93e+02 - 1.00e+00 3.62e-04f 1 22 1.0903959e+00 9.45e-28 9.72e-09 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 23 1.0900026e+00 1.83e-24 9.61e-09 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 2.75e-23 4.32e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 25 1.0899999e+00 4.88e-36 4.28e-16 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 26 1.0899999e+00 1.11e-46 3.45e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 27 1.0899999e+00 1.62e-46 3.45e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 27 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.4504734139351179e-16 3.4504734139351179e-16 Constraint violation....: 1.6167772848753066e-46 1.6167772848753066e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 29 Number of objective gradient evaluations = 28 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 28 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 20.003 EXIT: Search Direction is becoming Too Small. [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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) 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 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) 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: 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 (0.376s) optimizer initialization complete (total: 0.494s) 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 1.6920798e+00 3.10e+00 3.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0558636e+00 2.11e+00 2.03e+00 -0.8 9.79e+00 -2.0 1.59e-01 3.18e-01f 1 2 9.6770325e-01 1.42e+00 3.04e+00 -4.0 5.50e+00 -1.6 9.80e-02 3.29e-01h 1 3 1.1309881e+00 1.61e+00 1.94e+00 -3.0 1.01e+01 -2.1 5.64e-02 3.61e-01h 1 4 1.7127022e+00 7.23e-01 8.58e-01 -1.1 4.51e+00 -2.5 8.74e-01 8.65e-01h 1 5 1.6086568e+00 8.84e-02 5.28e-01 -1.4 2.83e+00 -3.0 7.93e-01 1.00e+00h 1 6 1.4194501e+00 1.39e-02 4.20e-02 -2.0 9.76e-01 -3.5 9.62e-01 1.00e+00h 1 7 1.3123548e+00 6.50e-02 1.25e-02 -2.1 5.07e-01 -4.0 9.02e-01 1.00e+00h 1 8 1.1772679e+00 5.13e-01 8.25e-02 -3.7 1.73e+00 -4.4 8.11e-01 1.00e+00h 1 9 1.2479436e+00 3.81e+00 3.87e-01 -2.4 2.67e+01 -4.9 9.33e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2107419e+00 7.57e-01 1.65e-01 -2.5 1.03e+01 -5.4 1.00e+00 1.00e+00h 1 11 1.2114141e+00 2.02e-03 7.10e-02 -2.5 7.48e+00 -5.9 1.00e+00 1.00e+00h 1 12 1.1670991e+00 8.14e-01 1.31e-01 -3.4 1.51e+01 -6.3 9.92e-01 1.00e+00h 1 13 1.1643368e+00 3.00e-01 6.92e-03 -4.0 6.44e+01 -6.8 1.00e+00 1.00e+00h 1 14 1.1620733e+00 5.01e-01 3.16e-02 -4.0 6.51e+01 -7.3 1.00e+00 1.00e+00h 1 15 1.1617927e+00 3.83e-01 6.14e-03 -4.0 9.53e+01 -7.8 1.00e+00 1.00e+00h 1 16 1.1607798e+00 5.54e-01 3.78e-02 -4.0 1.41e+02 -8.3 1.00e+00 1.00e+00h 1 17 1.1606705e+00 4.25e-01 1.65e-02 -4.0 1.86e+02 -8.7 1.00e+00 1.00e+00h 1 18 1.1603859e+00 4.06e-01 2.37e-02 -4.0 2.24e+02 -9.2 1.00e+00 1.00e+00h 1 19 1.1608535e+00 2.02e-03 3.99e-03 -4.0 6.36e+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 20 1.1608488e+00 1.34e-04 5.51e-06 -4.0 4.79e+00 -10.2 1.00e+00 1.00e+00h 1 21 1.1608491e+00 1.21e-07 2.77e-08 -4.0 1.31e-01 -10.6 1.00e+00 1.00e+00h 1 22 1.1608491e+00 2.35e-12 2.80e-13 -4.0 6.10e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 1.1608491307770015e+00 1.1608491307770015e+00 Dual infeasibility......: 2.7993170390212818e-13 2.7993170390212818e-13 Constraint violation....: 2.3465673848477309e-12 2.3465673848477309e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000547e-04 1.0000000000000547e-04 Overall NLP error.......: 2.3465673848477309e-12 2.3465673848477309e-12 Number of objective function evaluations = 23 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 23 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 = 24.998 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s jacobian structure: 180 nonzeros (0.098s) integrator 1 hessian structure: 0.054s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.371s sub-objective 2 (QuadraticRegularizer): 0.094s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.585s hessian structure: 375 nonzeros (0.64s) linear index maps built (0.0s) evaluator ready (total: 0.872s) evaluator created (0.872s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.149s) optimizer initialization complete (total: 4.152s) 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 1.8574127e+00 1.49e+00 1.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5873941e+00 2.06e+00 1.31e+01 -0.9 5.33e+00 - 1.00e+00 9.14e-01h 1 2 1.9234408e+00 6.16e-01 3.61e+00 -0.7 4.56e-01 0.0 1.00e+00 1.00e+00f 1 3 2.1353611e+00 4.98e-01 5.63e+00 -0.8 9.91e-01 -0.5 9.18e-01 1.00e+00H 1 4 1.8240308e+00 1.20e-01 3.89e+00 -0.9 9.04e-01 -0.1 8.98e-01 6.60e-01h 1 5 1.4485994e+00 3.09e-01 1.32e+00 -1.1 5.89e-01 -0.5 1.00e+00 6.96e-01f 1 6 1.6219467e+00 3.48e-02 2.07e+00 -0.9 1.15e+00 -1.0 8.01e-01 6.54e-01h 1 7 1.3875742e+00 8.68e-03 1.54e+00 -1.8 3.97e-01 -1.5 9.97e-01 7.69e-01h 1 8 1.1326088e+00 2.05e-04 1.96e-01 -3.1 1.61e-01 -2.0 1.00e+00 1.00e+00f 1 9 1.0990871e+00 9.48e-06 1.58e-01 -4.0 2.50e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910127e+00 1.30e-07 5.02e-02 -4.0 1.48e+00 - 1.00e+00 9.97e-01h 1 11 1.0910435e+00 1.25e-10 2.13e-02 -4.0 1.46e+00 - 1.00e+00 1.00e+00h 1 12 1.0910385e+00 8.88e-16 1.75e-06 -4.0 1.32e-02 - 1.00e+00 1.00e+00h 1 13 1.0910386e+00 8.88e-16 8.19e-13 -4.0 6.82e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385779863001e+00 1.0910385779863001e+00 Dual infeasibility......: 8.1942785890021241e-13 8.1942785890021241e-13 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000009418305e-04 1.0000000009418305e-04 Overall NLP error.......: 8.1942785890021241e-13 8.1942785890021241e-13 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 20.426 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: 0.086s hessian structure: 30 nonzeros (0.086s) linear index maps built (0.0s) evaluator ready (total: 0.086s) evaluator created (0.087s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) 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 (3.059s) optimizer initialization complete (total: 3.267s) 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 8.1824597e-03 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.4060218e-03 9.17e-12 1.10e-02 -2.2 3.44e-02 -2.0 9.89e-01 1.00e+00f 1 2 7.3530323e-03 1.26e-10 7.17e-02 -2.0 8.29e-01 -1.6 1.00e+00 1.00e+00f 1 3 1.0241819e-03 1.44e-10 3.38e-02 -4.0 2.20e-01 -1.1 7.68e-01 1.00e+00f 1 4 1.0241819e-03 1.44e-10 2.40e-02 -3.0 1.45e+00 -1.6 9.83e-01 1.92e-15h 49 5 1.0241819e-03 1.44e-10 2.23e-02 -3.0 6.14e+00 -2.1 1.00e+00 9.16e-16h 48 6 9.0706989e-04 7.17e-11 2.41e-02 -3.0 1.68e+00 -2.6 4.70e-01 4.70e-01S 57 7 1.0500102e-03 6.63e-11 2.19e-02 -2.4 6.29e+00 -3.1 1.79e-01 6.47e-02f 2 8 1.0500102e-03 6.63e-11 3.91e-02 -2.9 6.61e+00 -3.5 5.78e-01 1.53e-15h 47 9 2.8452267e-03 2.39e-11 5.78e-02 -2.9 1.74e+00 -4.0 6.01e-01 6.01e-01S 58 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9720128e-03 2.20e-11 2.98e-02 -2.9 1.29e+02 -3.6 1.05e-02 6.19e-03f 3 11 2.1980005e-03 1.39e-11 2.92e-02 -2.9 1.64e+00 -4.1 8.27e-01 4.03e-01f 2 12 2.1980005e-03 1.39e-11 3.44e-02 -2.9 1.04e-01 -1.8 1.00e+00 2.84e-14h 46 13 3.6914667e-04 1.23e-12 2.48e-02 -2.9 1.85e-01 -2.3 1.00e+00 1.00e+00S 58 14 3.7417514e-04 1.13e-12 2.17e-02 -3.0 3.81e-01 -2.8 9.07e-01 6.25e-02f 5 15 3.5251629e-04 1.01e-12 3.35e-02 -3.1 2.54e+00 -3.3 1.00e+00 7.72e-02f 4 16 3.3569227e-04 9.35e-13 1.26e-02 -3.0 6.57e-01 -3.7 9.24e-01 6.25e-02f 5 17 3.3569227e-04 9.35e-13 1.65e-02 -3.7 1.84e+00 -4.2 9.97e-01 1.73e-09h 30 18 3.3569226e-04 9.35e-13 2.30e-02 -3.2 2.00e+00 -4.7 1.00e+00 1.21e-08h 27 19 3.3569226e-04 9.35e-13 2.37e-02 -3.2 1.55e+00 -5.2 1.00e+00 3.73e-09h 29 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.3569225e-04 9.35e-13 2.97e-02 -3.2 1.39e+00 -5.6 1.00e+00 3.73e-09h 29 21 3.3569225e-04 9.35e-13 3.43e-02 -3.2 1.36e+00 -6.1 1.00e+00 1.86e-09h 30 22 3.3569224e-04 9.35e-13 3.75e-02 -3.2 1.35e+00 -6.6 1.00e+00 3.73e-09h 29 23 3.3569224e-04 9.35e-13 4.07e-02 -3.2 1.35e+00 -7.1 1.00e+00 1.86e-09h 30 24 3.3569224e-04 9.35e-13 4.19e-02 -3.2 1.34e+00 -7.6 1.00e+00 4.66e-10h 32 25 3.3569223e-04 9.35e-13 4.40e-02 -3.2 1.36e+00 -8.0 1.00e+00 9.31e-10h 31 26 3.3569223e-04 9.35e-13 4.59e-02 -3.2 1.34e+00 -8.5 1.00e+00 4.66e-10h 32 27 3.3569223e-04 9.35e-13 5.16e-02 -3.2 1.42e+00 -9.0 1.00e+00 4.55e-10h 32 28 3.3569223e-04 9.35e-13 5.73e-02 -3.2 1.39e+00 -9.5 1.00e+00 1.40e-11h 37 29 3.3569223e-04 9.35e-13 6.30e-02 -3.2 1.52e+00 -9.9 1.00e+00 2.13e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.3569223e-04 9.35e-13 6.88e-02 -3.2 1.55e+00 -10.4 7.49e-01 2.01e-10h 33 31 3.3569223e-04 9.35e-13 7.45e-02 -3.2 1.67e+00 -10.9 9.93e-01 1.94e-10h 33 32 3.3569223e-04 9.35e-13 8.02e-02 -3.2 1.56e+00 -11.4 5.82e-01 4.00e-10h 32 33 3.3052233e-04 9.31e-13 8.58e-02 -3.2 1.65e+00 -11.8 1.00e+00 1.64e-03f 10 34 1.7050558e-04 7.41e-13 8.36e-02 -2.9 1.62e+00 -12.3 9.90e-01 1.02e-01f 4 35 1.7050558e-04 7.41e-13 8.13e-02 -2.8 1.54e+00 -12.8 1.00e+00 2.79e-10h 32 36 1.3032643e-03 9.01e-13 5.30e-02 -2.7 1.03e+00 -13.3 1.00e+00 5.00e-01f 2 37 1.3032643e-03 9.01e-13 2.40e-02 -2.7 4.53e+00 -13.8 1.00e+00 1.55e-11h 35 38 1.3032643e-03 9.01e-13 8.64e-03 -2.7 5.58e-01 -14.2 1.00e+00 4.66e-10h 32 39 1.3032643e-03 9.01e-13 3.17e-02 -4.0 1.60e+00 -14.7 6.74e-01 4.62e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.3032643e-03 9.01e-13 5.98e-02 -4.0 1.20e+00 -15.2 9.00e-01 7.76e-10h 31 41 1.1378205e-03 8.37e-13 8.19e-02 -4.0 1.21e+00 -15.7 1.00e+00 1.11e-01f 4 42 6.8831274e-04 7.07e-13 8.89e-02 -4.0 9.60e-01 -16.1 1.00e+00 2.37e-01f 3 43 5.0383689e-04 6.55e-13 8.84e-02 -4.0 1.13e+00 -16.6 5.47e-01 1.07e-01f 4 44 3.7744325e-04 6.20e-13 9.39e-02 -4.0 2.01e+00 -17.1 1.00e+00 7.70e-02f 4 45 3.7744325e-04 6.20e-13 7.97e-02 -4.0 1.60e+00 -17.6 4.09e-01 3.12e-11h 35 46 3.7744325e-04 6.20e-13 7.19e-02 -4.0 2.39e+00 -18.1 1.00e+00 2.51e-10h 32 47 3.7744325e-04 6.20e-13 7.41e-02 -4.0 2.34e+00 -18.5 3.04e-01 1.28e-10h 33 48 3.7744325e-04 6.20e-13 7.92e-02 -4.0 2.69e+00 -19.0 1.00e+00 2.79e-11h 35 49 3.7744325e-04 6.20e-13 7.80e-02 -4.0 2.21e+00 -19.5 3.21e-01 3.38e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.7744325e-04 6.20e-13 7.15e-02 -4.0 2.38e+00 -20.0 1.00e+00 3.15e-11h 35 51 3.7744325e-04 6.20e-13 6.84e-02 -4.0 1.84e+00 -20.0 3.86e-01 3.25e-10h 32 52 3.7744325e-04 6.20e-13 5.87e-02 -4.0 1.90e+00 -20.0 1.00e+00 1.97e-11h 36 53 3.7744325e-04 6.20e-13 5.64e-02 -4.0 1.55e+00 -20.0 4.60e-01 2.42e-11h 36 54 3.7744325e-04 6.20e-13 5.04e-02 -4.0 1.59e+00 -20.0 1.00e+00 3.76e-10h 32 55 3.7744325e-04 6.20e-13 4.99e-02 -4.0 1.41e+00 -20.0 5.02e-01 5.29e-11h 35 56 3.7744325e-04 6.20e-13 4.70e-02 -4.0 1.47e+00 -20.0 1.00e+00 5.09e-11h 35 57 3.7744325e-04 6.20e-13 4.74e-02 -4.0 1.37e+00 -20.0 5.20e-01 1.09e-10h 34 58 3.7518959e-04 6.19e-13 4.57e-02 -4.0 1.43e+00 -20.0 1.00e+00 1.76e-03f 10 59 3.5570112e-04 6.13e-13 4.56e-02 -4.0 1.35e+00 -20.0 5.28e-01 1.49e-02f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.8291077e-04 5.88e-13 4.13e-02 -4.0 1.40e+00 -20.0 6.75e-01 5.65e-02f 5 61 1.5777135e-04 5.46e-13 7.30e-02 -4.0 2.07e+00 -20.0 7.70e-01 9.96e-02f 4 62 1.5777135e-04 5.46e-13 5.49e-02 -3.4 2.24e+00 -20.0 9.92e-01 3.72e-11h 35 63 9.0813775e-05 5.06e-13 9.27e-02 -2.8 4.31e+00 -20.0 1.00e+00 1.68e-01f 2 64 9.0813775e-05 5.06e-13 2.20e-02 -3.0 8.13e-01 -20.0 9.96e-01 7.85e-10h 31 65 1.8226017e-04 3.83e-13 1.79e-02 -2.8 8.46e-01 -20.0 1.00e+00 5.00e-01f 2 66 1.8226017e-04 3.83e-13 1.32e-02 -2.8 4.29e-01 -20.0 1.00e+00 8.46e-10h 31 67 1.8226017e-04 3.83e-13 9.21e-03 -4.2 4.30e-01 -20.0 8.18e-01 2.30e-10h 33 68 1.8226017e-04 3.83e-13 5.68e-03 -4.2 4.81e-01 -20.0 9.93e-01 2.28e-10h 33 69 1.8226017e-04 3.83e-13 5.66e-03 -4.2 6.02e-01 -20.0 1.00e+00 1.12e-13h 44 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.8226017e-04 3.83e-13 5.66e-03 -4.2 5.50e-01 -20.0 1.00e+00 4.59e-10h 32 71 1.8226017e-04 3.83e-13 6.77e-03 -4.2 5.66e-01 -20.0 1.00e+00 5.74e-11h 35 72 1.8226017e-04 3.83e-13 1.09e-02 -4.2 5.52e-01 -20.0 1.00e+00 4.60e-10h 32 73 1.8226017e-04 3.83e-13 1.50e-02 -4.2 5.50e-01 -20.0 1.00e+00 4.60e-10h 32 74 1.8226017e-04 3.83e-13 1.91e-02 -4.2 5.43e-01 -20.0 1.00e+00 2.87e-11h 36 75 1.8226017e-04 3.83e-13 2.33e-02 -4.2 5.37e-01 -20.0 1.00e+00 5.75e-11h 35 76 1.8226017e-04 3.83e-13 2.74e-02 -4.2 5.30e-01 -20.0 1.00e+00 4.60e-10h 32 77 1.8226017e-04 3.83e-13 3.15e-02 -4.2 5.26e-01 -20.0 1.00e+00 2.30e-10h 33 78 1.8226017e-04 3.83e-13 3.56e-02 -4.2 5.26e-01 -20.0 1.00e+00 2.30e-10h 33 79 1.8029358e-04 3.82e-13 3.97e-02 -4.2 5.25e-01 -20.0 1.00e+00 1.93e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.6399972e-04 3.77e-13 4.32e-02 -4.2 5.23e-01 -20.0 1.00e+00 1.55e-02f 7 81 1.5588780e-04 3.75e-13 4.63e-02 -4.2 5.15e-01 -20.0 1.00e+00 7.68e-03f 8 82 1.4775699e-04 3.72e-13 4.91e-02 -4.2 5.10e-01 -20.0 1.00e+00 7.73e-03f 8 83 1.4374976e-04 3.71e-13 5.17e-02 -4.2 5.05e-01 -20.0 1.00e+00 3.84e-03f 9 84 1.3973581e-04 3.70e-13 5.40e-02 -4.2 5.03e-01 -20.0 1.00e+00 3.87e-03f 9 85 1.3581123e-04 3.69e-13 5.62e-02 -4.2 5.00e-01 -20.0 1.00e+00 3.87e-03f 9 86 1.3483607e-04 3.68e-13 5.84e-02 -4.2 4.97e-01 -20.0 1.00e+00 9.64e-04f 11 87 1.3287069e-04 3.68e-13 6.04e-02 -4.2 4.96e-01 -20.0 1.00e+00 1.93e-03f 10 88 1.3188745e-04 3.68e-13 6.23e-02 -4.2 4.94e-01 -20.0 1.00e+00 9.67e-04f 11 89 1.2993493e-04 3.67e-13 6.42e-02 -4.2 4.93e-01 -20.0 1.00e+00 1.93e-03f 10 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.2944785e-04 3.67e-13 6.60e-02 -4.2 4.91e-01 -20.0 1.00e+00 4.84e-04f 12 91 1.2846757e-04 3.66e-13 6.77e-02 -4.2 5.02e-01 -20.0 1.00e+00 9.67e-04f 11 92 1.2749119e-04 3.66e-13 6.94e-02 -4.2 5.18e-01 -20.0 1.00e+00 9.68e-04f 11 93 1.2652147e-04 3.66e-13 7.10e-02 -4.2 5.34e-01 -20.0 1.00e+00 9.68e-04f 11 94 1.2556126e-04 3.65e-13 7.26e-02 -4.2 5.49e-01 -20.0 1.00e+00 9.68e-04f 11 95 1.2461320e-04 3.65e-13 7.40e-02 -4.2 5.63e-01 -20.0 1.00e+00 9.68e-04f 11 96 1.2414123e-04 3.65e-13 7.55e-02 -4.2 5.78e-01 -20.0 1.00e+00 4.84e-04f 12 97 1.2320390e-04 3.65e-13 7.68e-02 -4.2 5.91e-01 -20.0 1.00e+00 9.68e-04f 11 98 1.2228380e-04 3.64e-13 7.81e-02 -4.2 6.04e-01 -20.0 1.00e+00 9.68e-04f 11 99 1.2138132e-04 3.64e-13 7.94e-02 -4.2 6.19e-01 -20.0 1.00e+00 9.68e-04f 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.2049599e-04 3.64e-13 8.05e-02 -4.2 7.41e-01 -20.0 1.00e+00 9.69e-04f 11 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.2049599020184519e-04 1.2049599020184519e-04 Dual infeasibility......: 8.0491435752060789e-02 8.0491435752060789e-02 Constraint violation....: 3.6382745774443670e-13 3.6382745774443670e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.8719878654346289e-03 7.8719878654346289e-03 Overall NLP error.......: 8.0491435752060789e-02 8.0491435752060789e-02 Number of objective function evaluations = 2342 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 2342 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 = 3.700 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): 0.093s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.195s hessian structure: 40 nonzeros (0.195s) linear index maps built (0.0s) evaluator ready (total: 0.195s) evaluator created (0.195s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) 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 (3.135s) optimizer initialization complete (total: 3.456s) 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 1.4863394e+00 8.10e-01 8.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1994152e+00 3.66e-09 2.42e-01 -0.3 4.78e-01 -2.0 9.92e-01 1.00e+00f 1 2 2.9032819e-01 2.90e-09 3.24e-01 -2.4 1.23e+00 -1.6 8.01e-01 1.00e+00f 1 3 1.4525027e-01 1.02e-10 4.75e-02 -2.2 4.65e-01 -1.1 9.98e-01 1.00e+00f 1 4 4.0397254e-02 2.53e-11 4.06e-02 -3.1 8.08e-01 -1.6 1.00e+00 1.00e+00f 1 5 8.2838428e-03 2.18e-11 1.76e-02 -4.0 7.31e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.6522198e-03 6.45e-12 5.81e-03 -4.0 4.89e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.5687299e-04 1.67e-12 1.63e-03 -4.0 2.33e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4285159e-04 2.20e-13 1.84e-04 -4.0 6.98e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6123572e-04 1.27e-14 1.52e-04 -4.0 2.30e-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 3.0183324e-04 1.29e-14 4.43e-04 -4.1 8.14e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5832978e-04 6.53e-15 3.66e-04 -4.0 2.01e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7494853e-04 3.44e-15 5.49e-04 -4.1 1.04e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6496947e-04 2.33e-15 4.74e-04 -4.0 2.54e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6380124e-04 1.89e-15 6.23e-04 -4.1 1.20e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6586365e-04 1.67e-15 5.18e-04 -4.0 2.77e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6004760e-04 1.44e-15 6.53e-04 -4.1 1.26e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6585126e-04 1.44e-15 5.36e-04 -4.0 2.88e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5881243e-04 1.22e-15 6.72e-04 -4.1 1.30e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6542638e-04 1.22e-15 5.45e-04 -4.0 2.94e-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 2.5842525e-04 1.12e-15 6.85e-04 -4.1 1.33e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6490022e-04 1.11e-15 5.50e-04 -4.0 2.98e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5830968e-04 9.16e-16 6.98e-04 -4.1 1.35e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6435499e-04 8.88e-16 5.54e-04 -4.0 3.01e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5827965e-04 9.16e-16 7.09e-04 -4.1 1.37e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6381988e-04 7.77e-16 5.58e-04 -4.0 3.04e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5827531e-04 8.60e-16 7.20e-04 -4.1 1.39e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0986930e-05 8.99e-15 9.00e-04 -6.2 3.82e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7356141e-03 2.44e-15 7.72e-03 -4.0 2.01e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4630380e-05 2.33e-14 2.90e-03 -4.1 1.02e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5736730e-03 3.02e-14 8.04e-03 -4.0 9.89e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0280800e-05 1.79e-14 2.30e-03 -4.2 1.10e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6431651e-04 1.67e-15 2.77e-03 -4.0 1.38e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.2010803e-04 2.89e-15 2.41e-04 -4.2 3.74e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0263587e-05 4.44e-15 8.14e-04 -6.4 4.15e-01 -15.9 9.63e-01 1.00e+00f 1 35 8.1531523e-06 3.28e-15 1.00e-04 -6.4 1.05e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.4865414e-03 9.65e-16 5.25e-03 -4.0 9.70e+00 -16.9 1.00e+00 1.23e-01f 4 37 1.0275361e-04 5.24e-14 3.45e-03 -4.0 7.79e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4376296e-04 3.42e-14 3.51e-03 -4.0 5.29e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8017913e-04 6.33e-15 4.41e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5480992e-05 5.55e-15 1.34e-03 -6.0 5.08e-01 -18.8 9.54e-01 1.00e+00f 1 41 1.4613069e-05 5.22e-15 1.61e-04 -6.0 1.27e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0035557e-06 8.88e-16 1.02e-04 -6.0 1.45e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0165221e-03 5.00e-16 2.92e-03 -4.0 1.58e+01 -20.0 1.00e+00 7.60e-02f 4 44 1.6931441e-04 4.65e-14 2.80e-03 -4.0 5.63e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.6216864e-04 2.13e-14 2.70e-03 -4.0 4.07e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9010092e-04 4.00e-15 4.16e-04 -4.0 3.52e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5272288e-05 5.77e-15 1.47e-03 -6.1 5.52e-01 -20.0 9.49e-01 1.00e+00f 1 48 1.4686202e-05 4.77e-15 1.71e-04 -6.1 1.34e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.8984443e-06 7.77e-16 1.11e-04 -6.1 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.2645918e-04 4.68e-16 1.97e-03 -4.0 1.70e+01 -20.0 1.00e+00 7.04e-02f 4 51 2.0424807e-04 4.02e-14 2.41e-03 -4.0 4.68e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0015944e-04 1.47e-14 2.23e-03 -4.0 3.42e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8635148e-04 2.44e-15 3.92e-04 -4.0 3.10e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4283743e-05 5.44e-15 1.55e-03 -6.1 5.86e-01 -20.0 9.45e-01 1.00e+00f 1 55 1.4387374e-05 4.33e-15 1.76e-04 -6.1 1.40e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7602272e-06 7.22e-16 1.16e-04 -6.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 57 6.8634611e-04 4.44e-16 1.10e-03 -4.0 1.84e+01 -20.0 1.00e+00 6.50e-02f 4 58 2.3931919e-04 3.55e-14 1.99e-03 -4.1 3.75e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.4181693e-04 1.02e-14 1.73e-03 -4.1 2.72e-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 3.8280672e-04 1.78e-15 3.52e-04 -4.1 2.58e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3224752e-05 5.33e-15 1.62e-03 -6.1 6.20e-01 -20.0 9.41e-01 1.00e+00f 1 62 1.4086724e-05 4.00e-15 1.80e-04 -6.1 1.45e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6434443e-06 6.11e-16 1.21e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.8364987e-04 3.16e-16 3.59e-04 -4.0 1.97e+01 -20.0 1.00e+00 6.05e-02f 4 65 2.7063899e-04 3.18e-14 1.58e-03 -4.1 2.90e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9135336e-04 6.66e-15 1.26e-03 -4.1 2.03e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7845922e-04 1.11e-15 3.03e-04 -4.1 2.06e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2132702e-05 5.00e-15 1.68e-03 -6.1 6.50e-01 -20.0 9.37e-01 1.00e+00f 1 69 1.3768648e-05 3.66e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5380870e-06 6.11e-16 1.25e-04 -6.1 1.87e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.0709503e-04 4.51e-16 2.88e-04 -4.0 2.10e+01 -20.0 1.00e+00 5.67e-02f 4 72 2.9769529e-04 2.89e-14 1.19e-03 -4.1 2.15e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.4944912e-04 4.22e-15 8.47e-04 -4.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.3412166e-05 4.33e-15 1.90e-03 -6.1 8.05e-01 -20.0 9.20e-01 1.00e+00f 1 75 1.2197856e-05 3.66e-15 1.26e-04 -6.1 1.12e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0469204e-06 3.89e-16 1.21e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.2593143e-04 2.91e-16 1.20e-03 -4.0 2.43e+01 -20.0 1.00e+00 4.89e-02f 4 78 3.3531129e-04 2.62e-14 6.32e-04 -4.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 79 3.2482320e-05 5.22e-15 1.71e-03 -6.1 6.64e-01 -20.0 9.35e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.3218010e-05 2.89e-15 2.10e-04 -6.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4983006e-06 5.00e-16 1.33e-04 -6.1 2.00e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.6662937e-06 2.22e-16 6.57e-06 -6.1 1.16e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.3144874e-07 7.50e-17 5.72e-05 -9.0 2.61e-01 -20.0 9.74e-01 1.00e+00f 1 84 2.1306680e-03 5.97e-16 1.08e-02 -4.0 1.10e+02 -20.0 1.00e+00 2.21e-02f 3 85 9.1406235e-05 4.42e-14 6.78e-03 -4.0 1.48e+00 -20.0 1.00e+00 1.00e+00f 1 86 7.4927610e-04 2.53e-14 5.25e-03 -4.0 7.97e-01 -20.0 1.00e+00 1.00e+00f 1 87 4.2243985e-04 4.88e-15 8.05e-04 -4.0 5.63e-01 -20.0 1.00e+00 5.00e-01f 2 88 4.2033111e-05 4.11e-15 2.16e-03 -5.9 7.30e-01 -20.0 9.28e-01 1.00e+00f 1 89 1.7253394e-05 3.66e-15 2.66e-04 -5.9 1.92e-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 90 4.8563416e-06 6.66e-16 1.68e-04 -5.9 2.17e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.4196082e-06 3.33e-16 1.52e-05 -5.9 2.23e-02 -20.0 1.00e+00 1.00e+00h 1 92 5.0729490e-06 7.55e-17 1.50e-06 -5.9 2.22e-03 -20.0 1.00e+00 1.00e+00h 1 93 3.6073555e-07 5.55e-17 7.86e-05 -8.9 2.92e-01 -20.0 9.71e-01 1.00e+00f 1 94 1.4575532e-07 3.86e-17 8.17e-06 -8.9 6.40e-02 -20.0 1.00e+00 1.00e+00f 1 95 1.3977278e-03 4.54e-16 3.36e-03 -4.0 3.42e+02 -20.0 1.00e+00 7.12e-03f 3 96 5.1392704e-04 5.91e-14 4.96e-03 -3.8 6.34e-01 -20.0 1.00e+00 1.00e+00f 1 97 8.4553332e-04 1.51e-14 1.63e-03 -3.8 1.96e-01 -20.0 1.00e+00 1.00e+00f 1 98 4.8173024e-05 7.55e-15 3.76e-03 -5.7 1.10e+00 -20.0 8.86e-01 1.00e+00f 1 99 2.5690294e-05 6.00e-15 2.57e-04 -5.7 1.58e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.8350700e-06 6.66e-16 2.45e-04 -5.7 2.51e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.8350699817638975e-06 7.8350699817638975e-06 Dual infeasibility......: 2.4486313991585478e-04 2.4486313991585478e-04 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1143775006589945e-06 3.1143775006589945e-06 Overall NLP error.......: 2.4486313991585478e-04 2.4486313991585478e-04 Number of objective function evaluations = 171 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 171 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 = 3.631 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.052s 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: 0.115s) 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: 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 (1.83s) optimizer initialization complete (total: 1.946s) 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 4.0108493e+00 4.59e+00 3.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0148744e+00 4.29e-02 2.07e+00 -1.0 2.97e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3143204e+00 7.34e-02 1.24e-01 -1.5 6.74e-01 -1.6 9.88e-01 1.00e+00h 1 3 2.1462746e+00 4.88e-03 4.98e-01 -2.5 1.07e-01 -1.1 9.68e-01 1.00e+00h 1 4 2.1067564e+00 2.25e-03 3.15e-01 -4.0 1.39e-01 -1.6 1.00e+00 5.95e-01h 1 5 2.0914037e+00 1.95e-03 7.81e-01 -4.0 9.94e-01 -2.1 1.00e+00 8.46e-01h 1 6 2.0910188e+00 1.14e-04 3.07e-01 -4.0 3.86e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909818e+00 9.11e-07 3.45e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909691e+00 2.32e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909484e+00 1.66e-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 2.0908867e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907046e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901856e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888439e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861587e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830900e+00 9.11e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828567e+00 9.34e-04 2.31e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823451e+00 3.96e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.44e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.46e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.83e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.23e-11 -4.0 4.61e-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......: 1.2279375785498661e-11 1.2279375785498661e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 1.2279375785498661e-11 1.2279375785498661e-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 = 25.573 EXIT: Optimal Solution Found. 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: 0.05s 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) 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 (0.064s) optimizer initialization complete (total: 0.173s) 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 2.9527106e+00 3.15e+00 2.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8836450e+00 2.27e-02 4.15e-01 -1.1 2.06e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2671978e+00 1.42e-02 7.06e-02 -1.7 2.18e-01 -1.6 9.66e-01 1.00e+00f 1 3 2.1263121e+00 1.96e-03 1.36e-01 -3.0 8.83e-02 -1.1 9.96e-01 9.81e-01h 1 4 2.0987666e+00 6.96e-04 1.75e-01 -4.0 1.52e-01 -1.6 1.00e+00 6.75e-01h 1 5 2.0926026e+00 3.20e-04 4.51e-01 -4.0 4.19e-01 -2.1 1.00e+00 4.89e-01h 1 6 2.0910182e+00 1.85e-04 3.04e-01 -4.0 7.34e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908855e+00 1.60e-06 1.19e-02 -4.0 3.19e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908831e+00 1.76e-07 1.85e-05 -4.0 6.31e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908686e+00 1.05e-08 2.67e-05 -4.0 1.79e-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 2.0908318e+00 7.15e-08 1.62e-04 -4.0 4.84e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907335e+00 5.80e-07 4.88e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904439e+00 5.71e-06 4.15e-04 -4.0 4.07e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903181e+00 8.71e-07 6.04e-04 -4.0 1.57e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901707e+00 1.50e-06 1.92e-02 -4.0 6.52e+00 -5.5 1.00e+00 2.21e-01h 2 15 2.0889934e+00 6.48e-05 2.58e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0868169e+00 2.61e-04 3.96e-02 -4.0 3.71e+01 -6.4 1.00e+00 7.21e-01h 1 17 2.0835461e+00 1.33e-03 5.29e-02 -4.0 6.15e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825052e+00 4.42e-04 2.28e-02 -4.0 4.81e+01 -7.4 1.00e+00 8.08e-01h 1 19 2.0822270e+00 7.62e-04 1.50e-02 -4.0 1.68e+02 -7.9 7.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824223e+00 1.36e-03 1.95e-02 -4.0 3.44e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0820438e+00 1.36e-03 2.00e-02 -4.0 2.19e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.1168319e+00 6.79e-04 1.40e-01 -4.0 2.24e+02 -7.5 2.70e-02 1.86e-01h 1 23 2.1056339e+00 1.42e-07 1.20e-01 -4.2 5.33e-02 0.3 1.00e+00 1.00e+00h 1 24 2.1001030e+00 1.60e-06 1.86e+00 -4.2 8.22e-02 -0.1 4.28e-01 5.59e-01f 1 25 2.0866577e+00 5.44e-07 4.71e-02 -4.2 2.01e-01 -0.6 1.00e+00 1.00e+00f 1 26 2.0864049e+00 2.31e-05 5.20e+00 -2.9 3.20e-01 -1.1 8.57e-01 2.72e-01f 1 27 2.0840819e+00 1.10e-06 1.52e-02 -3.6 6.87e-02 -0.7 1.00e+00 1.00e+00h 1 28 2.0831877e+00 4.88e-07 1.41e-02 -3.7 4.84e-02 -1.1 9.84e-01 1.00e+00h 1 29 2.0824494e+00 4.99e-06 1.02e-03 -4.0 4.23e-02 -1.6 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822610e+00 3.47e-07 3.52e-04 -4.0 1.30e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0822444e+00 7.35e-09 7.30e-06 -4.0 2.22e-03 -2.6 1.00e+00 1.00e+00h 1 32 2.0822450e+00 1.27e-09 4.62e-06 -4.0 5.19e-03 -3.1 1.00e+00 1.00e+00h 1 33 2.0822445e+00 1.54e-10 4.62e-06 -4.0 1.56e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0822433e+00 1.30e-09 4.61e-06 -4.0 4.67e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0822397e+00 1.10e-08 4.60e-06 -4.0 1.40e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0822299e+00 8.33e-08 4.57e-06 -4.0 4.16e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0822069e+00 5.76e-07 2.10e-05 -4.0 1.24e+00 -5.4 1.00e+00 1.00e+00h 1 38 2.0821597e+00 4.53e-06 7.58e-05 -4.0 3.74e+00 -5.9 1.00e+00 1.00e+00h 1 39 2.0820119e+00 8.04e-05 9.25e-04 -4.0 1.34e+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 2.0856461e+00 3.94e-07 1.38e-01 -4.0 1.39e+01 -6.0 6.35e-01 1.00e+00H 1 41 2.0831324e+00 1.08e-06 4.12e-01 -4.1 9.80e-02 -1.0 7.67e-01 1.00e+00f 1 42 2.0826241e+00 1.97e-07 7.88e-03 -4.1 2.94e-02 -0.6 1.00e+00 1.00e+00h 1 43 2.0821878e+00 1.64e-07 4.75e-03 -4.1 5.18e-02 -1.1 1.00e+00 1.00e+00h 1 44 2.0817762e+00 2.49e-06 1.24e-03 -4.0 1.36e-01 -1.6 1.00e+00 1.00e+00h 1 45 2.0819650e+00 1.04e-07 1.12e-03 -4.0 4.84e-02 -2.0 1.00e+00 1.00e+00h 1 46 2.0819153e+00 5.59e-09 4.32e-05 -4.0 1.41e-02 -2.5 1.00e+00 1.00e+00h 1 47 2.0818999e+00 3.19e-08 1.28e-05 -4.0 1.23e-02 -3.0 1.00e+00 1.00e+00h 1 48 2.0819024e+00 7.26e-09 1.26e-05 -4.0 3.63e-02 -3.5 1.00e+00 1.00e+00h 1 49 2.0819108e+00 4.98e-08 1.21e-05 -4.0 1.05e-01 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818163e+00 2.44e-06 1.60e-04 -4.1 1.36e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0812398e+00 7.98e-05 4.47e-02 -6.1 9.85e-01 -4.9 8.43e-01 1.00e+00h 1 52 2.0821092e+00 1.84e-04 3.13e-03 -4.0 1.56e+00 -5.4 1.00e+00 1.00e+00f 1 53 2.0819353e+00 7.04e-05 8.09e-04 -4.1 4.61e+00 -5.8 1.00e+00 1.00e+00h 1 54 2.0816481e+00 5.55e-05 1.85e-01 -6.1 3.50e+00 -5.4 6.87e-01 3.18e-01h 1 55 2.0820997e+00 1.52e-04 2.34e-03 -4.0 2.98e+00 -5.9 1.00e+00 1.00e+00f 1 56 2.0819450e+00 3.08e-05 4.21e-03 -4.1 6.94e+00 -6.4 9.39e-01 1.00e+00h 1 57 2.0819185e+00 2.99e-05 4.61e+00 -4.1 2.67e+01 -5.0 5.18e-01 2.21e-02h 2 58 2.0818378e+00 2.56e-05 6.72e-02 -4.1 1.23e+00 -5.5 1.00e+00 1.43e-01h 1 59 2.0818890e+00 7.50e-05 5.78e-04 -4.1 1.48e+00 -6.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0810010e+00 9.78e-04 5.35e-03 -6.1 1.20e+01 -6.5 9.92e-01 1.00e+00h 1 61 2.0810245e+00 6.17e-07 1.34e-04 -5.1 2.25e-01 -4.2 1.00e+00 1.00e+00h 1 62 2.0812091e+00 1.21e-05 6.48e-01 -4.0 2.36e+00 -4.7 1.00e+00 2.15e-01f 1 63 2.0814738e+00 6.23e-05 1.78e-03 -4.1 1.58e+00 -5.2 1.00e+00 1.00e+00f 1 64 2.0816273e+00 3.00e-05 1.31e-03 -4.1 2.03e+00 -5.7 1.00e+00 1.00e+00h 1 65 2.0817018e+00 8.57e-06 6.86e-04 -4.1 2.44e+00 -6.2 1.00e+00 1.00e+00h 1 66 2.0809428e+00 7.42e-04 5.21e-03 -6.2 1.11e+01 -6.6 9.97e-01 1.00e+00h 1 67 2.0810323e+00 1.69e-04 1.29e-02 -4.8 5.71e-01 -5.3 1.00e+00 7.71e-01h 1 68 2.0810163e+00 3.55e-06 3.69e-04 -4.9 8.99e-01 -5.8 1.00e+00 1.00e+00h 1 69 2.0814990e+00 2.97e-04 1.69e-01 -4.0 1.04e+01 -6.3 1.00e+00 5.14e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817677e+00 1.66e-04 2.68e-03 -4.1 8.24e+00 -6.7 1.00e+00 1.00e+00f 1 71 2.0817163e+00 2.39e-07 2.98e-04 -4.1 2.82e-02 -2.7 1.00e+00 1.00e+00h 1 72 2.0820219e+00 5.95e-09 6.62e-03 -4.0 1.95e-01 -3.2 9.97e-01 1.00e+00H 1 73 2.0819531e+00 8.31e-08 7.03e-02 -4.1 1.87e+00 -3.6 2.93e-01 3.78e-02f 2 74 2.0817684e+00 2.01e-05 4.65e-04 -4.1 2.11e-01 -4.1 1.00e+00 1.00e+00h 1 75 2.0813049e+00 5.60e-05 6.51e-02 -6.2 6.34e-01 -4.6 7.40e-01 1.00e+00h 1 76 2.0811445e+00 1.96e-04 8.84e-03 -6.2 1.93e+00 -5.1 6.66e-01 1.00e+00h 1 77 2.0811356e+00 1.84e-07 2.17e-04 -6.2 6.88e-02 -2.8 1.00e+00 1.00e+00h 1 78 2.0811280e+00 1.27e-07 1.80e+00 -5.4 9.34e-01 -3.3 1.00e+00 6.49e-02h 1 79 2.0811336e+00 3.44e-07 5.10e-04 -5.6 1.70e-01 -3.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0815351e+00 8.16e-06 4.89e-01 -4.0 1.24e+00 -4.3 7.52e-01 3.67e-01f 1 81 2.0816406e+00 9.77e-05 2.42e-03 -4.2 9.27e-01 -4.8 1.00e+00 1.00e+00f 1 82 2.0815981e+00 2.06e-05 1.61e-03 -4.2 9.38e-01 -5.2 1.00e+00 1.00e+00h 1 83 2.0815796e+00 7.38e-05 3.54e-04 -4.2 1.62e+00 -5.7 1.00e+00 1.00e+00h 1 84 2.0809433e+00 4.82e-04 3.35e-03 -6.3 7.47e+00 -6.2 9.89e-01 1.00e+00h 1 85 2.0814386e+00 1.85e-04 2.45e-01 -4.0 3.14e-01 -4.0 1.00e+00 6.13e-01h 1 86 2.0813886e+00 5.71e-06 5.48e-04 -4.1 7.06e-01 -4.4 1.00e+00 1.00e+00h 1 87 2.0810775e+00 5.58e-05 6.37e-02 -6.2 9.20e-01 -4.9 9.09e-01 1.00e+00h 1 88 2.0808662e+00 4.09e-05 3.66e-02 -6.2 1.75e+00 -5.4 7.10e-01 1.00e+00h 1 89 2.0810148e+00 3.47e-05 9.91e-01 -4.0 1.88e+00 -4.1 5.51e-01 1.54e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0810925e+00 8.21e-06 2.40e-04 -4.4 5.17e-01 -4.5 1.00e+00 1.00e+00h 1 91 2.0809114e+00 1.99e-05 4.13e-03 -6.6 6.18e-01 -5.0 9.91e-01 1.00e+00h 1 92 2.0808906e+00 7.78e-06 9.67e-02 -5.4 4.56e-01 -4.6 1.00e+00 6.11e-01h 1 93 2.0809619e+00 1.09e-05 1.12e+00 -4.0 8.07e+00 -5.1 1.00e+00 6.26e-02f 1 94 2.0813051e+00 2.03e-04 2.34e-03 -4.1 2.57e+00 -5.5 1.00e+00 1.00e+00h 1 95 2.0815633e+00 8.29e-05 1.50e-03 -4.1 3.40e+00 -6.0 1.00e+00 1.00e+00h 1 96 2.0816376e+00 1.34e-05 7.29e-04 -4.1 3.32e+00 -6.5 1.00e+00 1.00e+00h 1 97 2.0808212e+00 1.19e-03 4.77e-03 -6.2 1.63e+01 -7.0 9.92e-01 1.00e+00h 1 98 2.0819495e+00 2.55e-03 3.52e-03 -4.0 2.21e+01 -7.4 1.00e+00 1.00e+00h 1 99 2.0816694e+00 9.88e-04 1.39e-03 -4.1 3.29e+01 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816137e+00 8.05e-05 2.31e-03 -4.1 4.81e+01 -8.4 1.00e+00 1.00e+00h 1 101 2.0816001e+00 2.98e-05 7.89e-04 -4.1 3.51e+01 -8.9 1.00e+00 1.00e+00h 1 102 2.0805937e+00 3.72e-03 1.27e-04 -6.1 4.43e+01 -9.4 9.78e-01 9.69e-01h 1 103 2.0818873e+00 6.20e-03 6.59e-04 -4.0 5.75e+01 -9.8 1.00e+00 1.00e+00f 1 104 2.0816145e+00 4.82e-04 4.61e-05 -4.1 2.05e+01 -10.3 1.00e+00 1.00e+00h 1 105 2.0805992e+00 3.47e-03 1.53e-04 -6.1 4.15e+01 -10.8 9.76e-01 9.65e-01h 1 106 2.0805509e+00 8.52e-05 3.35e-06 -6.1 1.70e+01 -11.3 1.00e+00 1.00e+00h 1 107 2.0819791e+00 1.03e-02 3.97e-04 -4.0 8.43e+01 -11.7 1.00e+00 1.00e+00f 1 108 2.0816849e+00 9.29e-04 4.68e-05 -4.1 4.57e+01 -12.2 1.00e+00 1.00e+00h 1 109 2.0816489e+00 4.76e-07 7.99e-07 -4.1 8.50e+00 -12.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805905e+00 3.67e-03 1.60e-04 -6.1 4.16e+01 -13.2 9.77e-01 9.75e-01h 1 111 2.0805510e+00 6.73e-05 1.95e-06 -6.1 1.62e+01 -13.7 1.00e+00 1.00e+00h 1 112 2.0819821e+00 1.05e-02 3.95e-04 -4.0 8.47e+01 -14.1 1.00e+00 1.00e+00f 1 113 2.0816870e+00 9.37e-04 5.05e-05 -4.1 4.63e+01 -14.6 1.00e+00 1.00e+00h 1 114 2.0816501e+00 5.13e-07 7.61e-07 -4.1 8.68e+00 -15.1 1.00e+00 1.00e+00h 1 115 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -15.6 9.77e-01 9.75e-01h 1 116 2.0805511e+00 6.74e-05 1.95e-06 -6.1 1.62e+01 -16.0 1.00e+00 1.00e+00h 1 117 2.0805469e+00 4.70e-08 2.01e-08 -6.1 2.95e+00 -16.5 1.00e+00 1.00e+00h 1 118 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -17.0 1.00e+00 1.00e+00f 1 119 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -17.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 120 2.0816665e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -17.9 1.00e+00 1.00e+00h 1 121 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -18.4 9.76e-01 9.75e-01h 1 122 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -18.9 1.00e+00 1.00e+00h 1 123 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -19.4 1.00e+00 1.00e+00h 1 124 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -19.9 1.00e+00 9.97e-01h 1 125 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 126 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 127 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 128 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 129 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 130 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 131 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 132 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 133 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 134 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 135 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 136 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 137 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 138 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 139 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 140 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 141 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 142 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 143 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 144 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....: 144 (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 = 156 Number of objective gradient evaluations = 145 Number of equality constraint evaluations = 156 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 145 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 145 Total seconds in IPOPT = 29.350 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: 0.062s jacobian structure: 180 nonzeros (0.105s) integrator 1 hessian structure: 0.054s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.364s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.581s hessian structure: 375 nonzeros (0.635s) linear index maps built (0.0s) evaluator ready (total: 0.905s) evaluator created (0.906s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.737s) optimizer initialization complete (total: 4.782s) 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 1.4101740e+00 7.32e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5740845e+00 1.47e-01 1.52e+00 -0.9 6.30e-01 0.0 9.88e-01 1.00e+00h 1 2 1.5168917e+00 8.27e-02 3.76e-01 -0.7 1.39e+00 - 6.77e-01 4.21e-01h 1 3 1.4309410e+00 5.12e-02 7.69e-01 -1.6 1.95e+00 - 8.90e-01 1.00e+00f 1 4 1.4434493e+00 3.06e-02 1.41e+00 -2.1 4.47e-01 -0.5 1.00e+00 8.41e-01h 1 5 1.1948335e+00 1.17e-02 6.20e-01 -3.1 9.26e-02 -1.0 1.00e+00 5.20e-01f 1 6 1.1343451e+00 4.99e-03 1.81e-01 -3.1 1.88e+00 - 1.00e+00 5.69e-01h 1 7 1.0911744e+00 1.55e-04 2.67e-01 -4.0 3.76e+00 - 1.00e+00 1.00e+00h 1 8 1.0907077e+00 2.71e-05 1.12e-02 -4.0 4.81e-01 - 1.00e+00 8.24e-01h 1 9 1.0909001e+00 2.31e-08 1.34e-04 -4.0 9.49e-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 1.0908997e+00 1.43e-14 3.67e-05 -4.0 8.69e-04 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 8.03e-26 3.67e-05 -4.0 1.59e-08 - 1.00e+00 1.00e+00h 1 12 1.0907198e+00 3.10e-27 4.59e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.33e-26 5.36e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 5.3608308347996569e-09 5.3608308347996569e-09 Constraint violation....: 1.3289191197918852e-26 1.3289191197918852e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 5.3608308347996569e-09 5.3608308347996569e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 23.277 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.536s jacobian structure: 1600 nonzeros (2.597s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.806s 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 (3.859s) linear index maps built (0.0s) evaluator ready (total: 6.457s) evaluator created (6.484s) NL constraint bounds extracted (0.111s) NLP block data built (0.0s) MadNLP optimizer configured (0.175s) variables set (0.646s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.992s) optimizer initialization complete (total: 10.505s) 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 3.6831068e+00 3.46e+00 6.43e-01 9.76e-01 -1.0 - 0.00e+00 1 0 1 2.6825108e+00 1.05e-01 4.37e+00 2.04e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5134924e+00 2.03e-02 1.39e+00 1.30e-01 -1.0 0.4 1.00e+00 1 1h 3 2.7611058e+00 4.14e-02 1.31e+00 1.13e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.6322789e+00 1.11e-03 1.25e-01 1.02e-01 -1.0 0.4 1.00e+00 1 1h 5 2.4114768e+00 4.08e-03 2.47e-01 3.01e-02 -2.5 -0.1 1.00e+00 1 1h 6 2.1712938e+00 1.70e-02 1.93e-01 1.30e-02 -2.5 -0.6 5.45e-01 1 1h 7 2.1108509e+00 2.07e-03 2.07e-02 3.56e-03 -2.5 -1.1 1.00e+00 1 1h 8 2.0916013e+00 6.40e-05 3.60e-03 2.10e-04 -3.8 -1.5 1.00e+00 1 1h 9 2.0912746e+00 6.83e-08 5.55e-05 1.51e-04 -3.8 -2.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899370e+00 7.94e-07 3.11e-05 1.08e-05 -5.7 -2.5 1.00e+00 1 1h 11 2.0899316e+00 4.52e-08 5.23e-05 3.25e-06 -5.7 -3.0 1.00e+00 1 1h 12 2.0899227e+00 3.58e-07 9.53e-05 1.84e-06 -5.7 -3.4 1.00e+00 1 1h 13 2.0899051e+00 2.46e-06 5.29e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0898582e+00 1.12e-05 1.95e-05 1.84e-06 -5.7 -4.4 1.00e+00 1 1h 15 2.0897488e+00 1.58e-05 1.28e-03 1.85e-06 -5.7 -4.9 7.59e-01 1 1h 16 2.0893461e+00 2.65e-05 6.59e-04 4.23e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0891321e+00 2.30e-05 4.50e-02 2.05e-06 -5.7 -5.8 1.50e-01 1 1h 18 2.0864015e+00 2.39e-05 1.36e-02 5.25e-06 -5.7 -6.3 1.00e+00 1 1h 19 2.0858173e+00 2.11e-05 1.62e-01 2.95e-06 -5.7 -6.8 1.18e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817331e+00 4.27e-05 1.37e-01 1.99e-06 -5.7 -7.3 6.82e-01 1 1h 21 2.0817468e+00 2.34e-08 1.31e-01 7.11e-04 -5.7 -7.7 1.00e+00 1 1H 22 2.0811038e+00 2.44e-05 3.49e-02 3.30e-04 -5.7 -8.2 5.28e-01 1 1h 23 2.0806931e+00 1.28e-05 5.08e-02 1.43e-04 -5.7 -8.7 8.64e-01 1 1h 24 2.0807847e+00 5.94e-06 8.71e-02 1.08e-04 -5.7 -6.5 1.00e+00 1 1h 25 2.0807519e+00 4.92e-06 9.02e-02 7.78e-05 -5.7 -6.9 1.69e-01 1 1h 26 2.0806816e+00 1.58e-06 2.78e-03 1.71e-05 -5.7 -6.5 1.00e+00 1 1h 27 2.0806447e+00 9.41e-07 1.56e-02 1.34e-05 -5.7 -7.0 3.45e-01 1 1h 28 2.0806255e+00 6.78e-07 5.03e-03 1.15e-05 -5.7 -7.5 1.00e+00 1 1h 29 2.0805783e+00 3.59e-07 3.27e-03 5.04e-06 -5.7 -7.9 6.98e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806179e+00 1.29e-10 3.41e-02 4.11e-06 -5.7 -7.5 1.00e+00 1 1H 31 2.0805873e+00 2.01e-07 5.84e-02 2.25e-06 -5.7 -5.3 7.04e-01 1 1h 32 2.0806050e+00 7.08e-13 2.55e-04 5.06e-05 -5.7 -5.8 1.00e+00 1 1H 33 2.0805890e+00 8.95e-07 1.62e-04 1.08e-05 -5.7 -6.2 1.00e+00 1 1h 34 2.0805817e+00 2.10e-08 3.05e-05 3.45e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0805790e+00 8.51e-09 1.27e-05 2.01e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0805544e+00 5.11e-06 1.55e-03 5.10e-07 -8.6 -6.8 8.97e-01 1 1h 37 2.0805623e+00 4.06e-06 3.11e-02 2.03e-07 -8.6 -7.2 3.06e-01 1 1h 38 2.0805477e+00 1.09e-06 5.53e-02 6.98e-08 -8.6 -5.0 7.36e-01 1 1h 39 2.0805545e+00 3.44e-07 5.47e-02 1.49e-05 -8.6 -5.5 6.84e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805498e+00 2.12e-09 2.94e-05 3.68e-06 -8.6 -6.0 1.00e+00 1 1h 41 2.0805477e+00 1.96e-10 1.96e-03 9.73e-07 -8.6 -6.4 9.13e-01 1 1h 42 2.0805462e+00 7.54e-12 9.62e-06 1.48e-07 -8.6 -6.9 1.00e+00 1 1h 43 2.0805443e+00 2.38e-11 3.19e-05 2.51e-09 -8.6 -7.4 9.83e-01 1 1h 44 2.0805411e+00 9.85e-11 7.19e-05 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 45 2.0805378e+00 2.27e-10 1.67e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 46 2.0805366e+00 2.26e-10 2.33e-03 2.52e-09 -8.6 -8.8 1.00e+00 1 1h 47 2.0805367e+00 2.86e-11 1.12e-05 7.44e-07 -8.6 -6.6 1.00e+00 1 1h 48 2.0805366e+00 2.37e-11 2.03e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805366e+00 1.79e-11 5.62e-02 2.74e-09 -8.6 -5.7 1.02e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 1.73e-11 2.23e-02 5.29e-09 -8.6 -6.2 2.95e-02 1 1h 51 2.0805366e+00 1.49e-12 2.92e-06 3.21e-09 -8.6 -6.7 1.00e+00 1 1h 52 2.0805366e+00 8.88e-16 1.06e-03 2.51e-09 -8.6 -7.2 1.00e+00 1 1H 53 2.0805366e+00 3.51e-13 1.56e-05 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 54 2.0805366e+00 1.06e-13 6.93e-08 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805366e+00 1.01e-13 2.18e-08 2.54e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805365e+00 1.10e-10 2.56e-08 1.07e-09 -9.0 -6.4 1.00e+00 1 1h 57 2.0805365e+00 1.11e-12 2.28e-08 9.09e-10 -9.0 -6.9 1.00e+00 1 1h 58 2.0805365e+00 8.41e-13 1.47e-07 9.09e-10 -9.0 -7.3 1.00e+00 1 1h 59 2.0805365e+00 3.91e-13 6.52e-07 9.09e-10 -9.0 -7.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 8.17e-13 1.51e-06 9.09e-10 -9.0 -8.3 1.00e+00 1 1h 61 2.0805365e+00 6.22e-14 7.83e-08 2.42e-09 -9.0 -7.0 1.00e+00 1 1h 62 2.0805365e+00 4.53e-14 4.14e-05 9.09e-10 -9.0 -7.4 1.00e+00 1 1h 63 2.0805365e+00 1.39e-14 2.44e-03 5.13e-09 -9.0 -7.0 1.76e-01 1 3h 64 2.0805365e+00 1.57e-13 9.01e-07 9.24e-10 -9.0 -5.7 1.00e+00 1 1h 65 2.0805365e+00 8.79e-14 7.16e-07 9.24e-10 -9.0 -6.2 1.00e+00 1 1h 66 2.0805365e+00 1.87e-14 3.71e-08 9.09e-10 -9.0 -6.6 1.00e+00 1 1h 67 2.0805365e+00 1.11e-14 2.12e-08 9.09e-10 -9.0 -7.1 1.00e+00 1 1h 68 2.0805365e+00 3.79e-14 4.14e-08 9.09e-10 -9.0 -7.6 1.00e+00 1 1h 69 2.0805365e+00 9.37e-14 1.69e-07 9.09e-10 -9.0 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 1.53e-13 3.20e-07 9.09e-10 -9.0 -8.5 1.00e+00 1 1h 71 2.0805365e+00 7.83e-14 1.48e-07 9.09e-10 -9.0 -9.0 1.00e+00 1 1h 72 2.0805365e+00 6.99e-15 1.13e-08 9.09e-10 -9.0 -9.5 1.00e+00 1 1h 73 2.0805365e+00 8.88e-16 1.13e-10 9.09e-10 -9.0 -10.0 1.00e+00 1 1h Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 2.0805364595436493e+00 2.0805364595436493e+00 Dual infeasibility......: 1.1284922996068758e-10 1.1284922996068758e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Complementarity.........: 9.0909090979141714e-10 9.0909090979141714e-10 Overall NLP error.......: 9.0909090979141714e-10 9.0909090979141714e-10 Number of objective function evaluations = 81 Number of objective gradient evaluations = 74 Number of constraint evaluations = 81 Number of constraint Jacobian evaluations = 74 Number of Lagrangian Hessian evaluations = 73 Number of KKT factorizations = 176 Number of KKT backsolves = 79 Total wall secs in initialization = 23.452 s Total wall secs in linear solver = 0.160 s Total wall secs in NLP function evaluations = 20.654 s Total wall secs in solver (w/o init./fun./lin. alg.) = 55.648 s Total wall secs = 99.914 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: 2.541s jacobian structure: 1600 nonzeros (2.605s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.955s 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 (4.008s) linear index maps built (0.0s) evaluator ready (total: 6.614s) evaluator created (6.639s) 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: 6.657s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3668385e+00 2.61e+00 4.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5408866e+00 2.68e-01 2.52e+00 -1.1 2.00e+00 0.0 6.29e-01 8.98e-01h 1 Hello, world! 2 2.5639648e+00 1.30e-02 5.51e-01 -1.4 2.11e-01 0.4 1.00e+00 1.00e+00h 1 Hello, world! 3 2.4111614e+00 1.29e-02 7.44e-01 -1.5 2.59e-01 -0.1 9.75e-01 4.45e-01h 1 Hello, world! 4 2.1801313e+00 7.94e-03 1.90e-01 -2.2 1.97e-01 -0.5 1.00e+00 8.51e-01h 1 Hello, world! 5 2.1097425e+00 2.29e-03 1.15e-01 -3.3 5.13e-02 -1.0 9.99e-01 7.15e-01h 1 Hello, world! 6 2.0909331e+00 6.69e-05 5.98e-03 -4.0 1.57e-02 -1.5 1.00e+00 9.98e-01h 1 Hello, world! 7 2.0909490e+00 9.31e-08 2.36e-04 -4.0 2.92e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909467e+00 1.09e-09 2.00e-05 -4.0 5.47e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909445e+00 1.65e-10 1.99e-05 -4.0 1.64e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909391e+00 1.21e-09 1.97e-05 -4.0 4.85e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909242e+00 9.78e-09 1.90e-05 -4.0 1.40e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908868e+00 6.75e-08 9.05e-05 -4.0 3.83e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908077e+00 3.31e-07 4.40e-04 -4.0 9.70e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905958e+00 2.67e-06 5.34e-04 -4.0 2.91e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0905095e+00 3.85e-07 3.11e-04 -4.0 1.10e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901670e+00 6.36e-07 2.66e-03 -4.0 3.92e+00 -5.4 1.00e+00 8.59e-01H 1 Hello, world! 17 2.0896152e+00 5.13e-05 1.29e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0892797e+00 7.40e-05 9.01e-01 -3.0 2.59e+02 -5.4 5.90e-01 1.28e-02h 2 Hello, world! 19 2.0885734e+00 4.57e-04 1.66e-02 -4.0 9.75e+00 -5.9 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 20 2.0871112e+00 1.22e-04 7.80e-02 -4.0 3.84e+01 -6.4 1.00e+00 3.60e-01h 1 Hello, world! 21 2.0836723e+00 8.58e-04 4.27e-02 -4.0 5.52e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0827029e+00 4.07e-04 6.47e-03 -4.0 6.59e+01 -7.3 1.00e+00 6.28e-01h 1 Hello, world! 23 2.0824528e+00 8.34e-04 2.45e-02 -4.0 1.42e+02 -7.8 9.93e-01 1.00e+00h 1 Hello, world! 24 2.0827526e+00 4.16e-04 1.10e-02 -4.0 2.05e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824614e+00 4.79e-04 2.26e-03 -4.0 5.54e+01 -6.9 7.12e-01 1.00e+00h 1 Hello, world! 26 2.0821269e+00 1.26e-03 2.43e-02 -4.0 3.79e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819791e+00 8.55e-05 8.73e-03 -4.0 5.21e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818743e+00 2.31e-04 6.50e-03 -4.0 6.59e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818471e+00 9.31e-05 1.91e-03 -4.0 4.90e+01 -8.8 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 2.0818436e+00 6.64e-06 1.42e-04 -4.0 1.57e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 6.98e-08 2.31e-06 -4.0 1.94e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 1.02e-10 4.75e-09 -4.0 8.61e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434106173762e+00 2.0818434106173762e+00 Dual infeasibility......: 4.7509264559811391e-09 4.7509264559811391e-09 Constraint violation....: 1.0183143217545876e-10 1.0183143217545876e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.7509264559811391e-09 4.7509264559811391e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 37 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 26.957 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: 0.003s) 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 (0.001s) 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 3.3668385e+00 2.61e+00 4.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5408866e+00 2.68e-01 2.52e+00 -1.1 2.00e+00 0.0 6.29e-01 8.98e-01h 1 Hello, world! 2 2.5639648e+00 1.30e-02 5.51e-01 -1.4 2.11e-01 0.4 1.00e+00 1.00e+00h 1 Hello, world! 3 2.4111614e+00 1.29e-02 7.44e-01 -1.5 2.59e-01 -0.1 9.75e-01 4.45e-01h 1 Hello, world! 4 2.1801313e+00 7.94e-03 1.90e-01 -2.2 1.97e-01 -0.5 1.00e+00 8.51e-01h 1 Hello, world! 5 2.1097425e+00 2.29e-03 1.15e-01 -3.3 5.13e-02 -1.0 9.99e-01 7.15e-01h 1 Hello, world! 6 2.0909331e+00 6.69e-05 5.98e-03 -4.0 1.57e-02 -1.5 1.00e+00 9.98e-01h 1 Hello, world! 7 2.0909490e+00 9.31e-08 2.36e-04 -4.0 2.92e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909467e+00 1.09e-09 2.00e-05 -4.0 5.47e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909445e+00 1.65e-10 1.99e-05 -4.0 1.64e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909391e+00 1.21e-09 1.97e-05 -4.0 4.85e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0909242e+00 9.78e-09 1.90e-05 -4.0 1.40e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908868e+00 6.75e-08 9.05e-05 -4.0 3.83e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908077e+00 3.31e-07 4.40e-04 -4.0 9.70e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905958e+00 2.67e-06 5.34e-04 -4.0 2.91e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0905095e+00 3.85e-07 3.11e-04 -4.0 1.10e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901670e+00 6.36e-07 2.66e-03 -4.0 3.92e+00 -5.4 1.00e+00 8.59e-01H 1 Hello, world! 17 2.0896152e+00 5.13e-05 1.29e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0892797e+00 7.40e-05 9.01e-01 -3.0 2.59e+02 -5.4 5.90e-01 1.28e-02h 2 Hello, world! 19 2.0885734e+00 4.57e-04 1.66e-02 -4.0 9.75e+00 -5.9 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 20 2.0871112e+00 1.22e-04 7.80e-02 -4.0 3.84e+01 -6.4 1.00e+00 3.60e-01h 1 Hello, world! 21 2.0836723e+00 8.58e-04 4.27e-02 -4.0 5.52e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0827029e+00 4.07e-04 6.47e-03 -4.0 6.59e+01 -7.3 1.00e+00 6.28e-01h 1 Hello, world! 23 2.0824528e+00 8.34e-04 2.45e-02 -4.0 1.42e+02 -7.8 9.93e-01 1.00e+00h 1 Hello, world! 24 2.0827526e+00 4.16e-04 1.10e-02 -4.0 2.05e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824614e+00 4.79e-04 2.26e-03 -4.0 5.54e+01 -6.9 7.12e-01 1.00e+00h 1 Hello, world! 26 2.0821269e+00 1.26e-03 2.43e-02 -4.0 3.79e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0819791e+00 8.55e-05 8.73e-03 -4.0 5.21e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0818743e+00 2.31e-04 6.50e-03 -4.0 6.59e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818471e+00 9.31e-05 1.91e-03 -4.0 4.90e+01 -8.8 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 2.0818436e+00 6.64e-06 1.42e-04 -4.0 1.57e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0818434e+00 6.98e-08 2.31e-06 -4.0 1.94e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818434e+00 1.02e-10 4.75e-09 -4.0 8.61e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0818434106173762e+00 2.0818434106173762e+00 Dual infeasibility......: 4.7509264559811391e-09 4.7509264559811391e-09 Constraint violation....: 1.0183143217545876e-10 1.0183143217545876e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 4.7509264559811391e-09 4.7509264559811391e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 37 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 33 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 0.683 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.516s jacobian structure: 1600 nonzeros (2.577s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.997s 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 (4.048s) linear index maps built (0.0s) evaluator ready (total: 6.626s) evaluator created (6.652s) 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: 6.654s) 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 4.9433956e+00 2.93e+00 5.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9646075e+00 8.11e-02 2.31e+00 -1.0 1.87e+00 0.0 9.71e-01 1.00e+00f 1 2 2.6427154e+00 3.05e-02 1.62e+00 -0.7 2.80e-01 0.4 9.61e-01 8.22e-01h 1 3 2.5456218e+00 4.83e-03 5.01e-01 -1.6 1.36e-01 -0.1 9.89e-01 1.00e+00h 1 4 2.3148392e+00 5.05e-03 3.57e-01 -1.9 2.09e-01 -0.5 9.82e-01 4.30e-01f 1 5 2.1391851e+00 1.75e-03 9.97e-02 -2.8 7.18e-02 -1.0 9.99e-01 7.22e-01h 1 6 2.0942760e+00 2.38e-04 4.61e-02 -4.0 2.49e-02 -1.5 1.00e+00 9.46e-01h 1 7 2.0908470e+00 6.84e-06 4.17e-03 -4.0 5.40e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908990e+00 1.17e-07 2.37e-05 -4.0 6.47e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908965e+00 1.74e-09 2.34e-05 -4.0 1.92e-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 2.0908901e+00 1.82e-09 8.40e-05 -4.0 5.60e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908736e+00 1.30e-08 5.22e-05 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908384e+00 6.58e-08 1.51e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907636e+00 3.05e-07 7.17e-04 -4.0 9.86e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905630e+00 3.09e-06 9.44e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899365e+00 2.56e-05 1.14e-03 -4.0 8.51e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0891390e+00 3.63e-05 5.04e-02 -4.0 2.50e+01 -6.3 1.00e+00 3.65e-01h 1 17 2.0861498e+00 1.20e-03 9.11e-02 -4.0 5.97e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0845106e+00 4.80e-04 4.42e-02 -4.0 5.68e+00 -5.4 1.00e+00 6.27e-01h 1 19 2.0842980e+00 5.80e-05 6.03e-03 -4.0 6.46e+00 -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 2.0833458e+00 3.86e-05 4.42e-03 -4.0 1.41e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827231e+00 9.51e-05 8.80e-03 -4.0 2.24e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826829e+00 1.29e-04 6.06e-03 -4.0 5.71e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822469e+00 6.03e-04 7.39e-03 -4.0 1.36e+02 -7.8 9.67e-01 1.00e+00h 1 24 2.0824578e+00 1.25e-03 1.84e-02 -4.0 2.99e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820786e+00 1.43e-03 1.94e-02 -4.0 2.18e+01 -6.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0820785948438316e+00 2.0820785948438316e+00 Dual infeasibility......: 1.9447766406351083e-02 1.9447766406351083e-02 Constraint violation....: 1.4258869928163165e-03 1.4258869928163165e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.1495092161195454e-05 9.1495092161195454e-05 Overall NLP error.......: 1.9447766406351083e-02 1.9447766406351083e-02 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 27.883 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 (0.007s) 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: 0.011s) evaluator created (0.011s) 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: 0.012s) 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 4.9433956e+00 2.93e+00 5.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9646075e+00 8.11e-02 2.31e+00 -1.0 1.87e+00 0.0 9.71e-01 1.00e+00f 1 2 2.6427154e+00 3.05e-02 1.62e+00 -0.7 2.80e-01 0.4 9.61e-01 8.22e-01h 1 3 2.5456218e+00 4.83e-03 5.01e-01 -1.6 1.36e-01 -0.1 9.89e-01 1.00e+00h 1 4 2.3148392e+00 5.05e-03 3.57e-01 -1.9 2.09e-01 -0.5 9.82e-01 4.30e-01f 1 5 2.1391851e+00 1.75e-03 9.97e-02 -2.8 7.18e-02 -1.0 9.99e-01 7.22e-01h 1 6 2.0942760e+00 2.38e-04 4.61e-02 -4.0 2.49e-02 -1.5 1.00e+00 9.46e-01h 1 7 2.0908470e+00 6.84e-06 4.17e-03 -4.0 5.40e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908990e+00 1.17e-07 2.37e-05 -4.0 6.47e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908965e+00 1.74e-09 2.34e-05 -4.0 1.92e-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 2.0908901e+00 1.82e-09 8.40e-05 -4.0 5.60e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908736e+00 1.30e-08 5.22e-05 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908384e+00 6.58e-08 1.51e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907636e+00 3.05e-07 7.17e-04 -4.0 9.86e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905630e+00 3.09e-06 9.44e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899365e+00 2.56e-05 1.14e-03 -4.0 8.51e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0891390e+00 3.63e-05 5.04e-02 -4.0 2.50e+01 -6.3 1.00e+00 3.65e-01h 1 17 2.0861498e+00 1.20e-03 9.11e-02 -4.0 5.97e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0845106e+00 4.80e-04 4.42e-02 -4.0 5.68e+00 -5.4 1.00e+00 6.27e-01h 1 19 2.0842980e+00 5.80e-05 6.03e-03 -4.0 6.46e+00 -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 2.0833458e+00 3.86e-05 4.42e-03 -4.0 1.41e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827231e+00 9.51e-05 8.80e-03 -4.0 2.24e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826829e+00 1.29e-04 6.06e-03 -4.0 5.71e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822469e+00 6.03e-04 7.39e-03 -4.0 1.36e+02 -7.8 9.67e-01 1.00e+00h 1 24 2.0824578e+00 1.25e-03 1.84e-02 -4.0 2.99e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820786e+00 1.43e-03 1.94e-02 -4.0 2.18e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0876297e+00 7.58e-04 1.72e-01 -4.0 7.73e+00 -5.6 6.85e-01 9.82e-01h 1 27 2.0833708e+00 6.60e-05 5.01e-02 -4.1 1.48e-01 -1.6 1.00e+00 9.13e-01h 1 28 2.0830403e+00 2.23e-06 1.01e+00 -4.0 1.57e-01 -2.0 5.04e-01 1.00e+00f 1 29 2.0824861e+00 3.28e-07 2.35e-03 -4.0 1.13e-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 2.0823872e+00 9.21e-09 3.34e-04 -4.0 3.12e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0823955e+00 2.17e-08 1.69e-05 -4.0 4.43e-03 -2.6 1.00e+00 1.00e+00h 1 32 2.0822493e+00 2.31e-07 4.62e-05 -4.1 9.94e-03 -3.1 1.00e+00 1.00e+00h 1 33 2.0823992e+00 6.81e-07 5.20e-05 -4.0 2.88e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0822413e+00 2.14e-06 3.52e-05 -4.1 8.86e-02 -4.0 1.00e+00 1.00e+00h 1 35 2.0823792e+00 6.36e-06 8.90e-05 -4.0 2.68e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0821751e+00 2.05e-05 9.15e-05 -4.1 8.53e-01 -5.0 1.00e+00 1.00e+00h 1 37 2.0821781e+00 9.66e-05 4.74e-02 -4.0 4.06e+00 -5.4 8.38e-01 1.00e+00h 1 38 2.0820156e+00 7.88e-05 2.18e-01 -4.1 1.25e+00 -4.1 3.46e-01 4.10e-01h 1 39 2.0821374e+00 6.16e-06 1.63e-03 -4.0 2.46e-01 -4.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821389e+00 4.72e-06 2.37e-04 -4.0 2.56e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0821527e+00 6.48e-07 4.85e-05 -4.0 5.19e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0821661e+00 2.57e-06 6.67e-05 -4.0 1.16e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0819595e+00 9.53e-05 7.25e-04 -4.1 5.50e+00 -6.5 1.00e+00 1.00e+00h 1 44 2.0821233e+00 1.87e-04 1.22e-03 -4.0 8.98e+00 -7.0 1.00e+00 1.00e+00h 1 45 2.0818021e+00 6.59e-04 5.38e-04 -4.1 2.80e+01 -7.4 1.00e+00 1.00e+00h 1 46 2.0819295e+00 9.97e-04 4.81e-03 -4.0 4.28e+01 -7.9 1.00e+00 1.00e+00h 1 47 2.0816050e+00 1.36e-03 3.89e-03 -4.1 5.75e+01 -8.4 1.00e+00 1.00e+00h 1 48 2.0818467e+00 9.82e-04 1.06e-03 -4.0 4.17e+01 -8.9 1.00e+00 1.00e+00h 1 49 2.0815838e+00 3.55e-04 1.04e-04 -4.1 1.54e+01 -9.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818445e+00 1.91e-04 2.66e-05 -4.0 8.69e+00 -9.8 1.00e+00 1.00e+00h 1 51 2.0818434e+00 2.63e-08 5.38e-08 -4.0 3.47e-01 -10.3 1.00e+00 1.00e+00h 1 52 2.0818434e+00 1.84e-13 1.00e-09 -4.0 2.53e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 52 (scaled) (unscaled) Objective...............: 2.0818434105334807e+00 2.0818434105334807e+00 Dual infeasibility......: 1.0000000006256090e-09 1.0000000006256090e-09 Constraint violation....: 1.8363088827300089e-13 1.8363088827300089e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000472161e-04 1.0000000000472161e-04 Overall NLP error.......: 1.0000000006256090e-09 1.0000000006256090e-09 Number of objective function evaluations = 53 Number of objective gradient evaluations = 53 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 53 Number of equality constraint Jacobian evaluations = 53 Number of inequality constraint Jacobian evaluations = 53 Number of Lagrangian Hessian evaluations = 52 Total seconds in IPOPT = 0.802 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: 0.003s) 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 4.9433956e+00 2.93e+00 5.49e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9646075e+00 8.11e-02 2.31e+00 -1.0 1.87e+00 0.0 9.71e-01 1.00e+00f 1 2 2.6427154e+00 3.05e-02 1.62e+00 -0.7 2.80e-01 0.4 9.61e-01 8.22e-01h 1 3 2.5456218e+00 4.83e-03 5.01e-01 -1.6 1.36e-01 -0.1 9.89e-01 1.00e+00h 1 4 2.3148392e+00 5.05e-03 3.57e-01 -1.9 2.09e-01 -0.5 9.82e-01 4.30e-01f 1 5 2.1391851e+00 1.75e-03 9.97e-02 -2.8 7.18e-02 -1.0 9.99e-01 7.22e-01h 1 6 2.0942760e+00 2.38e-04 4.61e-02 -4.0 2.49e-02 -1.5 1.00e+00 9.46e-01h 1 7 2.0908470e+00 6.84e-06 4.17e-03 -4.0 5.40e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908990e+00 1.17e-07 2.37e-05 -4.0 6.47e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908965e+00 1.74e-09 2.34e-05 -4.0 1.92e-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 2.0908901e+00 1.82e-09 8.40e-05 -4.0 5.60e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908736e+00 1.30e-08 5.22e-05 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908384e+00 6.58e-08 1.51e-04 -4.0 3.99e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907636e+00 3.05e-07 7.17e-04 -4.0 9.86e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905630e+00 3.09e-06 9.44e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899365e+00 2.56e-05 1.14e-03 -4.0 8.51e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0891390e+00 3.63e-05 5.04e-02 -4.0 2.50e+01 -6.3 1.00e+00 3.65e-01h 1 17 2.0861498e+00 1.20e-03 9.11e-02 -4.0 5.97e+01 -6.7 1.00e+00 1.00e+00f 1 18 2.0845106e+00 4.80e-04 4.42e-02 -4.0 5.68e+00 -5.4 1.00e+00 6.27e-01h 1 19 2.0842980e+00 5.80e-05 6.03e-03 -4.0 6.46e+00 -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 2.0833458e+00 3.86e-05 4.42e-03 -4.0 1.41e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827231e+00 9.51e-05 8.80e-03 -4.0 2.24e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826829e+00 1.29e-04 6.06e-03 -4.0 5.71e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822469e+00 6.03e-04 7.39e-03 -4.0 1.36e+02 -7.8 9.67e-01 1.00e+00h 1 24 2.0824578e+00 1.25e-03 1.84e-02 -4.0 2.99e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820786e+00 1.43e-03 1.94e-02 -4.0 2.18e+01 -6.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0820785948438316e+00 2.0820785948438316e+00 Dual infeasibility......: 1.9447766406351083e-02 1.9447766406351083e-02 Constraint violation....: 1.4258869928163165e-03 1.4258869928163165e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.1495092161195454e-05 9.1495092161195454e-05 Overall NLP error.......: 1.9447766406351083e-02 1.9447766406351083e-02 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.355 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.057s 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 (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.128s) 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: 0.129s) 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 3.6358033e+00 3.10e+00 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0456549e+00 7.44e-02 2.36e+00 -1.0 2.36e+00 0.0 1.00e+00 1.00e+00f 1 2 3.5590357e+00 1.61e-01 2.30e+00 0.6 3.53e+01 -0.5 6.87e-02 2.45e-02f 2 3 3.2964511e+00 3.85e-02 3.43e-01 -0.6 3.08e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.9067128e+00 6.21e-03 3.34e-01 -1.2 1.26e-01 -0.5 9.92e-01 1.00e+00h 1 5 2.2751231e+00 1.59e-02 7.67e-02 -1.8 2.20e-01 -1.0 9.21e-01 8.81e-01f 1 6 2.1032979e+00 3.67e-03 7.69e-02 -3.1 1.19e-01 -1.5 8.20e-01 1.00e+00h 1 7 2.0917558e+00 4.27e-05 1.71e-03 -3.7 1.50e-02 -2.0 9.96e-01 1.00e+00h 1 8 2.0909192e+00 8.83e-07 2.52e-05 -4.0 5.62e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909165e+00 3.90e-09 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 2.0909115e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908966e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908517e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907174e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903153e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891179e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856081e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796318e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0806921e+00 1.27e-04 1.70e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775272e+00 7.09e-03 2.23e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769625e+00 1.43e-03 5.60e-02 -4.0 2.09e+02 -8.2 9.77e-01 1.00e+00h 1 21 2.0763420e+00 1.61e-03 4.28e-02 -4.0 3.56e+02 -8.6 1.00e+00 6.33e-01h 1 22 2.0755518e+00 3.75e-03 3.43e-02 -4.0 6.39e+02 -9.1 1.00e+00 7.51e-01h 1 23 2.0758101e+00 3.65e-03 1.95e-02 -4.0 1.92e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756810e+00 6.06e-04 9.80e-04 -4.0 1.02e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.30e-06 1.60e-05 -4.0 2.26e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.41e-08 1.25e-06 -4.0 1.39e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.56e-09 1.08e-07 -4.0 4.58e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.59e-11 1.80e-09 -4.0 7.25e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121647864e+00 2.0756712121647864e+00 Dual infeasibility......: 1.8033400560866792e-09 1.8033400560866792e-09 Constraint violation....: 4.5888293165319283e-11 4.5888293165319283e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 1.8033400560866792e-09 1.8033400560866792e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 33 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 = 27.233 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: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.052s 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 (0.054s) 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: 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: 0.283s) 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 4.7934461e+00 1.82e+00 5.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2285178e+00 5.10e-01 1.43e+00 -1.0 1.55e+00 0.0 9.26e-01 7.18e-01f 1 2 2.5839712e+00 1.25e-02 4.76e-01 -1.1 4.60e-01 -0.5 9.43e-01 1.00e+00h 1 3 2.2743305e+00 4.95e-03 6.65e-02 -1.9 1.24e-01 -1.0 9.68e-01 1.00e+00h 1 4 2.1038832e+00 2.08e-03 3.97e-02 -3.2 1.16e-01 -1.4 9.97e-01 9.89e-01h 1 5 2.0931877e+00 5.09e-04 4.94e-02 -4.0 4.68e-02 -1.9 1.00e+00 7.84e-01h 1 6 2.0909021e+00 2.47e-05 5.81e-03 -4.0 5.66e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908940e+00 1.24e-07 1.89e-04 -4.0 1.71e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908895e+00 7.66e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908762e+00 7.07e-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 2.0908364e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907169e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903594e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892939e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861621e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796251e+00 2.51e-03 8.65e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.58e-01h 1 16 2.0812756e+00 1.51e-04 1.92e-01 -4.0 6.73e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778372e+00 5.68e-03 2.68e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781695e+00 1.61e-02 3.50e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767335e+00 1.29e-02 1.81e-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 2.0758067e+00 2.11e-04 2.18e-02 -3.9 4.11e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757794e+00 6.45e-03 9.72e-03 -4.0 1.40e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756780e+00 3.50e-04 4.30e-04 -4.0 5.97e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.57e-06 7.53e-06 -4.0 2.10e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.76e-08 1.39e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.99e-09 1.67e-07 -4.0 6.27e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.04e-10 4.08e-09 -4.0 1.15e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528824242e+00 2.0756712528824242e+00 Dual infeasibility......: 4.0797027049753031e-09 4.0797027049753031e-09 Constraint violation....: 1.0382916748596926e-10 1.0382916748596926e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 4.0797027049753031e-09 4.0797027049753031e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 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 = 29.592 EXIT: Optimal Solution Found. 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: 0.058s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.124s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.055s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.376s sub-objective 2 (QuadraticRegularizer): 0.097s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.598s hessian structure: 1749 nonzeros (0.71s) linear index maps built (0.0s) evaluator ready (total: 0.835s) evaluator created (0.835s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) 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 (5.419s) optimizer initialization complete (total: 6.382s) 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 1.9197257e+00 3.96e+00 4.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1169083e+00 7.99e-01 1.70e+00 -0.8 2.13e+00 0.0 1.00e+00 7.99e-01h 1 2 2.6663657e+00 1.17e-02 1.38e+00 -1.0 5.39e-01 -0.5 9.69e-01 1.00e+00h 1 3 2.4109779e+00 4.38e-02 5.08e-01 -1.4 5.14e-01 -1.0 9.92e-01 8.15e-01h 1 4 2.2462876e+00 6.87e-03 1.07e-01 -1.9 2.15e-01 -1.4 9.43e-01 1.00e+00h 1 5 2.1078577e+00 3.47e-03 7.76e-02 -3.0 2.63e-01 -1.9 9.99e-01 8.27e-01h 1 6 2.0914295e+00 1.85e-05 1.55e-03 -4.0 9.88e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908401e+00 1.51e-06 2.72e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908361e+00 4.40e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908228e+00 6.94e-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 2.0907829e+00 6.25e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906635e+00 5.63e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903061e+00 5.09e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892410e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861104e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796379e+00 2.49e-03 8.82e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.51e-01h 1 16 2.0812263e+00 1.58e-04 1.94e-01 -4.0 6.82e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778345e+00 6.09e-03 2.76e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781461e+00 1.53e-02 4.89e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767322e+00 1.28e-02 1.99e-02 -3.8 2.95e+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 2.0759538e+00 7.43e-03 2.14e-02 -3.9 4.25e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757584e+00 7.12e-03 8.55e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756817e+00 4.21e-04 3.79e-04 -4.0 5.93e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 8.91e-06 6.44e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 3.98e-08 1.49e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.50e-09 1.49e-07 -4.0 5.21e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.69e-11 3.01e-09 -4.0 9.21e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122089382e+00 2.0756712122089382e+00 Dual infeasibility......: 3.0131446712711174e-09 3.0131446712711174e-09 Constraint violation....: 7.6944117743948937e-11 7.6944117743948937e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000024e-04 1.0000000000000024e-04 Overall NLP error.......: 3.0131446712711174e-09 3.0131446712711174e-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 = 43.796 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.057s 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 (0.059s) 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: 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: 0.128s) 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 3.4152614e+00 3.23e+00 2.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2127071e+00 2.56e+00 6.01e+00 -0.9 3.22e+01 -2.0 1.44e-01 2.40e-01h 1 2 2.9960249e+00 1.69e+00 4.07e+02 -0.3 4.26e+01 -2.5 1.89e-01 3.77e-01f 1 3 3.1454841e+00 3.34e+00 3.31e+02 -0.4 8.42e+01 -3.0 3.23e-01 1.93e-01f 1 4 2.8399906e+00 2.36e+00 1.75e+02 -2.7 4.43e+01 -3.4 4.26e-01 5.36e-01h 1 5 2.7039022e+00 2.48e-01 2.97e+01 -1.5 1.72e+01 -3.0 5.04e-01 1.00e+00h 1 6 2.6988877e+00 1.84e-02 4.83e+00 -1.7 7.23e-01 -0.8 8.79e-01 9.22e-01h 1 7 2.6436430e+00 6.22e-03 2.18e-01 -2.4 3.23e-01 -1.3 1.00e+00 1.00e+00h 1 8 2.6170130e+00 3.37e-03 9.68e-02 -2.8 3.70e-01 -1.7 9.94e-01 9.73e-01h 1 9 2.6081774e+00 1.56e-03 3.94e-01 -3.0 9.57e-01 -2.2 9.44e-01 5.34e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.5734315e+00 3.68e-02 5.11e-02 -2.5 2.34e+00 -2.7 9.74e-01 1.00e+00f 1 11 2.5006373e+00 5.06e-02 1.05e-01 -2.7 4.57e+00 -3.2 9.75e-01 1.00e+00h 1 12 2.4134339e+00 1.83e-01 1.54e-01 -2.4 7.68e+00 -3.6 1.00e+00 1.00e+00h 1 13 2.3181515e+00 4.01e-01 2.43e-01 -2.8 1.06e+01 -4.1 9.92e-01 1.00e+00h 1 14 2.2525120e+00 7.07e-01 3.54e-01 -2.4 3.44e+01 -4.6 1.00e+00 8.06e-01h 1 15 2.2361937e+00 4.66e-02 9.70e-02 -2.6 7.68e+00 -4.2 1.00e+00 1.00e+00h 1 16 2.1931748e+00 6.92e-02 2.82e-01 -2.6 2.19e+01 -4.6 9.98e-01 7.11e-01h 1 17 2.1501161e+00 5.75e-01 1.78e-01 -3.2 2.73e+01 -5.1 7.02e-01 9.63e-01h 1 18 2.1276342e+00 7.26e-01 3.30e-01 -2.7 6.76e+01 -5.6 1.00e+00 1.00e+00h 1 19 2.1002322e+00 6.84e-01 3.84e-01 -3.6 5.43e+01 -6.1 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1143436e+00 1.78e+00 1.82e+00 -2.3 2.98e+02 -6.5 7.12e-01 2.67e-01H 1 21 2.1216373e+00 7.82e-01 3.86e-01 -2.5 1.15e+02 -7.0 1.00e+00 1.00e+00h 1 22 2.0863790e+00 8.95e-01 7.59e-02 -3.3 1.15e+02 -7.5 1.00e+00 1.00e+00h 1 23 2.0810801e+00 1.56e-01 2.10e-02 -3.4 1.46e+02 -8.0 9.96e-01 1.00e+00h 1 24 2.0770612e+00 7.60e-02 1.16e-02 -3.9 2.02e+02 -8.5 1.00e+00 1.00e+00h 1 25 2.0763497e+00 1.55e-02 1.20e-02 -4.0 4.21e+02 -8.9 1.00e+00 1.00e+00h 1 26 2.0761704e+00 8.55e-04 5.41e-03 -4.0 7.84e+01 -9.4 1.00e+00 1.00e+00h 1 27 2.0762135e+00 2.46e-05 2.28e-04 -4.0 7.86e+01 -9.9 1.00e+00 1.00e+00h 1 28 2.0762132e+00 7.19e-06 1.04e-04 -4.0 1.15e+02 -10.4 1.00e+00 1.00e+00h 1 29 2.0762141e+00 1.71e-06 5.67e-05 -4.0 8.81e+01 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0762144e+00 4.21e-07 5.53e-06 -4.0 2.80e+01 -11.3 1.00e+00 1.00e+00h 1 31 2.0762144e+00 5.51e-09 7.05e-08 -4.0 3.13e+00 -11.8 1.00e+00 1.00e+00h 1 32 2.0762144e+00 5.52e-12 1.02e-10 -4.0 1.19e-01 -12.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0762143810782563e+00 2.0762143810782563e+00 Dual infeasibility......: 1.0245063217922956e-10 1.0245063217922956e-10 Constraint violation....: 5.5175863877821030e-12 5.5175863877821030e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-04 Overall NLP error.......: 1.0245063217922956e-10 1.0245063217922956e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 28.201 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) 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: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.128s) 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 (0.052s) optimizer initialization complete (total: 0.18s) 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 2.1955639e+00 3.02e+00 1.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0839251e+01 8.92e-01 1.22e+01 -0.9 1.31e+01 - 9.96e-01 1.00e+00h 1 2 1.0276690e+01 8.02e-01 7.29e+01 -0.2 1.21e+01 0.0 1.00e+00 1.01e-01h 1 3 9.5427031e+00 7.80e-01 2.51e+01 1.1 4.96e+02 - 1.32e-02 1.08e-02f 2 4 6.6331786e+00 9.04e-01 1.50e+02 0.6 1.86e+02 - 3.17e-01 1.16e-01f 2 5 9.5186392e+00 4.33e-01 3.11e+02 0.1 1.98e+02 - 9.92e-01 5.00e-01h 2 6 9.0442865e+00 4.21e-01 4.36e+02 0.3 5.28e+01 - 1.00e+00 1.00e+00f 1 7 7.5082507e+00 2.93e-01 7.81e+01 -0.2 3.66e+01 - 1.00e+00 1.00e+00f 1 8 6.6861509e+00 1.81e-01 2.43e+01 -1.1 1.35e+01 - 1.00e+00 1.00e+00h 1 9 5.9786649e+00 4.19e-01 4.29e+00 -1.1 1.58e+01 - 9.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 6.1624909e+00 1.53e-01 3.31e+00 -1.8 3.28e+00 - 9.96e-01 1.00e+00h 1 11 6.1648110e+00 2.22e-03 4.72e-01 -3.0 1.18e-01 -0.5 1.00e+00 1.00e+00h 1 12 5.9545882e+00 2.43e-01 3.12e-01 -2.3 8.94e+00 - 1.00e+00 5.00e-01f 2 13 6.1074498e+00 7.39e-02 6.93e-01 -3.3 1.43e+00 - 1.00e+00 1.00e+00h 1 14 6.0384037e+00 4.80e-02 3.75e-01 -3.6 6.43e-01 - 1.00e+00 1.00e+00h 1 15 6.0534150e+00 3.01e-02 1.02e-01 -4.0 7.40e-01 - 1.00e+00 1.00e+00h 1 16 6.0748063e+00 6.17e-04 3.87e-03 -4.0 7.19e-02 - 1.00e+00 1.00e+00h 1 17 6.0745855e+00 3.20e-06 1.48e-05 -4.0 9.25e-03 - 1.00e+00 1.00e+00h 1 18 6.0745877e+00 1.76e-10 2.10e-10 -4.0 6.57e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 6.0745876596963191e+00 6.0745876596963191e+00 Dual infeasibility......: 2.0992452220980340e-10 2.0992452220980340e-10 Constraint violation....: 1.7557921783151187e-10 1.7557921783151187e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000015518164e-04 1.0000000015518164e-04 Overall NLP error.......: 2.0992452220980340e-10 2.0992452220980340e-10 Number of objective function evaluations = 28 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 28.568 EXIT: Optimal Solution Found. 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 (NonlinearKnotPointConstraint) jacobian structure: 2.594s jacobian structure: 1600 nonzeros (2.661s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.155s 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 (4.208s) linear index maps built (0.0s) evaluator ready (total: 6.87s) evaluator created (6.895s) 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: 6.896s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0622821e+00 2.55e+00 6.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7093374e+00 8.04e-01 1.33e+00 -0.9 1.94e+00 0.0 8.75e-01 6.85e-01f 1 2 2.5620057e+00 3.98e-02 1.77e+00 -0.9 8.69e-01 -0.5 9.20e-01 1.00e+00h 1 3 2.5324633e+00 8.59e-02 6.00e-01 -1.2 5.82e-01 -1.0 9.96e-01 8.80e-01h 1 4 2.4741581e+00 8.46e-02 2.87e+00 -1.2 3.24e+01 -1.4 1.36e-01 1.51e-02h 2 5 2.4627433e+00 4.03e-02 5.86e-01 -1.4 1.17e+00 -1.9 9.47e-01 1.00e+00f 1 6 2.2656484e+00 1.54e-02 1.70e-01 -2.2 4.90e-01 -2.4 9.95e-01 5.92e-01h 1 7 2.0949641e+00 1.01e-02 2.71e-02 -3.4 4.50e-01 -2.9 9.95e-01 9.90e-01h 1 8 2.0909683e+00 4.16e-05 4.13e-03 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909143e+00 1.24e-06 5.38e-05 -4.0 1.38e-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 2.0908795e+00 7.32e-08 1.15e-04 -4.0 3.65e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908102e+00 3.31e-07 6.11e-04 -4.0 8.92e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906299e+00 2.32e-06 9.73e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900834e+00 2.08e-05 8.82e-04 -4.0 7.77e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898526e+00 3.51e-06 1.51e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897384e+00 8.26e-07 2.29e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0893966e+00 5.38e-06 4.96e-04 -4.0 3.77e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0884345e+00 4.39e-05 1.85e-03 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0864752e+00 2.66e-04 1.08e-02 -4.0 2.71e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0852191e+00 2.85e-04 1.16e-01 -4.0 5.72e+01 -6.8 1.00e+00 2.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827592e+00 6.67e-04 5.81e-02 -4.0 5.99e+01 -7.3 1.00e+00 7.56e-01h 1 21 2.0827143e+00 2.19e-03 4.82e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0824228e+00 1.03e-03 1.75e-02 -4.0 8.86e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820466e+00 5.43e-04 3.64e-02 -4.0 7.94e+01 -7.8 8.72e-01 1.00e+00h 1 24 2.0857012e+00 1.02e-04 5.11e-01 -4.0 1.06e+01 -5.6 1.00e+00 6.01e-01H 1 25 2.0831296e+00 1.69e-06 1.25e-02 -3.7 2.31e-01 -1.5 1.00e+00 1.00e+00f 1 26 2.0823377e+00 6.56e-07 3.40e-02 -3.8 8.70e-02 -2.0 9.73e-01 1.00e+00h 1 27 2.0819032e+00 4.03e-07 1.49e-03 -4.0 1.26e-01 -2.5 1.00e+00 1.00e+00h 1 28 2.0818382e+00 7.08e-07 4.30e-04 -4.0 4.03e-02 -2.9 1.00e+00 1.00e+00h 1 29 2.0818880e+00 1.10e-06 3.87e-05 -4.0 2.82e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819068e+00 1.28e-06 1.63e-05 -4.0 8.75e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0817993e+00 5.17e-06 1.44e-04 -4.1 1.68e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0819599e+00 3.99e-05 3.44e-04 -4.0 7.48e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0819595e+00 1.01e-04 3.50e-02 -4.1 2.89e+00 -5.3 8.03e-01 1.00e+00h 1 34 2.0818606e+00 1.25e-06 2.89e-03 -4.1 9.81e-02 -2.2 1.00e+00 1.00e+00h 1 35 2.0820021e+00 4.32e-07 2.60e-04 -4.0 2.66e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0818704e+00 1.49e-07 7.32e-05 -4.1 4.13e-02 -3.2 1.00e+00 1.00e+00h 1 37 2.0819957e+00 3.14e-07 5.97e-05 -4.0 3.57e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0818679e+00 1.07e-06 6.80e-05 -4.1 5.04e-02 -4.1 1.00e+00 1.00e+00h 1 39 2.0813138e+00 3.45e-05 4.14e-02 -6.1 3.72e-01 -4.6 7.99e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821111e+00 6.78e-05 1.82e-03 -4.0 4.85e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0818414e+00 6.86e-05 5.43e-04 -4.1 9.13e-01 -5.5 1.00e+00 1.00e+00h 1 42 2.0810817e+00 4.59e-04 5.94e-03 -6.1 6.32e+00 -6.0 9.87e-01 1.00e+00h 1 43 2.0810926e+00 4.46e-04 1.22e-01 -4.0 9.73e+00 -4.7 4.95e-02 2.94e-02h 1 44 2.0811735e+00 4.10e-04 5.89e-01 -4.0 5.61e+00 -5.2 1.00e+00 8.61e-02f 1 45 2.0820141e+00 4.28e-03 1.56e-02 -4.0 9.07e+00 -5.6 1.00e+00 1.00e+00h 1 46 2.0820294e+00 3.09e-04 2.62e-03 -4.0 1.95e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0839817e+00 6.71e-06 4.21e-02 -4.0 1.26e+01 -6.6 6.29e-01 1.00e+00H 1 48 2.0826206e+00 1.11e-06 1.18e-02 -4.0 6.30e-02 -0.8 1.00e+00 1.00e+00h 1 49 2.0826906e+00 1.09e-06 3.16e-03 -4.0 5.28e-02 -1.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824233e+00 8.65e-08 1.95e-03 -4.0 9.71e-02 -1.7 1.00e+00 1.00e+00h 1 51 2.0818753e+00 3.06e-08 3.45e-02 -4.0 2.23e-01 -2.2 1.00e+00 9.86e-01H 1 52 2.0822482e+00 7.77e-07 2.00e-03 -4.0 1.14e-01 -2.7 1.00e+00 1.00e+00f 1 53 2.0820098e+00 1.52e-06 3.95e-04 -4.1 4.01e-02 -3.1 1.00e+00 1.00e+00h 1 54 2.0813355e+00 4.97e-06 1.49e-01 -6.1 8.31e-02 -3.6 7.76e-01 1.00e+00h 1 55 2.0822177e+00 1.20e-05 1.92e-03 -4.0 8.64e-02 -4.1 1.00e+00 1.00e+00f 1 56 2.0819370e+00 1.67e-05 7.52e-05 -4.1 3.37e-01 -4.6 1.00e+00 1.00e+00h 1 57 2.0812656e+00 1.40e-04 1.81e-02 -6.1 1.42e+00 -5.0 9.38e-01 1.00e+00h 1 58 2.0816200e+00 5.22e-05 2.83e-01 -4.0 2.13e+01 -5.5 9.50e-02 2.13e-01h 2 59 2.0813581e+00 2.75e-05 7.73e-01 -4.9 2.71e-01 -2.4 1.00e+00 4.72e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0811560e+00 9.08e-06 3.68e-01 -4.9 7.63e-02 -2.9 1.00e+00 6.72e-01f 1 61 2.0819466e+00 5.79e-06 3.53e-03 -4.0 5.41e-02 -3.3 1.00e+00 1.00e+00f 1 62 2.0816336e+00 5.49e-06 1.97e-04 -4.1 8.93e-02 -3.8 1.00e+00 1.00e+00h 1 63 2.0817901e+00 1.68e-05 3.81e-04 -4.0 3.84e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0817208e+00 2.47e-05 6.18e-04 -4.1 5.89e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0811744e+00 1.90e-04 4.35e-02 -6.1 1.80e+00 -5.2 8.26e-01 1.00e+00h 1 66 2.0811050e+00 1.38e-04 7.99e-01 -6.1 4.22e-01 -3.9 1.00e+00 2.62e-01h 1 67 2.0810300e+00 6.16e-06 5.08e-03 -5.7 2.43e-01 -4.4 1.00e+00 9.55e-01h 1 68 2.0819372e+00 1.86e-04 2.06e-02 -4.0 1.49e+00 -4.9 1.00e+00 9.62e-01f 1 69 2.0817292e+00 7.22e-05 1.08e-03 -4.1 9.26e-01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818125e+00 1.18e-04 8.14e-04 -4.1 1.68e+00 -5.8 1.00e+00 1.00e+00h 1 71 2.0809798e+00 5.05e-04 6.09e-02 -6.1 6.55e+00 -6.3 8.00e-01 1.00e+00h 1 72 2.0811701e+00 1.62e-06 1.61e-04 -4.5 6.53e-02 -4.1 1.00e+00 1.00e+00h 1 73 2.0813935e+00 2.26e-05 3.51e-01 -4.0 1.58e+00 -4.6 1.00e+00 4.47e-01h 2 74 2.0814696e+00 1.28e-05 1.32e-03 -4.1 7.96e-01 -5.0 1.00e+00 1.00e+00h 1 75 2.0815751e+00 2.21e-05 6.05e-04 -4.1 1.58e+00 -5.5 1.00e+00 1.00e+00h 1 76 2.0809775e+00 2.50e-04 2.12e-02 -6.2 3.51e+00 -6.0 9.61e-01 1.00e+00h 1 77 2.0808947e+00 9.55e-05 1.49e-03 -5.0 5.22e+00 -6.5 1.00e+00 9.72e-01h 1 78 2.0813137e+00 3.11e-05 8.47e-02 -4.0 7.05e+01 -6.9 3.76e-01 9.03e-02f 2 79 2.0810352e+00 3.11e-05 2.82e+00 -4.5 7.10e+01 -2.9 6.41e-04 3.46e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0809340e+00 3.01e-05 2.75e+00 -4.5 1.89e+00 -3.4 9.72e-02 3.15e-02f 1 81 2.0813282e+00 2.83e-05 5.80e+00 -4.0 1.96e+00 -3.9 1.00e+00 5.87e-02f 1 82 2.0815113e+00 9.26e-05 4.77e-03 -4.0 1.37e+00 -4.3 1.00e+00 1.00e+00h 1 83 2.0815911e+00 2.59e-05 5.78e-03 -4.0 1.08e+00 -4.8 1.00e+00 1.00e+00h 1 84 2.0817255e+00 2.81e-05 1.04e-03 -4.0 2.28e+00 -5.3 1.00e+00 1.00e+00h 1 85 2.0817566e+00 5.14e-05 1.92e-03 -4.0 5.95e+00 -5.8 1.00e+00 1.00e+00h 1 86 2.0821566e+00 3.49e-05 9.83e-03 -4.0 2.02e+01 -6.2 2.26e-01 3.69e-01h 2 87 2.0818553e+00 8.10e-07 6.32e-02 -4.0 3.81e-02 -1.3 9.57e-01 1.00e+00h 1 88 2.0818332e+00 3.19e-07 2.67e-04 -4.0 4.54e-02 -1.8 1.00e+00 1.00e+00h 1 89 2.0818142e+00 3.65e-08 1.61e-04 -4.0 2.80e-02 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818090e+00 9.17e-08 8.71e-05 -4.0 3.80e-02 -2.7 1.00e+00 1.00e+00h 1 91 2.0818057e+00 2.82e-07 5.15e-05 -4.0 2.85e-02 -3.2 1.00e+00 1.00e+00h 1 92 2.0818071e+00 5.35e-07 1.60e-05 -4.0 7.70e-02 -3.7 1.00e+00 1.00e+00h 1 93 2.0817157e+00 4.45e-06 1.64e-04 -4.1 1.63e-01 -4.2 1.00e+00 1.00e+00h 1 94 2.0812058e+00 5.39e-05 8.38e-02 -6.1 4.38e-01 -4.6 7.19e-01 1.00e+00h 1 95 2.0810962e+00 2.74e-05 5.34e-01 -6.1 1.96e+00 -5.1 9.38e-01 3.02e-01h 1 96 2.0808521e+00 4.85e-05 7.52e-03 -6.1 3.80e+00 -5.6 1.00e+00 9.54e-01h 1 97 2.0846881e+00 1.36e-03 3.96e-01 -4.0 4.01e+01 -6.1 1.00e+00 5.00e-01f 2 98 2.0825029e+00 9.64e-04 3.87e+00 -3.9 6.88e-01 -2.0 4.55e-02 2.92e-01h 1 99 2.0822758e+00 4.99e-04 2.13e+00 -3.9 4.72e-01 -2.5 9.89e-01 4.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0832610e+00 4.25e-06 4.10e-03 -3.9 1.93e-01 -3.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0832610294074123e+00 2.0832610294074123e+00 Dual infeasibility......: 4.0972469310917832e-03 4.0972469310917832e-03 Constraint violation....: 4.2549524020066287e-06 4.2549524020066287e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.8309603264144626e-04 5.8309603264144626e-04 Overall NLP error.......: 4.0972469310917832e-03 4.0972469310917832e-03 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.247 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.874s jacobian structure: 1680 nonzeros (5.942s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 13.592s 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): 0.656s objective hessian structure: 0.657s hessian structure: 1964 nonzeros (14.3s) linear index maps built (0.0s) evaluator ready (total: 20.243s) evaluator created (20.268s) 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: 20.271s) 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 1.3495632e+01 2.39e+00 3.83e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.7051049e+00 6.48e-01 2.35e+00 -0.8 2.53e+00 0.0 6.57e-01 7.30e-01f 1 2 3.6669907e+00 1.70e-01 5.82e+00 -0.9 5.92e-01 0.4 9.80e-01 7.38e-01f 1 3 2.9152000e+00 2.05e-02 2.03e+00 -0.7 4.91e-01 -0.1 9.84e-01 1.00e+00f 1 4 2.6985660e+00 1.63e-02 1.11e+00 -1.0 2.14e-01 -0.5 9.74e-01 4.52e-01h 1 5 2.3897123e+00 1.34e-02 4.14e-01 -1.6 3.45e-01 -1.0 9.57e-01 1.00e+00f 1 6 2.1471979e+00 1.31e-02 1.16e-01 -2.2 2.96e-01 -1.5 9.94e-01 9.65e-01h 1 7 2.1030935e+00 6.27e-04 1.75e-02 -2.9 5.69e-02 -2.0 9.84e-01 1.00e+00h 1 8 2.0910210e+00 1.96e-05 1.62e-03 -4.0 1.13e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909231e+00 5.46e-07 2.28e-05 -4.0 1.87e-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 2.0909168e+00 1.42e-09 2.21e-05 -4.0 5.44e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909010e+00 1.26e-08 9.87e-05 -4.0 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908665e+00 7.07e-08 1.35e-04 -4.0 3.94e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907918e+00 2.96e-07 6.59e-04 -4.0 9.85e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905894e+00 3.04e-06 8.89e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899307e+00 2.49e-05 1.68e-03 -4.0 8.19e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0887076e+00 2.02e-04 2.37e-02 -4.0 2.54e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0876557e+00 7.84e-05 4.24e-02 -4.0 3.30e+00 -4.9 1.00e+00 6.89e-01h 1 18 2.0874997e+00 1.54e-05 5.34e-03 -4.0 3.78e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865162e+00 4.60e-05 5.47e-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 2.0849557e+00 2.06e-04 1.07e-02 -4.0 2.50e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0832179e+00 2.61e-04 3.04e-02 -4.0 3.84e+01 -6.8 1.00e+00 7.05e-01h 1 22 2.0825116e+00 2.12e-04 8.81e-03 -4.0 5.93e+01 -7.3 1.00e+00 8.63e-01h 1 23 2.0823276e+00 2.00e-04 1.03e-02 -4.0 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0962380e+00 8.06e-05 4.02e-01 -4.0 2.30e+02 -7.4 1.20e-01 1.00e+00H 1 25 2.0841501e+00 2.85e-03 5.54e+00 -4.1 8.73e+00 -4.2 3.20e-02 2.49e-01f 1 26 2.0829935e+00 3.02e-03 5.52e+00 -4.1 2.90e+02 -3.8 1.59e-05 2.39e-03f 1 27 2.0831812e+00 3.05e-03 5.56e+00 -4.1 7.55e+02 -4.3 4.03e-07 1.99e-04f 2 28 2.0829539e+00 2.77e-03 5.29e+00 -4.1 1.68e+00 -2.9 1.00e+00 9.07e-02h 1 29 2.0831487e+00 1.46e-05 1.19e-02 -4.1 9.53e-02 -3.4 1.00e+00 9.97e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832348e+00 6.13e-06 3.22e-04 -4.0 1.03e-01 -3.9 1.00e+00 1.00e+00f 1 31 2.0832202e+00 1.85e-07 3.20e-05 -4.0 1.94e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0831835e+00 2.00e-07 3.22e-05 -4.0 5.70e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0830859e+00 1.61e-06 1.23e-04 -4.0 1.60e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0828836e+00 9.60e-06 6.75e-04 -4.0 4.00e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0826547e+00 2.28e-05 1.59e-03 -4.0 9.74e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0824041e+00 4.11e-05 2.29e-03 -4.0 2.43e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0820335e+00 2.18e-04 4.42e-03 -4.0 5.37e+01 -7.2 9.44e-01 1.00e+00h 1 38 2.0819126e+00 2.53e-04 7.11e+00 -4.0 1.02e+03 -6.8 1.00e+00 2.17e-02h 3 39 2.0820486e+00 6.94e-05 2.40e+00 -4.0 2.38e+01 -7.3 6.73e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818561e+00 4.78e-05 2.84e+00 -3.9 1.10e+01 -5.1 7.80e-01 2.28e-01H 1 41 2.0820389e+00 3.65e-05 2.96e-03 -4.0 1.82e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0819864e+00 1.73e-04 1.54e-03 -4.0 1.64e+00 -5.1 1.00e+00 1.00e+00h 1 43 2.0818055e+00 1.37e-04 1.24e+00 -4.1 3.93e-01 -2.9 8.45e-01 2.12e-01h 1 44 2.0819149e+00 2.26e-07 1.71e-04 -4.0 2.76e-02 -3.4 1.00e+00 1.00e+00f 1 45 2.0819634e+00 3.63e-06 2.37e-04 -4.0 4.31e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0818561e+00 1.52e-06 8.50e-05 -4.1 1.30e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0820165e+00 2.61e-05 1.81e-04 -4.0 5.44e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0819160e+00 2.44e-05 4.19e-04 -4.1 1.95e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0815805e+00 6.64e-05 2.93e-02 -6.1 4.08e+00 -5.7 5.24e-01 3.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820709e+00 2.96e-04 1.24e-03 -4.0 4.49e+00 -6.2 1.00e+00 1.00e+00f 1 51 2.0818089e+00 1.89e-04 8.03e-03 -4.1 3.53e+00 -6.7 9.02e-01 1.00e+00h 1 52 2.0817835e+00 3.36e-07 4.92e-04 -4.1 4.57e-02 -2.7 1.00e+00 1.00e+00h 1 53 2.0819145e+00 1.89e-07 1.09e-04 -4.0 2.97e-02 -3.1 1.00e+00 1.00e+00h 1 54 2.0817939e+00 6.53e-07 7.05e-05 -4.1 2.86e-02 -3.6 1.00e+00 1.00e+00h 1 55 2.0812690e+00 1.04e-05 5.09e-02 -6.1 1.15e-01 -4.1 7.55e-01 1.00e+00h 1 56 2.0818231e+00 3.83e-05 8.71e-02 -4.0 5.13e-01 -4.6 1.00e+00 6.40e-01h 1 57 2.0817548e+00 6.06e-05 1.68e-03 -4.1 8.42e-01 -5.0 1.00e+00 1.00e+00h 1 58 2.0817409e+00 1.01e-05 4.25e-04 -4.1 6.75e-01 -5.5 1.00e+00 1.00e+00h 1 59 2.0819439e+00 3.47e-05 2.06e-04 -4.0 1.17e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817587e+00 4.54e-05 5.19e-04 -4.1 2.85e+00 -6.5 1.00e+00 1.00e+00h 1 61 2.0807927e+00 1.58e-03 3.61e-03 -6.1 1.81e+01 -7.0 9.85e-01 9.95e-01h 1 62 2.0819617e+00 2.39e-03 3.76e-03 -4.0 2.06e+01 -7.4 1.00e+00 1.00e+00f 1 63 2.0816664e+00 9.70e-04 1.51e-03 -4.1 2.85e+01 -7.9 1.00e+00 1.00e+00h 1 64 2.0816167e+00 8.41e-05 1.92e-03 -4.1 4.35e+01 -8.4 1.00e+00 1.00e+00h 1 65 2.0816040e+00 2.53e-05 6.82e-04 -4.1 3.28e+01 -8.9 1.00e+00 1.00e+00h 1 66 2.0818416e+00 2.21e-04 7.88e-05 -4.0 9.98e+00 -9.3 1.00e+00 1.00e+00h 1 67 2.0815820e+00 2.16e-04 3.04e-05 -4.1 9.83e+00 -9.8 1.00e+00 1.00e+00h 1 68 2.0805927e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -10.3 9.77e-01 9.67e-01h 1 69 2.0818894e+00 6.56e-03 3.37e-04 -4.0 6.11e+01 -10.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816125e+00 4.95e-04 3.10e-05 -4.1 2.07e+01 -11.2 1.00e+00 1.00e+00h 1 71 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -11.7 9.76e-01 9.61e-01h 1 72 2.0805507e+00 9.06e-05 2.35e-06 -6.1 1.70e+01 -12.2 1.00e+00 1.00e+00h 1 73 2.0819806e+00 1.03e-02 3.97e-04 -4.0 8.49e+01 -12.7 1.00e+00 1.00e+00f 1 74 2.0816780e+00 9.65e-04 4.92e-05 -4.1 4.56e+01 -13.2 1.00e+00 1.00e+00h 1 75 2.0816420e+00 4.57e-07 3.19e-05 -4.1 8.54e+00 -13.6 1.00e+00 1.00e+00h 1 76 2.0818414e+00 1.26e-04 3.73e-05 -4.0 7.46e+00 -14.1 1.00e+00 1.00e+00h 1 77 2.0815817e+00 2.11e-04 3.04e-05 -4.1 9.63e+00 -14.6 1.00e+00 1.00e+00h 1 78 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -15.1 9.77e-01 9.68e-01h 1 79 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -15.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -16.0 1.00e+00 1.00e+00f 1 81 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -16.5 1.00e+00 1.00e+00h 1 82 2.0816444e+00 5.44e-07 3.20e-05 -4.1 8.94e+00 -17.0 1.00e+00 1.00e+00h 1 83 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -17.4 9.76e-01 9.71e-01h 1 84 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -17.9 1.00e+00 1.00e+00h 1 85 2.0805468e+00 5.07e-08 3.19e-07 -6.1 2.92e+00 -18.4 1.00e+00 1.00e+00h 1 86 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -18.9 1.00e+00 1.00e+00f 1 87 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -19.4 1.00e+00 1.00e+00h 1 88 2.0816573e+00 1.18e-06 3.23e-05 -4.1 1.10e+01 -19.8 1.00e+00 1.00e+00h 1 89 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805469e+00 5.37e-08 3.24e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816639e+00 1.62e-06 3.25e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 97 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805470e+00 5.53e-08 3.27e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 8.66e-11 3.72e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595545566e+00 2.0805364595545566e+00 Dual infeasibility......: 3.7176724793783574e-10 3.7176724793783574e-10 Constraint violation....: 8.6649798447524518e-11 8.6649798447524518e-11 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.1448054511479300e-10 9.1448054511479300e-10 Overall NLP error.......: 9.9999090910174153e-05 9.9999090910174153e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 36.379 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: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.927s jacobian structure: 1594 nonzeros (2.993s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.696s 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: 1804 nonzeros (6.749s) linear index maps built (0.0s) evaluator ready (total: 9.742s) evaluator created (9.766s) 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: 9.767s) 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 6.6448044e+01 2.53e+00 2.52e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1216129e+01 1.94e+00 2.29e+01 -0.5 1.93e+00 0.0 9.37e-01 2.34e-01f 1 2 4.6951955e+00 2.21e-01 2.03e+01 0.1 2.09e+00 -0.5 5.20e-01 8.72e-01f 1 3 3.8599776e+00 6.16e-02 5.94e+00 -0.0 5.65e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.3272551e+00 1.44e-02 1.96e+00 -0.7 3.14e-01 -0.5 9.99e-01 1.00e+00h 1 5 2.7945267e+00 1.77e-02 2.51e-01 -1.3 2.29e-01 -1.0 1.00e+00 1.00e+00f 1 6 2.3224959e+00 3.27e-02 9.86e-02 -2.1 4.35e-01 -1.5 8.56e-01 7.70e-01f 1 7 2.1541899e+00 1.16e-02 5.81e-02 -2.3 3.72e-01 -2.0 8.16e-01 8.61e-01h 1 8 2.0941777e+00 5.22e-04 5.17e-03 -3.4 7.25e-02 -2.4 9.80e-01 9.93e-01h 1 9 2.0908823e+00 1.28e-05 3.21e-04 -4.0 1.72e-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 2.0908788e+00 9.02e-08 3.21e-04 -4.0 4.77e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908669e+00 7.80e-09 3.21e-04 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908376e+00 4.33e-08 3.21e-04 -4.0 3.68e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907647e+00 3.01e-07 4.50e-04 -4.0 9.71e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905597e+00 3.03e-06 6.20e-04 -4.0 2.98e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904059e+00 2.91e-06 1.63e-02 -4.0 9.65e+00 -5.8 7.17e-01 1.76e-01h 2 16 2.0889640e+00 1.10e-04 2.11e-02 -4.0 2.28e+01 -6.3 1.00e+00 7.84e-01h 1 17 2.0865056e+00 1.11e-03 9.71e-02 -4.0 5.86e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0844247e+00 5.08e-04 8.52e-02 -4.0 7.81e+00 -5.4 1.00e+00 5.93e-01h 1 19 2.0841876e+00 9.18e-05 8.38e-03 -4.0 6.36e+00 -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 2.0832823e+00 4.56e-05 4.45e-03 -4.0 1.36e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827210e+00 9.65e-05 8.04e-03 -4.0 2.20e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826577e+00 9.59e-05 4.96e-03 -4.0 5.66e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822368e+00 5.94e-04 6.69e-03 -4.0 1.36e+02 -7.8 9.52e-01 1.00e+00h 1 24 2.0824574e+00 1.52e-03 2.19e-02 -4.0 3.24e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0820711e+00 1.39e-03 2.03e-02 -4.0 1.81e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0945655e+00 7.18e-04 1.39e-01 -4.0 1.15e+02 -6.5 2.64e-02 1.46e-01h 1 27 2.0894401e+00 3.59e-04 7.29e-01 -4.1 1.02e-01 -0.7 1.00e+00 5.00e-01h 1 28 2.0874748e+00 1.57e-04 5.45e-01 -4.1 7.21e-02 -1.1 4.57e-01 5.63e-01f 1 29 2.0852969e+00 9.35e-07 1.79e-02 -4.1 8.91e-02 -0.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831634e+00 8.91e-07 9.13e-03 -3.9 1.69e-01 -1.2 1.00e+00 1.00e+00h 1 31 2.0823125e+00 1.70e-06 7.16e-02 -3.9 1.39e-01 -1.7 9.28e-01 9.69e-01h 1 32 2.0824602e+00 8.21e-08 1.25e-03 -4.0 6.34e-02 -2.1 1.00e+00 1.00e+00h 1 33 2.0823634e+00 8.32e-08 3.21e-04 -4.0 2.70e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0823268e+00 8.20e-09 3.22e-04 -4.0 8.87e-03 -3.1 1.00e+00 1.00e+00h 1 35 2.0823200e+00 6.02e-09 3.21e-04 -4.0 2.32e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0823168e+00 5.13e-09 3.21e-04 -4.0 6.96e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0823076e+00 4.96e-08 3.21e-04 -4.0 2.09e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0822820e+00 4.61e-07 3.21e-04 -4.0 6.33e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0822164e+00 4.78e-06 3.21e-04 -4.0 1.98e+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 40 2.0820344e+00 1.03e-04 1.15e-02 -4.0 8.14e+00 -6.0 9.14e-01 1.00e+00h 1 41 2.0820457e+00 1.04e-04 8.25e-01 -4.0 1.31e+02 -6.4 3.95e-01 9.96e-03h 3 42 2.0820775e+00 2.27e-04 8.13e-03 -4.1 1.14e+01 -6.9 1.00e+00 1.00e+00h 1 43 2.0818874e+00 4.30e-04 2.15e-03 -4.1 2.77e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819359e+00 7.09e-04 5.05e-03 -4.0 4.00e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816055e+00 1.40e-03 4.35e-03 -4.1 5.76e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818423e+00 1.08e-03 1.39e-03 -4.0 4.56e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0818385e+00 9.32e-06 3.21e-04 -4.0 1.44e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818383e+00 5.69e-08 3.21e-04 -4.0 1.87e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0818383e+00 9.96e-11 3.21e-04 -4.0 8.69e-02 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818383e+00 4.98e-11 1.60e-04 -4.0 1.41e-03 -10.7 1.00e+00 5.00e-01h 2 51 2.0818383e+00 8.88e-16 3.21e-04 -4.0 7.11e-04 -11.2 1.00e+00 1.00e+00H 1 52 2.0818383e+00 4.44e-16 3.21e-04 -4.0 2.00e-05 -11.7 1.00e+00 1.00e+00h 1 53 2.0815797e+00 2.05e-04 2.57e-04 -4.1 9.35e+00 -12.2 1.00e+00 1.00e+00h 1 54 2.0818395e+00 2.13e-04 3.21e-04 -4.0 9.67e+00 -12.6 1.00e+00 1.00e+00h 1 55 2.0815804e+00 2.11e-04 2.57e-04 -4.1 9.63e+00 -13.1 1.00e+00 1.00e+00h 1 56 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -13.6 9.78e-01 9.71e-01h 1 57 2.0818882e+00 6.56e-03 3.21e-04 -4.0 6.10e+01 -14.1 1.00e+00 1.00e+00f 1 58 2.0816136e+00 4.88e-04 2.63e-04 -4.1 2.07e+01 -14.6 1.00e+00 1.00e+00h 1 59 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.0 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805508e+00 8.46e-05 2.39e-06 -6.1 1.69e+01 -15.5 1.00e+00 1.00e+00h 1 61 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.0 1.00e+00 1.00e+00f 1 62 2.0816837e+00 9.34e-04 2.74e-04 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 63 2.0816477e+00 4.73e-07 2.74e-04 -4.1 8.53e+00 -16.9 1.00e+00 1.00e+00h 1 64 2.0818389e+00 1.15e-04 3.21e-04 -4.0 7.07e+00 -17.4 1.00e+00 1.00e+00h 1 65 2.0815801e+00 2.08e-04 2.57e-04 -4.1 9.50e+00 -17.9 1.00e+00 1.00e+00h 1 66 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -18.4 9.78e-01 9.71e-01h 1 67 2.0805497e+00 6.51e-05 2.30e-06 -6.1 1.55e+01 -18.8 1.00e+00 1.00e+00h 1 68 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -19.3 1.00e+00 1.00e+00f 1 69 2.0816887e+00 9.54e-04 2.74e-04 -4.1 4.72e+01 -19.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816504e+00 5.63e-07 2.74e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 72 2.0805511e+00 6.76e-05 2.53e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805469e+00 4.72e-08 2.53e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817159e+00 1.04e-03 2.78e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816648e+00 1.22e-06 2.78e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 78 2.0805514e+00 6.96e-05 2.58e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805471e+00 4.99e-08 2.58e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817306e+00 1.08e-03 2.79e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816723e+00 1.67e-06 2.79e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 85 2.0805516e+00 7.07e-05 2.61e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805472e+00 5.15e-08 2.61e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 9.27e-11 2.92e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -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 90 2.0817309e+00 1.08e-03 2.79e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816725e+00 1.68e-06 2.79e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 93 2.0805516e+00 7.08e-05 2.61e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805472e+00 5.16e-08 2.61e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 9.28e-11 2.92e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.92e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 2.92e-09 -9.0 1.46e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 8.88e-16 2.92e-09 -9.0 1.46e-10 -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 8.88e-16 2.92e-09 -9.0 1.46e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.9179885040307085e-09 2.9179885040307085e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-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 = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 38.029 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: 0.049s 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 (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) 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: 0.115s) 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 3.5308170e+00 3.89e+00 4.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8271211e+00 7.76e-01 3.70e+00 -0.9 2.15e+00 0.0 2.69e-01 8.02e-01f 1 2 2.2323740e+00 3.34e-01 7.34e+00 -0.6 1.32e+00 -0.5 9.79e-01 5.68e-01f 1 3 2.7467002e+00 1.74e-02 1.19e+00 -0.9 5.67e-01 -1.0 8.61e-01 1.00e+00f 1 4 2.5973180e+00 2.62e-02 1.04e+00 -1.2 7.49e-01 -1.4 9.78e-01 5.76e-01H 1 5 2.5382706e+00 2.70e-02 2.25e+00 -1.4 5.24e+00 -1.9 9.96e-01 1.38e-01f 2 6 2.3314341e+00 3.00e-02 4.21e-01 -2.0 9.81e-01 -1.5 9.98e-01 5.73e-01h 1 7 2.1437303e+00 1.79e-02 6.11e-02 -2.4 5.12e-01 -2.0 9.98e-01 1.00e+00h 1 8 2.0941585e+00 6.21e-04 1.61e-02 -3.9 1.59e-01 -2.4 1.00e+00 9.17e-01h 1 9 2.0909868e+00 1.01e-05 4.13e-04 -4.0 1.84e-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 2.0909697e+00 8.87e-08 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909697473386113e+00 2.0909697473386113e+00 Dual infeasibility......: 2.0595252680216078e-05 2.0595252680216078e-05 Constraint violation....: 8.8654953346416210e-08 8.8654953346416210e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000024520437249e-04 1.0000024520437249e-04 Overall NLP error.......: 2.0595252680216078e-05 2.0595252680216078e-05 Number of objective function evaluations = 15 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 15 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 = 29.523 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.047s 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 (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) 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: 0.107s) 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.............: 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 5.4634952e+00 3.09e+00 4.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8220331e+00 5.77e-02 6.62e-01 -1.0 2.21e+00 -2.0 9.53e-01 1.00e+00f 1 2 2.3431598e+00 1.50e-01 5.38e-01 -1.6 2.26e+00 -2.5 8.37e-01 1.00e+00h 1 3 2.2073155e+00 1.12e-01 3.83e-01 -2.0 4.15e+00 -3.0 1.00e+00 6.70e-01h 1 4 2.1335641e+00 1.55e-02 4.91e-02 -2.3 1.19e+00 -3.4 9.84e-01 1.00e+00h 1 5 2.0926588e+00 1.69e-03 1.90e-03 -3.7 3.36e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908779e+00 1.74e-04 1.26e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907297e+00 4.92e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902886e+00 7.69e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889757e+00 7.06e-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 2.0851368e+00 6.69e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796257e+00 2.13e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.43e-01h 1 12 2.0802515e+00 5.10e-04 1.89e-01 -4.0 6.92e+01 -7.2 1.00e+00 9.64e-01H 1 13 2.0774823e+00 8.22e-03 2.00e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.45e-01h 1 14 2.0768129e+00 1.83e-03 6.88e-02 -4.0 2.04e+02 -8.2 1.00e+00 9.55e-01h 1 15 2.0761937e+00 1.87e-03 3.25e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.99e-01h 1 16 2.0755087e+00 1.81e-03 4.07e-02 -4.0 6.16e+02 -9.2 1.00e+00 6.81e-01h 1 17 2.0757837e+00 3.20e-03 1.44e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753833e+00 1.21e-03 6.08e-04 -4.1 8.77e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756722e+00 4.63e-04 5.10e-06 -4.0 2.12e+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 9.62e-07 -4.0 1.11e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.73e-09 6.38e-08 -4.0 3.85e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.48e-11 9.89e-10 -4.0 5.58e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121326433e+00 2.0756712121326433e+00 Dual infeasibility......: 9.8906037624291870e-10 9.8906037624291870e-10 Constraint violation....: 2.4791280139879746e-11 2.4791280139879746e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 9.8906037624291870e-10 9.8906037624291870e-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 = 27.264 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) 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: 0.123s) 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 1.6395196e+00 2.51e+00 3.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5471401e+00 7.81e-02 7.68e+00 -0.9 1.91e+00 0.0 1.91e-01 9.91e-01h 1 2 2.7519129e+00 3.46e-02 2.48e+00 -1.1 6.18e-01 -0.5 6.88e-01 8.68e-01h 1 3 2.6427995e+00 1.60e-02 1.20e+00 -1.0 1.81e-01 -0.1 8.99e-01 6.33e-01f 1 4 2.3596461e+00 7.84e-03 1.03e-01 -1.8 1.16e-01 -0.5 9.88e-01 1.00e+00f 1 5 2.1938950e+00 3.38e-03 3.44e-01 -2.6 3.14e-01 -1.0 9.81e-01 4.59e-01h 1 6 2.1022302e+00 5.33e-04 1.15e-02 -3.2 4.87e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909709e+00 1.06e-05 1.89e-04 -4.0 5.76e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908877e+00 7.20e-08 3.87e-05 -4.0 1.06e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908843e+00 3.00e-09 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 2.0908794e+00 9.67e-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...............: 2.0908793683813593e+00 2.0908793683813593e+00 Dual infeasibility......: 2.0582691371794749e-05 2.0582691371794749e-05 Constraint violation....: 9.6737516434852733e-10 9.6737516434852733e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0582691371794749e-05 2.0582691371794749e-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 = 27.828 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.055s 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 (0.057s) 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: 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: 0.127s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2601989e+00 2.75e+00 4.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4417222e+00 5.75e-01 1.85e+00 -0.9 2.00e+00 - 7.57e-01 7.92e-01f 1 2 3.0135317e+00 5.97e-02 1.82e+00 -0.7 7.09e-01 - 8.21e-01 1.00e+00f 1 3 2.7008399e+00 9.58e-03 1.65e-01 -1.3 1.84e-01 - 9.98e-01 1.00e+00h 1 4 2.3352858e+00 8.79e-03 1.63e-01 -2.6 1.95e-01 - 8.75e-01 8.63e-01f 1 5 2.1194007e+00 6.72e-03 1.63e-01 -2.6 1.89e-01 - 9.94e-01 9.37e-01h 1 6 2.0956990e+00 1.13e-03 2.37e-02 -3.4 2.91e-02 - 9.99e-01 8.32e-01h 1 7 2.0908421e+00 5.67e-06 9.13e-03 -4.0 8.95e-03 - 1.00e+00 1.00e+00h 1 8 2.0908438e+00 3.57e-09 1.48e-04 -4.0 4.96e-04 - 1.00e+00 1.00e+00h 1 9 2.0908316e+00 5.72e-09 7.35e-04 -4.0 1.21e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0792189e+00 5.72e-04 3.59e-01 -4.0 1.40e+03 - 8.10e-02 8.02e-02f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0792189194696484e+00 2.0792189194696484e+00 Dual infeasibility......: 3.5860739243616546e-01 3.5860739243616546e-01 Constraint violation....: 5.7159418937557938e-04 5.7159418937557938e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000189114650432e-04 1.0000189114650432e-04 Overall NLP error.......: 3.5860739243616546e-01 3.5860739243616546e-01 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 = 9.810 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: 0.058s 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 (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.126s) evaluator created (0.126s) 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: 0.127s) 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 3.6797243e+00 2.86e+00 4.03e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1017972e+00 1.78e+00 1.53e+00 -1.0 2.42e+00 0.0 1.80e-01 3.76e-01h 1 2 2.6549842e+00 4.78e-01 1.16e+00 -1.0 1.61e+00 -0.5 1.00e+00 7.32e-01f 1 3 2.7396268e+00 2.04e-02 1.13e+00 -1.0 7.35e-01 -1.0 8.74e-01 1.00e+00f 1 4 2.7115077e+00 3.73e-02 1.03e-01 -1.0 4.74e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.2502257e+00 3.94e-02 8.12e-02 -2.5 5.86e-01 -1.9 8.74e-01 1.00e+00f 1 6 2.1158244e+00 1.52e-02 1.04e-01 -2.5 7.04e-01 -2.4 9.51e-01 1.00e+00h 1 7 2.1144321e+00 5.78e-04 6.35e-03 -2.5 1.28e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0916150e+00 8.50e-05 1.53e-04 -3.8 3.23e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909623e+00 1.28e-05 2.43e-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 2.0909226e+00 6.04e-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...............: 2.0909225671800278e+00 2.0909225671800278e+00 Dual infeasibility......: 2.0588709079866756e-05 2.0588709079866756e-05 Constraint violation....: 6.0411030910340058e-08 6.0411030910340058e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004656963e-04 1.0000000004656963e-04 Overall NLP error.......: 2.0588709079866756e-05 2.0588709079866756e-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 = 28.465 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 (0.069s) integrator 1 hessian structure: 0.059s 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 (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) 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: 0.13s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.06s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.131s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.057s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.394s sub-objective 2 (QuadraticRegularizer): 0.098s sub-objective 3 (LinearRegularizer): 0.082s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 0.701s hessian structure: 2431 nonzeros (0.815s) linear index maps built (0.0s) evaluator ready (total: 0.947s) evaluator created (0.947s) 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 (3.587s) optimizer initialization complete (total: 4.664s) 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 3.3500688e+00 3.60e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5373980e+00 2.70e+00 1.17e+00 -4.0 1.89e+01 -2.0 8.50e-02 1.80e-01h 1 2 4.2161064e+00 2.43e+00 1.84e+01 -1.0 6.89e+00 -1.6 1.18e-01 9.80e-01f 1 3 3.5621145e+00 1.19e+00 4.54e+00 -1.1 2.08e+00 -0.2 6.11e-01 1.00e+00f 1 4 3.4742194e+00 2.21e-01 4.98e+00 -0.9 6.82e-01 0.2 6.94e-01 1.00e+00f 1 5 3.1922675e+00 2.25e-02 7.68e-01 -1.2 2.41e-01 -0.3 9.35e-01 1.00e+00f 1 6 2.6230618e+00 3.07e-02 1.76e-01 -1.9 4.17e-01 -0.8 9.31e-01 1.00e+00f 1 7 2.3490322e+00 1.05e-01 1.57e+00 -1.9 2.94e+00 -1.3 6.24e-01 1.86e-01f 1 8 2.1650465e+00 1.82e-02 1.80e-01 -2.1 2.78e-01 -0.8 9.94e-01 9.51e-01h 1 9 2.0899458e+00 5.54e-03 2.06e-01 -2.6 3.85e-01 -1.3 9.81e-01 7.43e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0320900e+00 3.74e-03 1.88e-01 -3.4 7.49e-01 -1.8 1.00e+00 3.72e-01h 1 11 2.0114490e+00 1.64e-03 2.98e-01 -4.0 1.44e-01 -2.3 1.00e+00 5.62e-01h 1 12 2.0010016e+00 1.62e-04 4.30e-03 -4.0 6.88e-02 -2.7 1.00e+00 9.84e-01h 1 13 2.0008040e+00 3.48e-06 1.80e-01 -4.0 2.29e-01 -3.2 1.00e+00 1.00e+00h 1 14 2.0010130e+00 6.50e-07 6.24e-02 -4.0 3.60e-01 -3.7 1.00e+00 1.00e+00h 1 15 2.0010339e+00 2.07e-08 1.34e-02 -4.0 6.31e-01 -4.2 1.00e+00 1.00e+00h 1 16 2.0010483e+00 1.61e-11 2.25e-02 -4.0 1.13e+00 -4.6 1.00e+00 1.00e+00f 1 17 2.0006862e+00 1.09e-08 2.72e-02 -4.2 1.36e+00 -5.1 1.00e+00 1.00e+00f 1 18 2.0011963e+00 8.67e-09 8.99e-02 -4.0 4.51e+00 -5.6 1.00e+00 1.00e+00f 1 19 2.0008087e+00 5.83e-09 6.98e-02 -4.1 4.17e+00 -6.1 1.00e+00 8.39e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0010608e+00 4.30e-10 2.17e-01 -4.1 1.09e+01 -6.5 1.00e+00 1.00e+00f 1 21 2.0008613e+00 1.11e-09 2.60e-01 -4.1 1.42e+01 -7.0 1.00e+00 9.20e-01f 1 22 2.0011825e+00 8.89e-10 5.65e-01 -4.1 2.83e+01 -7.5 1.00e+00 1.00e+00f 1 23 2.0009277e+00 1.74e-09 7.52e-01 -4.1 4.16e+01 -8.0 1.00e+00 9.04e-01f 1 24 2.0012447e+00 1.81e-09 1.50e+00 -4.1 7.50e+01 -8.5 1.00e+00 1.00e+00f 1 25 2.0009392e+00 2.98e-09 2.21e+00 -4.1 1.20e+02 -8.9 1.00e+00 9.24e-01f 1 26 2.0012830e+00 2.00e-09 4.10e+00 -4.1 2.05e+02 -9.4 1.00e+00 1.00e+00f 1 27 2.0009270e+00 2.94e-09 6.64e+00 -4.1 3.58e+02 -9.9 1.00e+00 9.26e-01f 1 28 2.0013078e+00 1.36e-09 1.16e+01 -4.1 5.78e+02 -10.4 1.00e+00 1.00e+00f 1 29 2.0008913e+00 2.35e-09 2.03e+01 -4.1 1.08e+03 -10.8 1.00e+00 9.37e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0013392e+00 1.33e-09 3.30e+01 -4.1 1.65e+03 -11.3 1.00e+00 1.00e+00f 1 31 2.0007277e+00 4.46e-09 3.44e+01 -4.1 1.82e+03 -11.4 1.00e+00 9.44e-01f 1 32 2.0013027e+00 1.43e-12 5.94e+01 -4.1 2.97e+03 -11.8 1.00e+00 1.00e+00f 1 33 2.0008471e+00 2.74e-10 1.02e+02 -4.1 5.12e+03 -12.3 1.00e+00 1.00e+00f 1 34 2.0012003e+00 2.34e-11 1.49e+02 -4.1 7.45e+03 -12.8 1.00e+00 1.00e+00f 1 35 2.0008421e+00 1.00e-10 2.21e+02 -4.1 1.12e+04 -13.3 1.00e+00 1.00e+00f 1 36 2.0010451e+00 1.11e-11 2.95e+02 -4.1 1.47e+04 -13.8 1.00e+00 1.00e+00f 1 37 2.0007797e+00 1.99e-11 3.06e+02 -4.1 1.53e+04 -14.2 1.00e+00 1.00e+00f 1 38 2.0008237e+00 1.50e-12 3.11e+02 -4.1 1.56e+04 -14.7 1.00e+00 1.00e+00f 1 39 2.0006963e+00 6.40e-13 1.34e+02 -4.1 6.71e+03 -15.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0006898e+00 2.16e-14 1.13e+02 -4.1 5.66e+03 -15.7 1.00e+00 1.00e+00h 1 41 2.0006593e+00 3.17e-14 2.07e+01 -4.1 1.03e+03 -16.1 1.00e+00 1.00e+00h 1 42 2.0008614e+00 8.26e-13 7.49e+01 -4.0 3.74e+03 -16.6 1.00e+00 1.00e+00f 1 43 2.0005822e+00 6.22e-13 1.03e+02 -4.1 5.17e+03 -17.1 1.00e+00 1.00e+00f 1 44 2.0008794e+00 9.32e-12 1.29e+02 -4.0 6.43e+03 -17.6 1.00e+00 1.00e+00f 1 45 2.0005625e+00 3.45e-12 1.27e+02 -4.1 6.34e+03 -18.1 1.00e+00 1.00e+00f 1 46 2.0008766e+00 8.37e-11 1.32e+02 -4.0 6.62e+03 -18.5 1.00e+00 1.00e+00f 1 47 2.0005595e+00 3.16e-11 1.31e+02 -4.1 6.53e+03 -19.0 1.00e+00 1.00e+00f 1 48 2.0006556e+00 1.26e-10 6.81e+01 -4.1 3.40e+03 -19.5 1.00e+00 1.00e+00h 1 49 2.0006195e+00 1.32e-10 2.31e+01 -4.1 1.16e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006347e+00 6.39e-11 1.02e+01 -4.1 5.10e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0006286e+00 2.50e-11 4.12e+00 -4.1 2.06e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0006312e+00 1.05e-11 1.67e+00 -4.1 8.33e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006301e+00 4.18e-12 6.93e-01 -4.1 3.46e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0006306e+00 1.75e-12 2.77e-01 -4.1 1.38e+01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006304e+00 6.97e-13 1.16e-01 -4.1 5.78e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0006305e+00 2.91e-13 4.61e-02 -4.1 2.30e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0006304e+00 1.16e-13 1.93e-02 -4.1 9.63e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006304e+00 4.84e-14 7.68e-03 -4.1 3.84e-01 -20.0 1.00e+00 1.00e+00h 1 59 2.0006304e+00 1.93e-14 3.21e-03 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006304e+00 8.06e-15 1.28e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 61 2.0006304e+00 3.22e-15 5.35e-04 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 62 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 63 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 64 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 65 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 66 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+03 -20.0 1.00e+00 1.00e+00h 1 67 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 68 2.0010688e+00 5.72e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+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 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0010741e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0010742e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0010742e+00 4.52e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 77 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 78 2.0010742e+00 7.53e-14 8.32e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 79 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 81 1.8265971e+00 2.01e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 82 1.8118256e+00 5.20e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 83 1.9416903e+00 5.20e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 84 1.9999589e+00 5.17e-13 6.47e+05 -3.2 6.41e+09 -20.0 1.00e+00 5.05e-03f 1 85 1.9999072e+00 1.73e-11 1.64e+03 -3.2 8.18e+04 -20.0 1.00e+00 1.00e+00f 1 86 2.0294126e+00 5.20e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0104337e+00 1.30e-03 8.55e+02 -3.2 8.55e+04 -20.0 1.00e+00 5.00e-01f 2 88 2.0086613e+00 3.21e-04 1.43e+02 -3.2 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0061763e+00 1.13e-02 1.42e+02 -3.2 4.43e+04 -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 2.0064870e+00 1.19e-05 1.64e+02 -3.2 8.33e+03 -20.0 1.00e+00 1.00e+00h 1 91 2.0059407e+00 4.08e-06 3.24e+01 -3.2 1.67e+03 -20.0 1.00e+00 1.00e+00h 1 92 2.0059985e+00 2.87e-07 3.40e+01 -3.2 1.70e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0058950e+00 6.55e-07 3.53e+00 -3.2 1.76e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0059047e+00 4.46e-08 5.88e+00 -3.2 2.94e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0058871e+00 1.08e-07 5.88e-01 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0058887e+00 7.35e-09 9.86e-01 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0058857e+00 1.79e-08 9.80e-02 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0058860e+00 1.22e-09 1.64e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0058855e+00 2.97e-09 1.63e-02 -3.2 8.65e+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 100 2.0058856e+00 2.03e-10 2.73e-02 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0058855511829341e+00 2.0058855511829341e+00 Dual infeasibility......: 2.7347558911969827e-02 2.7347558911969827e-02 Constraint violation....: 2.0317433933186857e-10 2.0317433933186857e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.0531596480955477e-04 6.0531596480955477e-04 Overall NLP error.......: 2.7347558911969827e-02 2.7347558911969827e-02 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 = 50.105 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/LpRux/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] rand(dims::Int64) @ Random /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:784 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#38#39"{typeof(Main.var"##192".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/LpRux/src/constraints/_constraints.jl:229 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/LpRux/src/constraints/_constraints.jl:229 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] rand(dims::Int64) @ Random /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:784 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#38#39"{typeof(Main.var"##192".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/LpRux/src/constraints/_constraints.jl:229 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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: 0.119s) 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: 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 (0.127s) optimizer initialization complete (total: 0.246s) 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 5.0743513e+00 3.07e+00 6.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7016027e+00 2.55e-02 5.99e-01 -1.0 2.07e+00 - 1.00e+00 1.00e+00f 1 2 2.4038616e+00 5.45e-03 7.35e-02 -1.6 1.06e-01 - 9.48e-01 1.00e+00h 1 3 2.1370776e+00 1.56e-03 1.39e-02 -3.1 4.42e-02 - 8.94e-01 9.08e-01h 1 4 2.0912873e+00 1.22e-04 1.08e-03 -4.0 1.97e-02 - 9.87e-01 1.00e+00h 1 5 2.0908927e+00 2.30e-05 6.09e-04 -4.0 4.03e-01 - 1.00e+00 1.00e+00h 1 6 2.0908984e+00 2.87e-08 2.64e-08 -4.0 1.10e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 4.26e-09 1.34e-09 -4.0 2.15e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 7.47e-16 9.36e-16 -4.0 8.40e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978678972e+00 2.0908971978678972e+00 Dual infeasibility......: 9.3561226474636605e-16 9.3561226474636605e-16 Constraint violation....: 7.4655451091920622e-16 7.4655451091920622e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000012901170e-04 1.0000000012901170e-04 Overall NLP error.......: 1.2901169661651973e-13 1.2901169661651973e-13 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 28.782 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: 0.052s 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 (0.053s) 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: 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: 0.117s) 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: 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 1.6964333e+00 1.60e+00 8.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6604356e+00 6.58e-01 4.21e+00 -0.9 8.80e+00 -4.0 7.40e-01 1.00e+00f 1 2 2.4997507e+00 4.01e-02 2.42e+00 -1.1 3.15e-01 -0.9 6.12e-01 1.00e+00f 1 3 2.3921056e+00 5.22e-03 3.80e-01 -1.6 2.35e-01 -1.3 9.97e-01 1.00e+00h 1 4 2.3761391e+00 5.12e-03 8.33e-01 -1.4 1.07e+00 -1.8 6.00e-01 8.06e-02h 3 5 2.2925635e+00 6.80e-03 2.45e-01 -1.7 4.58e-01 -2.3 9.45e-01 6.15e-01H 1 6 2.1830452e+00 1.84e-02 1.56e-01 -2.1 7.23e-01 -2.8 9.90e-01 8.76e-01f 1 7 2.1218036e+00 7.13e-03 1.24e-01 -2.7 6.74e-01 -3.3 9.98e-01 7.61e-01h 1 8 2.0932374e+00 7.84e-04 4.36e-02 -3.7 2.15e-01 -3.7 9.98e-01 9.37e-01h 1 9 2.0909672e+00 1.52e-04 3.80e-03 -4.0 3.59e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908644e+00 9.82e-06 1.81e-04 -4.0 9.32e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0906414e+00 2.43e-06 7.31e-04 -4.0 2.34e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902410e+00 7.02e-06 2.87e-03 -4.0 4.43e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899445e+00 8.26e-06 3.55e-03 -4.0 6.63e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898598e+00 2.65e-06 2.49e-03 -4.0 7.42e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898293e+00 6.54e-07 1.29e-03 -4.0 1.25e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898241e+00 1.37e-06 1.02e-03 -4.0 1.01e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 6.82e-07 1.55e-04 -4.0 3.97e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.94e-08 3.32e-06 -4.0 6.39e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 3.46e-11 1.04e-08 -4.0 4.38e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898218e+00 7.26e-15 5.53e-12 -4.0 1.11e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497862344e+00 2.0898218497862344e+00 Dual infeasibility......: 5.5305398661328192e-12 5.5305398661328192e-12 Constraint violation....: 7.2565651404454812e-15 7.2565651404454812e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000007e-04 1.0000000000000007e-04 Overall NLP error.......: 5.5305398661328192e-12 5.5305398661328192e-12 Number of objective function evaluations = 26 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 28.064 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.049s 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 (0.05s) 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: 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: 0.119s) 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 5.1021842e+00 3.73e+00 3.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7948918e+00 2.81e+00 3.66e+01 -0.9 2.79e+00 0.0 6.56e-03 2.46e-01h 1 2 3.3074172e+00 2.37e+00 3.08e+01 -4.0 1.85e+00 -0.5 1.32e-01 1.59e-01h 1 3 3.3079633e+00 2.36e+00 3.07e+01 -1.5 9.49e+00 -1.0 1.25e-01 2.70e-03h 1 4 3.3182899e+00 2.34e+00 1.02e+02 -1.7 2.76e+00 0.4 1.21e-01 1.02e-02h 1 5 3.4479594e+00 2.30e+00 9.67e+01 -4.0 1.01e+01 -0.1 2.29e-03 1.48e-02h 1 6 3.4643311e+00 2.26e+00 5.81e+03 -0.4 2.51e+00 1.2 1.00e+00 1.98e-02f 1 7 3.6870205e+00 1.95e+00 5.05e+03 0.2 5.75e+00 0.7 1.79e-01 1.19e-01h 1 8 3.7045167e+00 1.90e+00 3.49e+03 0.1 4.50e+00 0.3 3.89e-01 3.51e-02h 1 9 3.6831544e+00 1.88e+00 1.58e+04 0.7 1.42e+01 -0.2 8.48e-02 7.71e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.6823329e+00 1.88e+00 6.18e+06 -0.9 1.01e+03 -0.7 4.33e-01 7.63e-04h 1 11 3.6903580e+00 1.88e+00 2.31e+08 1.1 1.05e+04 0.6 7.13e-02 1.89e-03h 1 12 3.6733851e+00 1.86e+00 2.93e+08 -0.6 1.33e+04 0.2 6.29e-02 7.16e-03h 1 13 3.6780977e+00 1.86e+00 2.93e+08 2.5 2.97e+04 -0.3 1.62e-04 1.55e-04h 1 14 3.9461002e+00 1.85e+00 2.89e+08 2.5 4.53e+04 -0.8 4.19e-06 8.33e-03f 1 15 3.8666356e+00 1.79e+00 3.14e+08 -4.0 6.32e+03 -0.4 2.22e-03 2.95e-02h 1 16 3.8658675e+00 1.79e+00 2.32e+08 0.6 6.77e+02 0.1 2.96e-01 4.50e-04h 1 17r 3.8658675e+00 1.79e+00 1.00e+03 0.7 0.00e+00 -0.4 0.00e+00 3.39e-07R 5 18r 3.5126995e+00 9.26e-01 9.89e+02 -4.0 1.29e+04 - 1.33e-02 3.12e-03f 1 19r 3.5126995e+00 9.26e-01 9.99e+02 -0.0 0.00e+00 -0.9 0.00e+00 2.65e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.0715573e+00 4.28e-01 9.97e+02 1.8 3.21e+04 - 1.87e-03 1.41e-03f 1 21 2.9359012e+00 2.91e-01 1.65e+00 -1.4 1.13e+00 -1.4 5.86e-01 3.22e-01h 1 22 2.9374009e+00 2.90e-01 2.06e+01 -4.0 2.63e+00 -1.8 3.80e-01 5.23e-03h 1 23 3.2855117e+00 2.62e-01 3.51e+02 0.2 4.37e+01 -2.3 5.89e-01 2.33e-02f 1 24 3.4750349e+00 2.55e-01 1.52e+04 0.8 8.45e+01 -2.8 9.83e-01 2.29e-02h 1 25 3.4778672e+00 2.55e-01 6.87e+07 2.2 8.55e+03 -3.3 1.00e+00 2.35e-04h 1 26r 3.4778672e+00 2.55e-01 9.99e+02 -0.6 0.00e+00 -3.7 0.00e+00 3.06e-07R 5 27r 3.0614209e+00 2.16e-01 1.94e+03 1.8 1.66e+04 - 4.90e-01 2.35e-03f 1 28 3.0617503e+00 2.16e-01 1.13e+03 -0.9 1.53e+01 -4.2 5.07e-01 7.49e-04h 1 29r 3.0617503e+00 2.16e-01 1.00e+03 0.8 0.00e+00 -4.7 0.00e+00 4.69e-07R 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.4554905e+00 2.00e-01 9.81e+02 0.2 2.11e+02 - 2.62e-01 3.01e-02f 1 31r 3.1247854e+00 4.39e-01 8.52e+02 0.5 1.29e+03 - 2.17e-01 1.02e-01f 1 32r 3.3417032e+00 3.02e-01 5.56e+02 -0.3 2.50e+02 - 1.00e+00 3.61e-01f 1 33r 4.1553353e+00 2.00e-01 3.54e+01 -0.6 3.14e+01 - 8.50e-01 9.36e-01f 1 34r 3.9852458e+00 9.83e-01 8.79e+01 -4.0 3.62e+02 - 3.94e-01 5.86e-01f 1 35r 3.9593498e+00 2.00e-01 5.92e-01 -1.0 1.64e-01 0.0 1.00e+00 1.00e+00f 1 36r 3.9099297e+00 2.00e-01 5.73e+00 -1.9 1.27e+01 - 9.38e-01 9.98e-01f 1 37r 3.9145308e+00 2.00e-01 1.03e-01 -1.9 6.43e+01 - 1.00e+00 1.00e+00F 1 38r 3.8952749e+00 2.00e-01 7.96e-03 -2.0 1.54e+01 - 1.00e+00 1.00e+00h 1 39r 3.6999188e+00 2.00e-01 4.07e+00 -3.6 9.43e+01 - 7.50e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.7035454e+00 2.00e-01 1.57e-02 -3.2 2.36e+01 - 1.00e+00 1.00e+00h 1 41r 3.6119828e+00 2.00e-01 4.33e-03 -4.0 1.03e+01 - 1.00e+00 1.00e+00h 1 42r 3.6340034e+00 2.00e-01 1.19e-03 -4.0 3.28e+01 - 1.00e+00 1.00e+00h 1 43r 3.6309521e+00 2.00e-01 2.05e-06 -4.0 1.35e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 43 (scaled) (unscaled) Objective...............: 3.6309771935541209e+00 3.6309771935541209e+00 Dual infeasibility......: 2.0271138217413847e+00 2.0271138217413847e+00 Constraint violation....: 1.9999917724964833e-01 1.9999917724964833e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000391477442e-04 1.0000000391477442e-04 Overall NLP error.......: 2.0271138217413847e+00 2.0271138217413847e+00 Number of objective function evaluations = 66 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 66 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 49 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 29.011 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.11s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.111s) linear index maps built (0.0s) evaluator ready (total: 0.181s) evaluator created (0.181s) 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: 0.181s) 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 8.0489398e+00 3.56e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6119121e+00 7.09e-02 5.77e-01 -0.9 2.36e+00 -2.0 6.73e-01 1.00e+00f 1 2 2.4572667e+00 1.14e-01 1.96e-01 -1.6 1.42e+00 -2.5 9.06e-01 1.00e+00f 1 3 2.1679765e+00 4.39e-02 5.95e-02 -2.1 1.05e+00 -3.0 9.99e-01 1.00e+00h 1 4 2.0962405e+00 1.20e-02 3.83e-02 -3.1 1.03e+00 -3.4 9.54e-01 9.99e-01h 1 5 2.0909038e+00 1.83e-04 1.68e-03 -4.0 1.81e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907630e+00 1.27e-05 2.99e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906156e+00 8.51e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901747e+00 7.73e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888628e+00 7.08e-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 2.0850276e+00 6.71e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796329e+00 2.09e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802361e+00 1.31e-04 1.61e-01 -4.0 6.83e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774791e+00 7.53e-03 2.46e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.42e-01h 1 14 2.0768634e+00 1.54e-03 4.65e-02 -4.0 2.05e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762129e+00 1.83e-03 3.84e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.13e-01h 1 16 2.0755296e+00 2.00e-03 3.37e-02 -4.0 5.96e+02 -9.2 1.00e+00 6.81e-01h 1 17 2.0757720e+00 2.98e-03 1.55e-02 -4.0 1.67e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756803e+00 3.82e-04 5.33e-04 -4.0 7.27e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 4.46e-06 8.47e-06 -4.0 2.23e+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 5.19e-08 1.07e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.96e-09 8.06e-08 -4.0 4.04e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.93e-11 1.16e-09 -4.0 5.88e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121376015e+00 2.0756712121376015e+00 Dual infeasibility......: 1.1576443674379908e-09 1.1576443674379908e-09 Constraint violation....: 2.9303892645771157e-11 2.9303892645771157e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.1576443674379908e-09 1.1576443674379908e-09 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 = 31.816 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.975s jacobian structure: 1600 nonzeros (3.037s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.632s 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 (4.683s) linear index maps built (0.0s) evaluator ready (total: 7.721s) evaluator created (7.747s) 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: 7.748s) 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 6.3030765e+00 1.94e+00 5.38e-01 9.73e-01 -1.0 - 0.00e+00 1 0 1 2.6076325e+00 8.36e-02 2.00e+00 1.78e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7582172e+00 1.71e-02 6.35e-01 1.03e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3971798e+00 2.33e-02 5.11e-01 5.08e-02 -1.7 -1.0 6.29e-01 2 1h 4 2.2741567e+00 5.91e-03 1.04e-01 2.17e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1113692e+00 4.90e-03 7.48e-02 3.62e-03 -2.5 -1.9 9.92e-01 2 1h 6 2.1152539e+00 1.76e-03 5.64e-03 2.83e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0914596e+00 4.26e-05 1.83e-04 1.97e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899902e+00 4.95e-06 6.56e-04 5.88e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899518e+00 2.68e-06 2.97e-04 1.51e-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 2.0899081e+00 1.31e-05 4.29e-05 3.98e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0897944e+00 2.59e-05 4.61e-05 1.85e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0894653e+00 1.88e-05 1.25e-04 1.84e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0887553e+00 9.62e-06 8.35e-03 1.87e-06 -5.7 -5.7 7.76e-01 1 1h 14 2.0865900e+00 4.60e-06 7.96e-03 9.00e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0858055e+00 4.45e-06 1.30e-01 2.65e-06 -5.7 -6.7 1.86e-01 1 1h 16 2.0817659e+00 3.96e-05 1.13e-01 2.38e-06 -5.7 -7.2 7.50e-01 1 1h 17 2.0819492e+00 1.78e-08 1.21e-01 8.30e-04 -5.7 -7.6 1.00e+00 2 1H 18 2.0811233e+00 3.06e-05 3.20e-02 3.23e-04 -5.7 -8.1 6.44e-01 1 1h 19 2.0806897e+00 1.25e-05 4.63e-02 1.16e-04 -5.7 -8.6 9.60e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.5241986e+00 1.63e-06 3.96e+00 1.75e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.5160744e+00 2.68e-06 3.94e+00 1.75e-04 -5.7 -3.2 5.33e-03 1 2h 22 2.3259804e+00 2.03e-06 3.00e+00 1.31e-04 -5.7 -0.1 2.42e-01 1 1h 23 2.0829364e+00 5.63e-06 6.83e-01 8.91e-05 -5.7 -0.6 7.58e-01 2 1h 24 2.0829303e+00 5.60e-06 9.99e-01 1.84e-05 -5.7 -1.0 5.74e-03 2 1h 25 2.0827618e+00 6.20e-06 6.82e-01 2.31e-06 -5.7 -1.5 3.90e-01 2 1h 26 2.0825539e+00 1.28e-06 1.57e-03 5.45e-06 -5.7 -2.0 1.00e+00 2 1h 27 2.0820623e+00 6.76e-06 8.29e-03 2.53e-06 -5.7 -2.5 8.10e-01 2 1h 28 2.0822791e+00 1.19e-06 2.22e-04 2.45e-04 -5.7 -2.9 1.00e+00 2 1h 29 2.0820921e+00 1.65e-06 1.64e-04 3.16e-05 -5.7 -3.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0820540e+00 9.54e-07 1.24e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 31 2.0820172e+00 8.58e-07 1.26e-05 1.02e-07 -8.6 -4.4 1.00e+00 2 1h 32 2.0819593e+00 1.81e-08 1.26e-05 1.98e-08 -8.6 -4.9 1.00e+00 2 1h 33 2.0817923e+00 1.91e-09 9.11e-05 3.96e-09 -8.6 -5.3 1.00e+00 2 1h 34 2.0817624e+00 1.85e-09 2.69e-02 1.11e-08 -8.6 -5.8 6.46e-02 2 1h 35 2.0816665e+00 2.24e-08 8.75e-03 1.40e-06 -8.6 -6.3 1.00e+00 1 1h 36 2.0814233e+00 7.37e-08 1.85e-03 4.53e-08 -8.6 -6.8 1.00e+00 1 1h 37 2.0810481e+00 5.87e-08 1.88e-02 1.19e-08 -8.6 -7.2 8.20e-01 1 1h 38 2.0810178e+00 5.55e-08 1.13e-01 6.50e-07 -8.6 -7.7 5.48e-02 2 1h 39 2.0808637e+00 5.13e-08 6.71e-02 1.64e-04 -8.6 -7.3 4.86e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0808117e+00 5.03e-08 8.42e-02 6.81e-08 -8.6 -7.8 2.14e-02 2 1h 41 2.0806606e+00 3.44e-08 2.49e-01 2.83e-06 -8.6 -6.4 3.25e-01 1 1h 42 2.0806724e+00 3.24e-08 3.40e-01 3.86e-05 -8.6 -6.9 5.97e-02 1 1h 43 2.0805979e+00 5.50e-09 2.19e-03 4.84e-06 -8.6 -7.4 1.00e+00 2 1h 44 2.0805522e+00 4.75e-09 5.74e-03 9.14e-08 -8.6 -7.9 8.42e-01 2 1h 45 2.0805505e+00 4.15e-09 6.18e-02 6.86e-08 -8.6 -6.5 1.25e-01 1 1h 46 2.0805490e+00 1.90e-09 4.77e-04 5.75e-07 -8.6 -7.0 5.47e-01 2 1h 47 2.0805428e+00 2.19e-10 1.86e-04 5.02e-08 -8.6 -7.5 1.00e+00 2 1h 48 2.0805382e+00 1.69e-10 4.11e-03 2.74e-09 -8.6 -8.0 1.00e+00 2 1h 49 2.0805382e+00 1.42e-10 6.75e-04 2.51e-09 -8.6 -6.6 1.57e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805381e+00 1.33e-11 1.09e-05 2.86e-08 -8.6 -7.1 1.00e+00 1 1h 51 2.0805377e+00 8.33e-12 3.61e-04 2.51e-09 -8.6 -7.6 7.28e-01 1 1h 52 2.0805371e+00 2.12e-11 2.78e-05 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 53 2.0805366e+00 4.38e-11 1.15e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 54 2.0805413e+00 8.88e-16 3.08e-04 4.33e-07 -8.6 -7.2 1.00e+00 1 1H 55 2.0805367e+00 4.85e-11 1.27e-01 2.83e-09 -8.6 -5.0 7.14e-01 1 1H 56 2.0805367e+00 3.79e-11 1.61e-01 2.96e-09 -8.6 -5.5 2.27e-01 1 1h 57 2.0805367e+00 1.73e-11 8.59e-06 1.35e-08 -8.6 -5.9 1.00e+00 1 1h 58 2.0805367e+00 1.38e-11 6.54e-08 3.25e-09 -8.6 -6.4 1.00e+00 2 1h 59 2.0805367e+00 3.45e-11 3.37e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 2.02e-11 1.54e-06 2.51e-09 -8.6 -7.4 1.00e+00 2 1h 61 2.0805365e+00 2.49e-12 3.42e-04 2.54e-09 -8.6 -7.9 1.00e+00 2 1h 62 2.0805365e+00 1.13e-11 1.80e-02 3.53e-07 -8.6 -8.3 1.34e-03 1 3h 63 2.0805365e+00 3.48e-11 1.23e-03 3.65e-08 -8.6 -8.8 1.00e+00 1 1h 64 2.0805365e+00 1.41e-12 5.07e-06 7.48e-09 -8.6 -9.3 1.00e+00 1 1h 65 2.0805365e+00 9.76e-14 4.35e-06 3.19e-09 -8.6 -9.8 1.00e+00 1 1h 66 2.0805365e+00 1.33e-15 1.16e-07 2.52e-09 -8.6 -10.2 1.00e+00 1 1h 67 2.0805365e+00 6.66e-16 1.20e-08 2.51e-09 -8.6 -10.7 1.00e+00 1 1h 68 2.0805365e+00 3.31e-12 6.96e-12 9.10e-10 -9.0 -11.2 1.00e+00 2 1h Number of Iterations....: 68 (scaled) (unscaled) Objective...............: 2.0805364595437030e+00 2.0805364595437030e+00 Dual infeasibility......: 6.9610653744704975e-12 6.9610653744704975e-12 Constraint violation....: 3.3091307471977416e-12 3.3091307471977416e-12 Complementarity.........: 9.0957205765744660e-10 9.0957205765744660e-10 Overall NLP error.......: 9.0957205765744660e-10 9.0957205765744660e-10 Number of objective function evaluations = 78 Number of objective gradient evaluations = 69 Number of constraint evaluations = 78 Number of constraint Jacobian evaluations = 69 Number of Lagrangian Hessian evaluations = 68 Number of KKT factorizations = 162 Number of KKT backsolves = 108 Total wall secs in initialization = 5.554 s Total wall secs in linear solver = 0.096 s Total wall secs in NLP function evaluations = 21.566 s Total wall secs in solver (w/o init./fun./lin. alg.) = 32.747 s Total wall secs = 59.962 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 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.446s jacobian structure: 1680 nonzeros (3.517s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.51s 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 (12.568s) linear index maps built (0.0s) evaluator ready (total: 16.085s) evaluator created (16.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.099s) 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 (5.337s) optimizer initialization complete (total: 21.549s) 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 9.1864414e+00 2.97e+00 3.68e+00 1.90e+00 -1.0 - 0.00e+00 1 0 1 3.7332816e+00 2.92e-01 4.63e+00 4.17e-01 -1.0 0.0 1.00e+00 1 1h 2 2.9769476e+00 1.13e-01 1.64e+00 2.46e-01 -1.0 -0.5 6.71e-01 2 1h 3 2.6312662e+00 5.44e-02 6.33e-01 1.05e-01 -1.0 -0.1 7.30e-01 1 1h 4 2.3593071e+00 1.43e-02 6.20e-02 3.65e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1189017e+00 5.42e-03 1.28e-02 6.41e-03 -2.5 -1.0 9.82e-01 2 1h 6 2.0914142e+00 7.18e-04 1.26e-03 2.79e-04 -3.8 -1.5 9.79e-01 2 1h 7 2.0900304e+00 1.85e-05 2.12e-04 8.52e-06 -5.7 -2.0 1.00e+00 2 1h 8 2.0900261e+00 4.35e-08 9.72e-05 2.52e-06 -5.7 -2.4 1.00e+00 2 1h 9 2.0900193e+00 2.82e-07 7.09e-05 1.85e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900106e+00 2.14e-06 8.89e-05 1.84e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899947e+00 1.84e-05 2.06e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899486e+00 1.34e-04 1.55e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898659e+00 1.85e-04 1.25e-03 2.06e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0898361e+00 1.15e-07 9.14e-04 1.84e-06 -5.7 -3.5 1.00e+00 1 1h 15 2.0898172e+00 5.44e-07 8.55e-05 1.91e-06 -5.7 -4.0 1.00e+00 1 1h 16 2.0897652e+00 3.10e-06 1.95e-05 2.00e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0896468e+00 7.19e-06 1.61e-03 1.85e-06 -5.7 -4.9 7.31e-01 1 1h 18 2.0891970e+00 2.00e-05 6.60e-04 4.09e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0889438e+00 1.73e-05 4.37e-02 2.04e-06 -5.7 -5.9 1.77e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0860213e+00 2.12e-05 1.56e-02 5.49e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0853763e+00 1.85e-05 1.60e-01 2.98e-06 -5.7 -6.8 1.31e-01 1 1h 22 2.0817164e+00 3.65e-05 1.41e-01 2.05e-06 -5.7 -7.3 6.19e-01 1 1h 23 2.0816089e+00 1.69e-04 1.34e-01 6.09e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0810982e+00 7.64e-05 3.65e-02 3.18e-04 -5.7 -8.3 4.45e-01 1 1h 25 2.0806926e+00 1.27e-05 5.33e-02 1.54e-04 -5.7 -8.7 8.13e-01 1 1h 26 2.0807756e+00 6.08e-06 9.22e-02 1.24e-04 -5.7 -6.5 1.00e+00 1 1h 27 2.0807302e+00 4.77e-06 8.20e-02 9.07e-05 -5.7 -7.0 2.16e-01 2 1h 28 2.0806527e+00 1.92e-06 3.65e-02 3.90e-05 -5.7 -7.5 5.43e-01 1 1h 29 2.0806670e+00 2.90e-07 6.94e-03 3.21e-05 -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 2.0806020e+00 4.28e-07 1.34e-03 4.53e-06 -5.7 -7.5 1.00e+00 1 1h 31 2.0805732e+00 3.10e-07 3.54e-03 2.94e-06 -5.7 -8.0 5.40e-01 1 1h 32 2.0809054e+00 1.82e-07 1.43e-02 2.77e-06 -5.7 -8.5 1.00e+00 1 1h 33 2.0807960e+00 1.03e-07 5.13e-01 2.22e-06 -5.7 -5.3 1.58e-01 1 3h 34 2.0807819e+00 2.26e-07 6.47e-01 1.95e-06 -5.7 -5.8 2.38e-02 1 5h 35 2.0807790e+00 4.36e-07 6.44e-01 1.95e-06 -5.7 -5.4 9.10e-03 1 6h 36 2.0807543e+00 4.10e-07 3.59e-01 3.22e-06 -5.7 -2.2 5.82e-02 1 1h 37 2.0805905e+00 1.29e-07 4.92e-02 2.26e-06 -5.7 -2.7 7.14e-01 1 1h 38 2.0806103e+00 5.58e-08 7.15e-02 3.08e-05 -5.7 -3.2 8.27e-01 1 1h 39 2.0805947e+00 6.51e-08 7.48e-06 7.65e-06 -5.7 -3.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805695e+00 2.84e-07 2.38e-04 9.94e-07 -8.6 -4.2 1.00e+00 2 1h 41 2.0805643e+00 1.79e-07 2.11e-02 6.13e-07 -8.6 -4.6 3.69e-01 2 1h 42 2.0805624e+00 3.07e-08 1.39e-02 6.34e-08 -8.6 -5.1 8.90e-01 2 1h 43 2.0805613e+00 1.37e-08 7.33e-03 2.93e-08 -8.6 -5.6 5.60e-01 2 1h 44 2.0805592e+00 6.36e-10 4.38e-05 1.61e-08 -8.6 -6.1 1.00e+00 2 1h 45 2.0805550e+00 3.47e-10 6.93e-04 6.16e-09 -8.6 -6.5 7.29e-01 2 1h 46 2.0805534e+00 3.16e-10 1.37e-02 5.84e-08 -8.6 -7.0 1.57e-01 1 1h 47 2.0805450e+00 1.18e-09 2.93e-03 1.14e-07 -8.6 -7.5 8.58e-01 1 1h 48 2.0805379e+00 5.03e-10 3.69e-03 2.23e-08 -8.6 -8.0 1.00e+00 1 1h 49 2.0805401e+00 2.11e-10 5.37e-03 6.35e-06 -8.6 -6.6 8.50e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805370e+00 1.76e-10 3.11e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805368e+00 6.87e-11 2.08e-02 2.59e-09 -8.6 -5.8 5.65e-01 1 1h 52 2.0805369e+00 8.88e-16 7.15e-06 3.41e-07 -8.6 -6.3 1.00e+00 1 1H 53 2.0805368e+00 1.01e-10 2.74e-06 3.40e-08 -8.6 -6.7 1.00e+00 1 1h 54 2.0805367e+00 9.82e-11 3.65e-06 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 55 2.0805367e+00 1.15e-10 6.80e-07 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 56 2.0805367e+00 1.18e-10 4.29e-06 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 57 2.0805369e+00 8.88e-16 9.79e-05 6.90e-08 -8.6 -6.9 1.00e+00 1 1H 58 2.0805367e+00 9.00e-11 3.43e-05 1.53e-08 -8.6 -4.6 1.00e+00 1 1h 59 2.0805366e+00 8.92e-11 5.17e-06 2.51e-09 -8.6 -5.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 9.14e-11 3.35e-08 2.52e-09 -8.6 -5.6 1.00e+00 1 1h 61 2.0805366e+00 1.05e-10 2.13e-08 2.51e-09 -8.6 -6.1 1.00e+00 1 1h 62 2.0805366e+00 1.50e-10 2.31e-08 1.07e-09 -9.0 -6.5 1.00e+00 1 1h 63 2.0805366e+00 1.47e-10 3.65e-08 9.10e-10 -9.0 -7.0 1.00e+00 1 1h 64 2.0805366e+00 9.78e-11 2.52e-07 9.09e-10 -9.0 -7.5 1.00e+00 1 1h 65 2.0805365e+00 5.27e-11 1.17e-06 9.09e-10 -9.0 -8.0 1.00e+00 1 1h 66 2.0805365e+00 3.80e-11 2.29e-04 9.11e-10 -9.0 -8.4 1.00e+00 1 1h 67 2.0805365e+00 3.85e-11 5.87e-02 1.35e-08 -9.0 -7.1 7.77e-03 1 4h 68 2.0805365e+00 3.36e-11 1.72e-02 4.93e-09 -9.0 -7.6 1.00e+00 1 1h 69 2.0805365e+00 8.88e-16 5.60e-05 2.18e-09 -9.0 -6.3 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 3.34e-11 6.59e-07 9.19e-10 -9.0 -4.9 1.00e+00 1 1h 71 2.0805365e+00 3.26e-11 9.04e-07 9.09e-10 -9.0 -5.4 1.00e+00 1 1h 72 2.0805365e+00 3.24e-11 1.29e-07 9.09e-10 -9.0 -5.9 1.00e+00 1 1h 73 2.0805365e+00 3.24e-11 1.30e-08 9.09e-10 -9.0 -6.4 1.00e+00 1 1h 74 2.0805365e+00 3.24e-11 7.18e-09 9.09e-10 -9.0 -6.8 1.00e+00 1 1h Number of Iterations....: 74 (scaled) (unscaled) Objective...............: 2.0805364739494654e+00 2.0805364739494654e+00 Dual infeasibility......: 7.1791253323633690e-09 7.1791253323633690e-09 Constraint violation....: 3.2355673695860787e-11 3.2355673695860787e-11 Complementarity.........: 9.0909090961920372e-10 9.0909090961920372e-10 Overall NLP error.......: 7.1791253323633690e-09 7.1791253323633690e-09 Number of objective function evaluations = 96 Number of objective gradient evaluations = 75 Number of constraint evaluations = 96 Number of constraint Jacobian evaluations = 75 Number of Lagrangian Hessian evaluations = 74 Number of KKT factorizations = 182 Number of KKT backsolves = 102 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.095 s Total wall secs in NLP function evaluations = 25.029 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.909 s Total wall secs = 37.035 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: 0.051s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.7s jacobian structure: 1600 nonzeros (2.751s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.625s 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 (4.674s) linear index maps built (0.0s) evaluator ready (total: 7.426s) evaluator created (7.452s) 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: 7.454s) 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 1.6128872e+01 2.95e+00 8.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.8220324e+00 8.54e-01 2.82e+00 -0.8 1.97e+00 -4.0 9.26e-01 7.10e-01f 1 2 1.0914049e+01 4.81e-02 1.60e+00 -0.9 6.61e-01 -4.5 8.49e-01 1.00e+00h 1 3 9.9250897e+00 6.25e-02 1.71e-01 -1.4 5.95e-01 -5.0 1.00e+00 9.15e-01f 1 4 9.5730122e+00 3.87e-03 2.27e-02 -2.2 1.71e-01 -5.4 9.86e-01 1.00e+00h 1 5 9.4592840e+00 1.60e-03 9.00e-03 -3.2 9.80e-02 -5.9 9.97e-01 1.00e+00h 1 6 9.4298979e+00 3.22e-04 1.47e-03 -4.0 4.28e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4260855e+00 3.98e-05 1.78e-04 -4.0 1.09e-02 -6.9 1.00e+00 1.00e+00h 1 8 9.4258123e+00 9.91e-07 3.70e-06 -4.0 1.55e-03 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 7.40e-10 2.25e-09 -4.0 4.62e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086235526584e+00 9.4258086235526584e+00 Dual infeasibility......: 2.2533213073216984e-09 2.2533213073216984e-09 Constraint violation....: 7.4012174167137346e-10 7.4012174167137346e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000324861580260e-04 1.0000324861580260e-04 Overall NLP error.......: 3.2486158025934542e-09 3.2486158025934542e-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 = 31.381 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 1.6128872e+01 2.95e+00 8.44e-01 9.61e-01 -1.0 - 0.00e+00 1 0 1 9.8501740e+00 8.53e-01 1.83e+00 4.52e-01 -1.0 -4.0 7.10e-01 2 1h 2 1.0833615e+01 1.12e-01 1.52e+00 1.60e-01 -1.0 -4.5 1.00e+00 2 1h 3 1.0304848e+01 1.47e-01 6.07e-01 2.31e-01 -1.0 -5.0 5.34e-01 2 1h 4 9.7856127e+00 5.37e-03 4.51e-02 3.64e-02 -1.7 -5.4 1.00e+00 2 1h 5 9.5279173e+00 3.83e-03 2.15e-02 1.03e-02 -2.5 -5.9 1.00e+00 2 1h 6 9.4427018e+00 8.56e-04 8.18e-03 2.55e-03 -3.8 -6.4 1.00e+00 2 1h 7 9.4280487e+00 1.57e-04 6.41e-04 5.71e-04 -3.8 -6.9 1.00e+00 2 1h 8 9.4246860e+00 2.44e-05 2.02e-04 5.31e-05 -5.7 -7.3 1.00e+00 2 1h 9 9.4245380e+00 5.41e-07 1.09e-06 2.71e-06 -5.7 -7.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.4245130e+00 1.26e-09 3.14e-09 5.07e-09 -8.6 -8.3 1.00e+00 2 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.4245129866652224e+00 9.4245129866652224e+00 Dual infeasibility......: 3.1392926036488689e-09 3.1392926036488689e-09 Constraint violation....: 1.2586118813828762e-09 1.2586118813828762e-09 Complementarity.........: 5.0709635359392443e-09 5.0709635359392443e-09 Overall NLP error.......: 5.0709635359392443e-09 5.0709635359392443e-09 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Number of KKT factorizations = 21 Number of KKT backsolves = 21 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.010 s Total wall secs in NLP function evaluations = 0.223 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.007 s Total wall secs = 0.242 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 Fail Total Time Package | 255 2 257 32m54.4s src/constraints/linear/all_equal_constraint.jl | 2 2 1m57.0s src/integrators/time_dependent_bilinear_integrator.jl | 6 6 3m42.5s src/objectives/regularizers.jl | 6 6 16.0s src/constraints/linear/total_constraint.jl | 2 2 54.1s src/solvers/evaluator.jl | 5 5 1m15.9s src/objectives/knot_point_objectives.jl | 6 6 10.1s src/objectives/global_objectives.jl | 15 15 43.9s src/constraints/linear/time_consistency_constraint.jl | 19 19 22.7s src/constraints/nonlinear/global_constraint.jl | 2 2 23.4s src/constraints/linear/symmetry_constraint.jl | 20 20 1m32.5s ext/MadNLPSolverExt/utils.jl | 0 2m31.4s src/solvers/ipopt_solver/callbacks.jl | 5 5 1m17.2s src/integrators/derivative_integrator.jl | 3 3 16.4s src/objectives/_objectives.jl | 19 19 22.1s src/integrators/bilinear_integrator.jl | 3 3 38.7s src/constraints/linear/equality_constraint.jl | 23 23 2m57.7s src/solvers/ipopt_solver/solver.jl | 16 16 4m54.3s src/constraints/linear/l1_slack_constraint.jl | 10 10 1m03.9s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 24.3s src/constraints/nonlinear/knot_point_constraint.jl | 22 2 24 2m02.2s NonlinearKnotPointConstraint - single variable | 2 2 15.8s NonlinearKnotPointConstraint - single variable with vector syntax | 3 2 5 25.3s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 16.5s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 16.4s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 11.9s NonlinearKnotPointConstraint - inequality vs equality | 7 7 22.2s NonlinearKnotPointConstraint - subset of times | 4 4 14.2s src/constraints/linear/bounds_constraint.jl | 60 60 2m09.4s ext/MadNLPSolverExt/solver.jl | 9 9 2m58.8s ERROR: LoadError: Some tests did not pass: 255 passed, 2 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/LpRux/test/runtests.jl:6 Testing failed after 2046.4s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3162 [3] Cmd(cmd::Cmd) @ Base /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3025 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:586 [5] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [6] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [7] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [8] test(pkg::String; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [inlined] [9] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:223 [10] include(mod::Module, _path::String) @ Base ./Base.jl:326 [11] exec_options(opts::Base.JLOptions) @ Base ./client.jl:352 [12] _start() @ Base ./client.jl:593 in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 PkgEval failed after 2197.43s: package has test failures