Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2086 (d19eac062f*) started at 2026-04-30T23:49:10.285 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.39s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed CompositionsBase ──────────── v0.1.2 Installed CommonSolve ───────────────── v0.2.6 Installed DiffResults ───────────────── v1.1.0 Installed DataStructures ────────────── v0.19.4 Installed ChunkCodecLibZstd ─────────── v1.0.0 Installed MacroTools ────────────────── v0.5.16 Installed Bzip2_jll ─────────────────── v1.0.9+0 Installed FillArrays ────────────────── v1.16.0 Installed ForwardDiff ───────────────── v1.3.3 Installed JLD2 ──────────────────────── v0.6.4 Installed Adapt ─────────────────────── v4.5.2 Installed FastPower ─────────────────── v1.3.1 Installed ConstructionBase ──────────── v1.6.0 Installed CodecZlib ─────────────────── v0.7.8 Installed ExprTools ─────────────────── v0.1.10 Installed Observables ───────────────── v0.5.5 Installed RuntimeGeneratedFunctions ─── v0.5.18 Installed TrajectoryIndexingUtils ───── v0.1.0 Installed IteratorInterfaceExtensions ─ v1.0.0 Installed HashArrayMappedTries ──────── v0.2.0 Installed OrderedCollections ────────── v1.8.1 Installed SymbolicIndexingInterface ─── v0.3.46 Installed TranscodingStreams ────────── v0.11.3 Installed Compat ────────────────────── v4.18.1 Installed ArrayInterface ────────────── v7.24.0 Installed RecipesBase ───────────────── v1.3.4 Installed Statistics ────────────────── v1.11.1 Installed MUMPS_seq_jll ─────────────── v500.800.200+0 Installed SciMLJacobianOperators ────── v0.1.13 Installed PreallocationTools ────────── v1.2.0 Installed EnzymeCore ────────────────── v0.8.19 Installed FunctionWrappersWrappers ──── v1.8.0 Installed TimerOutputs ──────────────── v0.5.29 Installed SciMLOperators ────────────── v1.17.0 Installed PrecompileTools ───────────── v1.3.3 Installed LazyArrays ────────────────── v2.9.7 Installed Xorg_libpciaccess_jll ─────── v0.19.0+0 Installed CommonSubexpressions ──────── v0.3.1 Installed ConcreteStructs ───────────── v0.2.3 Installed FileIO ────────────────────── v1.18.0 Installed ASL_jll ───────────────────── v0.1.3+0 Installed SciMLStructures ───────────── v1.10.0 Installed StaticArraysCore ──────────── v1.4.4 Installed LoggingExtras ─────────────── v1.2.0 Installed StaticArrays ──────────────── v1.9.18 Installed StructUtils ───────────────── v2.8.0 Installed ChainRulesCore ────────────── v1.26.1 Installed TruncatedStacktraces ──────── v1.4.0 Installed ExponentialAction ─────────── v0.2.10 Installed GPUArraysCore ─────────────── v0.2.0 Installed Ipopt_jll ─────────────────── v300.1400.1901+0 Installed CodecBzip2 ────────────────── v0.8.5 Installed SciMLPublic ───────────────── v1.0.1 Installed OpenSpecFun_jll ───────────── v0.5.6+0 Installed IrrationalConstants ───────── v0.2.6 Installed ArrayLayouts ──────────────── v1.12.2 Installed FunctionWrappers ──────────── v1.1.3 Installed ComputePipeline ───────────── v0.1.7 Installed AbstractDifferentiation ───── v0.4.4 Installed NaNMath ───────────────────── v1.1.3 Installed Requires ──────────────────── v1.3.1 Installed LogExpFunctions ───────────── v0.3.29 Installed DiffRules ─────────────────── v1.15.1 Installed ChunkCodecLibZlib ─────────── v1.0.0 Installed NonlinearSolveBase ────────── v2.25.0 Installed OpenBLAS32_jll ────────────── v0.3.33+0 Installed FastBroadcast ─────────────── v1.3.2 Installed SciMLBase ─────────────────── v3.7.1 Installed JSON ──────────────────────── v1.5.1 Installed FastClosures ──────────────── v0.3.2 Installed MuladdMacro ───────────────── v0.2.4 Installed OrdinaryDiffEqCore ────────── v4.0.0 Installed Hwloc_jll ─────────────────── v2.13.0+1 Installed Parsers ───────────────────── v2.8.4 Installed FiniteDiff ────────────────── v2.30.0 Installed ScopedValues ──────────────── v1.6.2 Installed SciMLLogging ──────────────── v1.9.1 Installed XML2_jll ──────────────────── v2.13.9+0 Installed NamedTrajectories ─────────── v0.8.4 Installed TestItemRunner ────────────── v1.1.5 Installed EnumX ─────────────────────── v1.0.7 Installed BracketingNonlinearSolve ──── v1.12.1 Installed Reexport ──────────────────── v1.2.2 Installed DiffEqBase ────────────────── v7.1.0 Installed InverseFunctions ──────────── v0.1.17 Installed Setfield ──────────────────── v1.1.2 Installed SpecialFunctions ──────────── v2.7.2 Installed SPRAL_jll ─────────────────── v2025.9.18+0 Installed MutableArithmetics ────────── v1.7.1 Installed Preferences ───────────────── v1.5.2 Installed TestItems ─────────────────── v1.0.0 Installed JLLWrappers ───────────────── v1.7.1 Installed Libiconv_jll ──────────────── v1.18.0+0 Installed MaybeInplace ──────────────── v0.1.4 Installed Ipopt ─────────────────────── v1.14.3 Installed LaTeXStrings ──────────────── v1.4.0 Installed ChunkCodecCore ────────────── v1.0.1 Installed METIS_jll ─────────────────── v5.1.3+0 Installed DocStringExtensions ───────── v0.9.5 Installed OrdinaryDiffEqTsit5 ───────── v2.0.0 Installed ADTypes ───────────────────── v1.22.0 Installed RecursiveArrayTools ───────── v4.3.0 Installed DirectTrajOpt ─────────────── v0.9.2 Installed DifferentiationInterface ──── v0.7.17 Installed Accessors ─────────────────── v0.1.44 Installed MathOptInterface ──────────── v1.51.0 Installing 12 artifacts Installed artifact OpenSpecFun 194.9 KiB Installed artifact ASL 276.3 KiB Installed artifact METIS 1.1 MiB Installed artifact Xorg_libpciaccess 26.2 KiB Installed artifact SPRAL 691.9 KiB Installed artifact Libiconv 1.9 MiB Installed artifact Ipopt 1.3 MiB Installed artifact Bzip2 503.5 KiB Installed artifact Hwloc 3.5 MiB Installed artifact XML2 2.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.2 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.2 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 [70df07ce] + BracketingNonlinearSolve v1.12.1 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [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 [864edb3b] + DataStructures v0.19.4 [2b5f629d] + DiffEqBase v7.1.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.17 [c823fa1f] + DirectTrajOpt v0.9.2 [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 [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 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.5.1 [b964fa9f] + LaTeXStrings v1.4.0 [5078a376] + LazyArrays v2.9.7 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.0 [bb5d69b7] + MaybeInplace v0.1.4 [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 v4.0.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.0 [69de0a69] + Parsers v2.8.4 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.18 [0bca4576] + SciMLBase v3.7.1 [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 v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.7.2 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.0 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.5 [1c621080] + TestItems v1.0.0 [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 v0.3.33+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 v0.19.0+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [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 [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 v1.5.1+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 v0.3.32+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 13.26s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling project... 5.1 s ✓ TestEnv 1 dependency successfully precompiled in 5 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling project... 4.1 s ✓ MacroTools 0.8 s ✓ Reexport 1.2 s ✓ ConstructionBase 2.2 s ✓ IrrationalConstants 1.8 s ✓ Observables 0.8 s ✓ CommonSolve 1.4 s ✓ TranscodingStreams 0.9 s ✓ LaTeXStrings 1.0 s ✓ ChunkCodecCore 0.8 s ✓ TestItems 1.2 s ✓ Statistics 1.0 s ✓ StaticArraysCore 1.3 s ✓ EnzymeCore 0.9 s ✓ SciMLPublic 0.8 s ✓ TrajectoryIndexingUtils 0.8 s ✓ FastPower 0.9 s ✓ InverseFunctions 0.9 s ✓ CompositionsBase 0.8 s ✓ MuladdMacro 0.9 s ✓ EnumX 2.2 s ✓ FillArrays 0.9 s ✓ ExprTools 0.9 s ✓ ConcreteStructs 1.3 s ✓ OrderedCollections 1.5 s ✓ FunctionWrappers 0.9 s ✓ HashArrayMappedTries 1.4 s ✓ ADTypes 1.3 s ✓ DocStringExtensions 0.8 s ✓ FastClosures 0.8 s ✓ IteratorInterfaceExtensions 1.1 s ✓ NaNMath 1.3 s ✓ Requires 1.9 s ✓ SolverCore 1.9 s ✓ AMD 1.6 s ✓ LoggingExtras 1.5 s ✓ StructUtils 1.0 s ✓ Compat 1.4 s ✓ Preferences 13.0 s ✓ MutableArithmetics 1.8 s ✓ CommonSubexpressions 0.8 s ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 1.0 s ✓ CodecZlib 1.0 s ✓ ChunkCodecLibZlib 1.2 s ✓ ChunkCodecLibZstd 26.3 s ✓ TestItemRunner 1.8 s ✓ Statistics → SparseArraysExt 0.9 s ✓ DiffResults 1.3 s ✓ InverseFunctions → InverseFunctionsDatesExt 1.9 s ✓ InverseFunctions → InverseFunctionsTestExt 0.8 s ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1.6 s ✓ FillArrays → FillArraysSparseArraysExt 1.1 s ✓ FillArrays → FillArraysStatisticsExt 3.2 s ✓ TimerOutputs 0.9 s ✓ RuntimeGeneratedFunctions 3.7 s ✓ DataStructures 1.0 s ✓ ScopedValues 0.8 s ✓ ADTypes → ADTypesConstructionBaseExt 1.9 s ✓ DifferentiationInterface 0.8 s ✓ ADTypes → ADTypesEnzymeCoreExt 1.4 s ✓ LogExpFunctions 1.0 s ✓ Adapt 9.6 s ✓ FileIO 1.6 s ✓ LDLFactorizations 1.2 s ✓ StructUtils → StructUtilsStaticArraysCoreExt 0.8 s ✓ Compat → CompatLinearAlgebraExt 1.3 s ✓ PrecompileTools 1.6 s ✓ JLLWrappers 2.8 s ✓ TruncatedStacktraces 2.7 s ✓ ComputePipeline 2.3 s ✓ SciMLLogging 3.1 s ✓ Setfield 5.6 s ✓ Accessors 4.4 s ✓ LinearOperators 1.5 s ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 0.8 s ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1.2 s ✓ ArrayInterface 1.6 s ✓ Adapt → AdaptSparseArraysExt 1.3 s ✓ GPUArraysCore 1.0 s ✓ EnzymeCore → AdaptExt 2.8 s ✓ ChainRulesCore 15.0 s ✓ StaticArrays 3.8 s ✓ RecipesBase 17.9 s ✓ Parsers 49.6 s ✓ JLD2 2.3 s ✓ OpenBLAS32_jll 2.4 s ✓ Bzip2_jll 2.4 s ✓ OpenSpecFun_jll 2.3 s ✓ ASL_jll 2.4 s ✓ METIS_jll 2.4 s ✓ Xorg_libpciaccess_jll 2.4 s ✓ Libiconv_jll 3.7 s ✓ FunctionWrappersWrappers 2.3 s ✓ Accessors → TestExt 2.9 s ✓ Accessors → LinearAlgebraExt 2.1 s ✓ LinearOperators → LinearOperatorsLDLFactorizationsExt 3.8 s ✓ NLPModels 1.2 s ✓ FastBroadcast 0.8 s ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 2.2 s ✓ MaybeInplace 1.4 s ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 2.2 s ✓ SciMLStructures 3.2 s ✓ PreallocationTools 0.9 s ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 0.9 s ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2.3 s ✓ AbstractDifferentiation 1.5 s ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1.3 s ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 0.8 s ✓ ADTypes → ADTypesChainRulesCoreExt 1.0 s ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3.6 s ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 1.8 s ✓ LinearOperators → LinearOperatorsChainRulesCoreExt 0.8 s ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1.8 s ✓ StaticArrays → StaticArraysStatisticsExt 2.2 s ✓ StaticArrays → StaticArraysChainRulesCoreExt 2.0 s ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1.9 s ✓ FillArrays → FillArraysStaticArraysExt 1.8 s ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1.8 s ✓ Adapt → AdaptStaticArraysExt 1.9 s ✓ Accessors → StaticArraysExt 8.6 s ✓ JSON 1.5 s ✓ CodecBzip2 5.8 s ✓ SpecialFunctions 2.4 s ✓ MUMPS_seq_jll 2.5 s ✓ XML2_jll 5.3 s ✓ SciMLOperators 1.6 s ✓ SolverCore → SolverCoreNLPModelsExt 1.4 s ✓ FiniteDiff 4.3 s ✓ SymbolicIndexingInterface 1.5 s ✓ MaybeInplace → MaybeInplaceSparseArraysExt 2.3 s ✓ ExponentialAction 23.4 s ✓ ArrayLayouts 4.8 s ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1.3 s ✓ DiffRules 3.7 s ✓ Hwloc_jll 1.4 s ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1.9 s ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 54.1 s ✓ MadNLP 1.8 s ✓ FiniteDiff → FiniteDiffStaticArraysExt 1.4 s ✓ FiniteDiff → FiniteDiffSparseArraysExt 1.0 s ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 9.0 s ✓ RecursiveArrayTools 4.0 s ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 7.5 s ✓ ForwardDiff 2.4 s ✓ SPRAL_jll 2.3 s ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1.7 s ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 1.6 s ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 7.9 s ✓ LazyArrays 2.1 s ✓ ForwardDiff → ForwardDiffStaticArraysExt 1.4 s ✓ FastPower → FastPowerForwardDiffExt 1.7 s ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 3.0 s ✓ PreallocationTools → PreallocationToolsForwardDiffExt 106.1 s ✓ MathOptInterface 1.8 s ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 2.4 s ✓ Ipopt_jll 22.2 s ✓ SciMLBase 4.3 s ✓ LazyArrays → LazyArraysStaticArraysExt 19.2 s ✓ MadNLP → MadNLPMOI 1.7 s ✓ Ipopt 4.4 s ✓ SciMLBase → SciMLBaseChainRulesCoreExt 4.7 s ✓ SciMLBase → SciMLBaseForwardDiffExt 3.8 s ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 10.6 s ✓ NamedTrajectories 57.3 s ✓ Ipopt → IpoptMathOptInterfaceExt 9.3 s ✓ SciMLJacobianOperators 20.7 s ✓ NonlinearSolveBase 4.8 s ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 4.5 s ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 13.2 s ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 10.6 s ✓ BracketingNonlinearSolve 4.5 s ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 10.2 s ✓ DiffEqBase 4.0 s ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 4.6 s ✓ DiffEqBase → DiffEqBaseSparseArraysExt 3.9 s ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 10.4 s ✓ DiffEqBase → DiffEqBaseForwardDiffExt 12.0 s ✓ OrdinaryDiffEqCore 4.9 s ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreSparseArraysExt 15.3 s ✓ OrdinaryDiffEqTsit5 29.0 s ✓ DirectTrajOpt 30.6 s ✓ DirectTrajOpt → MadNLPSolverExt 181 dependencies successfully precompiled in 929 seconds. 37 already precompiled. Precompilation completed after 952.2s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Pqn5uj/Project.toml` [c823fa1f] DirectTrajOpt v0.9.2 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.30.0 [f6369f11] ForwardDiff v1.3.3 [b6b21f68] Ipopt v1.14.3 [5078a376] LazyArrays v2.9.7 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.51.0 [538bc3a1] NamedTrajectories v0.8.4 [b1df2697] OrdinaryDiffEqTsit5 v2.0.0 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.7.1 [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_Pqn5uj/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 [70df07ce] BracketingNonlinearSolve v1.12.1 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [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 [864edb3b] DataStructures v0.19.4 [2b5f629d] DiffEqBase v7.1.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.17 [c823fa1f] DirectTrajOpt v0.9.2 [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 [7034ab61] FastBroadcast v1.3.2 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.18.0 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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: 2.04s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (2.142s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.121s sub-objective 2 (QuadraticRegularizer): 1.692s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 3.918s hessian structure: 1749 nonzeros (4.01s) linear index maps built (0.0s) evaluator ready (total: 6.658s) evaluator created (10.957s) NL constraint bounds extracted (0.093s) NLP block data built (0.0s) Ipopt optimizer configured (0.314s) variables set (0.849s) 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 (3.389s) optimizer initialization complete (total: 15.701s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 3.0627211e+00 1.89e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8034709e+00 3.99e-02 6.82e-01 -1.0 1.73e+00 - 1.00e+00 1.00e+00f 1 2 2.3530213e+00 6.67e-03 1.28e-01 -1.6 1.05e-01 - 9.38e-01 1.00e+00f 1 3 2.1451684e+00 1.93e-03 3.69e-02 -2.9 4.69e-02 - 9.03e-01 8.32e-01h 1 4 2.0912812e+00 2.64e-04 4.01e-03 -4.0 3.25e-02 - 9.90e-01 1.00e+00h 1 5 2.0909013e+00 2.72e-05 5.86e-04 -4.0 2.38e-01 - 1.00e+00 1.00e+00h 1 6 2.0908951e+00 3.48e-08 1.01e-06 -4.0 2.14e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.20e-10 1.39e-09 -4.0 4.68e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.36e-14 2.30e-14 -4.0 2.33e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978677870e+00 2.0908971978677870e+00 Dual infeasibility......: 2.3010022706659861e-14 2.3010022706659861e-14 Constraint violation....: 1.3556755544541499e-14 1.3556755544541499e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000112064099e-04 1.0000000112064099e-04 Overall NLP error.......: 1.1206409877752982e-12 1.1206409877752982e-12 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 = 65.495 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) 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: 0.107s) 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: 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 1.1561257e+00 1.75e+00 5.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9519010e+00 7.16e-01 3.57e+00 -0.7 6.18e+00 -2.0 4.51e-01 5.94e-01f 1 2 2.8330894e+00 1.93e-01 7.63e+00 -1.2 1.27e+00 -1.6 2.66e-01 1.00e+00h 1 3 2.5907225e+00 9.79e-02 4.11e+00 -2.8 1.22e+00 -1.1 5.80e-01 5.12e-01h 1 4 2.3063732e+00 8.86e-02 1.66e+00 -1.6 2.67e+00 -1.6 4.51e-01 5.12e-01f 1 5 2.3383976e+00 9.75e-02 2.59e+00 -1.0 6.98e+00 -2.1 9.13e-01 1.42e-01f 1 6 2.2629357e+00 6.79e-02 1.53e+00 -2.5 1.11e+00 -1.7 7.04e-01 3.04e-01h 1 7 2.1769457e+00 7.11e-02 4.55e-01 -2.4 2.63e+00 -2.2 6.70e-01 7.41e-01h 1 8 2.7205209e+00 2.67e-01 1.68e+00 0.0 5.29e+01 -2.6 1.24e-01 4.87e-02f 1 9 2.8644682e+00 6.52e-02 6.83e-01 -1.0 4.59e+00 -3.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4649533e+00 2.08e-01 3.08e-01 -1.7 4.16e+00 -2.7 6.81e-01 7.23e-01h 1 11 2.3489857e+00 2.80e-01 2.80e-01 -1.7 3.52e+00 -3.2 9.52e-01 1.00e+00f 1 12 2.2620071e+00 3.30e-02 1.53e-01 -1.7 2.45e+00 -3.6 1.00e+00 1.00e+00h 1 13 2.1181237e+00 2.90e-02 8.97e-02 -2.7 2.18e+00 -4.1 9.88e-01 1.00e+00h 1 14 2.0957291e+00 3.21e-03 6.45e-02 -3.3 9.22e-01 -4.6 1.00e+00 9.39e-01h 1 15 2.0907028e+00 8.91e-04 1.41e-02 -4.0 1.32e+00 -5.1 1.00e+00 1.00e+00h 1 16 2.0903292e+00 6.97e-05 1.16e-03 -4.0 4.26e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0899907e+00 5.78e-06 4.02e-03 -4.0 5.07e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0898817e+00 3.22e-06 1.94e-03 -4.0 6.97e+00 -6.5 1.00e+00 1.00e+00h 1 19 2.0898298e+00 1.48e-06 1.25e-03 -4.0 1.09e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898249e+00 1.69e-06 9.36e-04 -4.0 1.04e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0898224e+00 8.74e-07 1.83e-04 -4.0 4.84e+00 -7.9 1.00e+00 1.00e+00h 1 22 2.0898219e+00 2.41e-08 4.81e-06 -4.0 5.95e-01 -8.4 1.00e+00 1.00e+00h 1 23 2.0898219e+00 6.39e-11 1.51e-08 -4.0 5.45e-02 -8.9 1.00e+00 1.00e+00h 1 24 2.0898218e+00 2.52e-14 1.28e-11 -4.0 1.78e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898218497910848e+00 2.0898218497910848e+00 Dual infeasibility......: 1.2834781685806124e-11 1.2834781685806124e-11 Constraint violation....: 2.5169536593816488e-14 2.5169536593816488e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.2834781685806124e-11 1.2834781685806124e-11 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 24.267 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.107s) 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: 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: 0.107s) 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: 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 2.9083667e+00 3.49e+00 4.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4434023e+00 4.34e+00 3.65e+00 0.6 2.35e+02 -2.0 2.25e-02 3.14e-02f 1 2 3.1759447e+00 3.87e+00 4.71e+00 -0.5 1.32e+01 -2.5 4.78e-02 1.04e-01f 1 3 2.8749389e+00 3.11e+00 7.22e+00 -0.6 2.59e+01 -2.1 1.71e-01 2.51e-01h 1 4 2.8366717e+00 2.86e+00 4.63e+00 -4.0 1.79e+01 -2.5 2.40e-01 7.93e-02h 1 5 2.8425554e+00 2.49e+00 1.97e+01 -1.3 1.35e+01 -2.1 2.74e-01 1.29e-01h 1 6 3.0213128e+00 2.41e+00 2.44e+02 -0.2 9.20e+01 -2.6 1.49e-01 2.65e-02h 1 7 3.1800696e+00 2.38e+00 8.09e+03 -0.3 8.84e+01 -1.3 1.00e+00 1.39e-02h 2 8 3.3921585e+00 2.34e+00 2.53e+05 0.9 6.19e+01 -1.7 1.00e+00 1.62e-02h 1 9 3.4101294e+00 2.32e+00 3.88e+07 1.9 1.41e+03 -2.2 1.00e+00 6.51e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.4103063e+00 2.32e+00 3.57e+07 2.5 1.89e+06 -2.7 7.50e-05 1.10e-04h 3 11 3.4104052e+00 2.32e+00 4.48e+07 2.5 3.22e+06 -3.2 2.11e-04 2.81e-05h 5 12 3.4108326e+00 2.32e+00 1.07e+08 0.9 3.63e+06 -3.6 3.01e-03 1.86e-04h 2 13 3.4106056e+00 2.32e+00 3.15e+09 2.5 2.75e+06 -4.1 4.58e-02 1.96e-05h 2 14r 3.4106056e+00 2.32e+00 9.99e+02 2.5 0.00e+00 -4.6 0.00e+00 3.99e-07R 10 15r 3.3426690e+00 3.53e+00 8.31e+03 1.7 4.36e+03 - 6.17e-01 1.36e-01f 1 16r 3.4123635e+00 1.69e+00 3.89e+03 0.8 7.91e+02 - 5.54e-01 5.90e-01f 1 17 3.4248888e+00 1.07e+00 1.30e+00 -1.3 2.04e+01 -5.1 6.62e-01 3.19e-01h 1 18 3.4251215e+00 1.06e+00 4.42e+02 -1.1 1.20e+02 -5.5 6.78e-01 4.73e-03h 1 19 3.4578420e+00 1.06e+00 5.82e+03 -2.1 1.13e+03 -5.1 1.14e-02 7.51e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.4581639e+00 1.06e+00 2.69e+07 -2.8 2.80e+02 -4.7 6.70e-02 1.42e-05h 1 21r 3.4581639e+00 1.06e+00 1.00e+03 0.6 0.00e+00 -4.3 0.00e+00 3.20e-07R 2 22r 2.9544591e+00 9.61e-01 9.94e+02 2.4 2.01e+03 - 4.62e-03 8.65e-04f 1 23r 3.0037574e+00 4.02e-01 9.81e+02 0.4 3.09e+02 - 3.53e-02 8.16e-03f 1 24 3.0037145e+00 4.02e-01 8.30e+02 -1.3 5.12e+00 -4.7 7.81e-01 1.16e-03h 1 25 3.0040945e+00 4.02e-01 1.61e+06 0.0 6.72e+02 -5.2 3.68e-02 1.85e-05h 1 26r 3.0040945e+00 4.02e-01 1.00e+03 1.1 0.00e+00 -5.7 0.00e+00 2.48e-07R 2 27r 3.0085540e+00 3.84e-01 9.89e+02 -4.0 2.19e+01 - 5.56e-02 1.61e-03f 1 28r 3.3762273e+00 1.99e-01 9.05e+02 -0.4 2.77e+01 - 9.04e-01 8.38e-02f 1 29 3.3762045e+00 1.99e-01 6.20e+03 -1.2 4.40e+01 -6.2 8.26e-01 1.75e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.3762045e+00 1.99e-01 1.00e+03 0.8 0.00e+00 -6.7 0.00e+00 3.76e-07R 4 31r 3.5259441e+00 1.99e-01 8.85e+02 -0.6 3.72e+00 - 8.86e-01 1.10e-01f 1 32r 3.2845823e+00 3.44e-01 7.13e+02 -0.1 1.13e+01 - 8.65e-01 1.96e-01f 1 33r 4.0037417e+00 2.01e-01 4.61e+00 -0.3 2.80e+00 - 1.00e+00 1.00e+00f 1 34r 4.1930496e+00 2.00e-01 6.41e+01 -0.7 6.67e-01 0.0 8.44e-01 4.66e-01f 1 35r 4.3205742e+00 1.99e-01 5.59e+02 0.5 6.75e+00 0.4 4.70e-01 3.24e-02f 1 36r 4.3171127e+00 2.01e-01 1.13e+02 -0.2 2.06e+00 - 1.00e+00 7.51e-02h 1 37r 4.2957170e+00 1.99e-01 1.84e+01 -0.9 6.92e+00 - 1.00e+00 9.85e-01f 1 38r 4.2522894e+00 1.99e-01 4.67e+00 -1.6 2.24e+00 - 9.56e-01 1.00e+00f 1 39r 4.1967130e+00 1.99e-01 1.68e+01 -2.2 1.94e+00 - 1.00e+00 9.27e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 3.9946411e+00 1.99e-01 3.26e-01 -2.6 2.99e+00 - 1.00e+00 1.00e+00f 1 41r 3.7236862e+00 1.99e-01 3.82e-02 -3.1 9.21e-01 - 1.00e+00 1.00e+00h 1 42r 3.5633406e+00 1.99e-01 3.06e-02 -4.0 4.02e-01 - 9.96e-01 1.00e+00h 1 43r 3.7337137e+00 1.99e-01 2.94e-03 -3.7 4.04e-01 - 9.93e-01 1.00e+00h 1 44r 3.7076145e+00 1.99e-01 2.23e-04 -3.8 1.46e-01 - 1.00e+00 1.00e+00h 1 45r 3.6618715e+00 1.99e-01 3.78e-04 -4.0 9.52e-02 - 1.00e+00 1.00e+00h 1 46r 3.6875502e+00 1.99e-01 1.91e-05 -4.0 5.73e-02 - 1.00e+00 1.00e+00h 1 47r 3.6876215e+00 1.99e-01 1.71e-08 -4.0 9.76e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 3.6876209705810874e+00 3.6876209705810874e+00 Dual infeasibility......: 1.9864281069623497e+00 1.9864281069623497e+00 Constraint violation....: 1.9875045051394613e-01 1.9875045051394613e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000002812474e-04 1.0000000002812474e-04 Overall NLP error.......: 1.9864281069623497e+00 1.9864281069623497e+00 Number of objective function evaluations = 82 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 82 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 53 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 23.598 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: 0.057s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.111s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.049s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.341s sub-objective 2 (QuadraticRegularizer): 0.085s sub-objective 3 (MinimumTimeObjective): 0.015s sub-objective 4 (GlobalObjective): 0.718s objective hessian structure: 1.252s hessian structure: 1804 nonzeros (1.349s) linear index maps built (0.0s) evaluator ready (total: 1.46s) evaluator created (1.46s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.117s) 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 (4.871s) optimizer initialization complete (total: 6.448s) 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 4.3281648e+00 4.41e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3840141e+00 6.45e-02 5.44e-01 -1.0 3.09e+00 -2.0 6.35e-01 1.00e+00f 1 2 2.3368526e+00 8.08e-02 1.77e-01 -1.7 1.33e+00 -2.5 9.13e-01 1.00e+00f 1 3 2.1831804e+00 6.66e-02 4.28e-01 -2.3 3.51e+00 -3.0 1.00e+00 6.17e-01h 1 4 2.1180859e+00 8.09e-03 3.50e-02 -2.6 8.82e-01 -3.4 9.92e-01 1.00e+00h 1 5 2.0916160e+00 4.71e-04 4.14e-03 -4.0 2.32e-01 -3.9 1.00e+00 9.64e-01h 1 6 2.0907615e+00 6.98e-05 5.71e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906124e+00 4.92e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901716e+00 7.72e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888597e+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 2.0850245e+00 6.71e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796272e+00 2.09e-03 1.77e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0802757e+00 1.54e-04 1.75e-01 -4.0 6.48e+01 -7.2 1.00e+00 9.99e-01H 1 13 2.0773675e+00 8.53e-03 2.41e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.80e-01h 1 14 2.0771742e+00 1.86e-03 7.86e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0760970e+00 4.02e-03 1.89e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.25e-01h 1 16 2.0755512e+00 1.62e-03 2.24e-02 -4.0 4.51e+02 -9.2 1.00e+00 7.60e-01h 1 17 2.0757469e+00 2.78e-03 9.13e-03 -4.0 1.29e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753670e+00 1.30e-03 3.56e-04 -4.1 6.99e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756724e+00 4.84e-04 6.84e-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 6.01e-07 9.56e-07 -4.0 1.11e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.75e-09 6.41e-08 -4.0 3.94e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.57e-11 1.04e-09 -4.0 5.75e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121324830e+00 2.0756712121324830e+00 Dual infeasibility......: 1.0373108949492810e-09 1.0373108949492810e-09 Constraint violation....: 2.5662139080395718e-11 2.5662139080395718e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.0373108949492810e-09 1.0373108949492810e-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 = 47.095 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.307s jacobian structure: 1600 nonzeros (2.384s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.666s 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 (3.717s) linear index maps built (0.0s) evaluator ready (total: 6.102s) evaluator created (6.126s) NL constraint bounds extracted (0.108s) 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 (0.111s) optimizer initialization complete (total: 6.359s) 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 4.8681748e+00 1.98e+00 7.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8114806e+00 6.21e-01 1.56e+00 -0.9 1.96e+00 0.0 9.26e-01 6.87e-01f 1 Hello, world! 2 2.5050591e+00 5.94e-02 5.74e+00 -0.7 9.58e-01 -0.5 1.00e+00 9.45e-01f 1 Hello, world! 3 2.5643029e+00 4.55e-03 3.45e-01 -1.0 1.79e-01 -1.0 9.92e-01 1.00e+00f 1 Hello, world! 4 2.2893413e+00 7.68e-03 1.24e-01 -2.0 1.83e-01 -1.4 9.66e-01 1.00e+00h 1 Hello, world! 5 2.1041517e+00 3.30e-03 2.78e-02 -3.2 1.11e-01 -1.9 1.00e+00 9.64e-01h 1 Hello, world! 6 2.0909258e+00 7.81e-05 1.82e-03 -4.0 2.21e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909385e+00 1.07e-06 3.83e-05 -4.0 2.70e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909304e+00 4.31e-09 2.58e-05 -4.0 5.65e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909100e+00 1.37e-08 1.33e-04 -4.0 1.62e-01 -3.8 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 10 2.0908651e+00 8.08e-08 2.33e-04 -4.0 4.09e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907913e+00 2.92e-07 9.22e-04 -4.0 9.23e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906120e+00 2.31e-06 1.39e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900984e+00 2.21e-05 6.01e-04 -4.0 8.17e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898331e+00 3.58e-06 1.69e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0891099e+00 2.38e-05 6.30e-03 -4.0 9.69e+00 -5.8 1.00e+00 8.24e-01h 1 Hello, world! 16 2.0877035e+00 2.49e-04 3.17e-02 -4.0 2.61e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864588e+00 2.53e-04 2.44e-01 -4.0 5.48e+01 -5.8 1.00e+00 1.77e-01h 1 Hello, world! 18 2.0850269e+00 2.07e-04 2.48e-02 -4.0 2.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829595e+00 2.14e-04 2.50e-02 -4.0 3.57e+01 -6.8 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 20 2.0827900e+00 4.41e-04 1.46e-02 -4.0 5.33e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823254e+00 6.32e-04 8.57e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.6108416e+00 4.79e-04 1.09e+01 -4.0 9.96e+02 -8.2 4.04e-02 1.00e+00H 1 Hello, world! 23 2.0887113e+00 6.67e-05 1.16e+00 -4.1 2.45e-01 -0.4 6.35e-01 8.61e-01f 1 Hello, world! 24 2.0889962e+00 6.65e-05 7.17e+00 -4.0 1.05e-01 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 25 2.0889768e+00 7.85e-08 1.59e-03 -4.0 3.35e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0886335e+00 1.02e-07 1.49e-03 -4.0 9.38e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0882345e+00 9.90e-07 1.20e-03 -4.0 2.28e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0881788e+00 2.84e-07 1.25e-04 -4.0 4.66e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0882286e+00 3.43e-07 1.36e-05 -4.0 2.32e-02 -3.2 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 2.0882210e+00 3.61e-08 1.35e-05 -4.0 6.89e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0882034e+00 4.82e-08 1.34e-05 -4.0 2.06e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0881525e+00 4.18e-07 2.00e-05 -4.0 6.12e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0880142e+00 3.27e-06 1.56e-04 -4.0 1.78e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0877051e+00 1.81e-05 8.98e-04 -4.0 4.97e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0872169e+00 4.37e-05 2.49e-03 -4.0 1.32e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0863203e+00 1.34e-04 5.65e-03 -4.0 3.48e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0847280e+00 7.28e-04 2.68e-02 -4.0 8.61e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826676e+00 1.00e-03 7.49e-02 -4.1 1.66e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816592e+00 3.18e-03 2.78e-02 -4.1 2.33e+02 -8.0 7.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815796e+00 1.16e-05 1.08e-01 -4.0 8.78e+01 -6.7 1.00e+00 1.00e+00H 1 Hello, world! 41 2.0816735e+00 7.43e-04 2.97e-02 -4.0 1.92e+01 -7.2 9.92e-01 1.00e+00h 1 Hello, world! 42 2.0815603e+00 1.15e-03 2.81e-03 -4.1 3.30e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817512e+00 1.55e-06 3.19e-01 -4.0 2.43e-01 -2.7 7.53e-01 1.00e+00h 1 Hello, world! 44 2.0816829e+00 7.21e-07 6.49e-04 -4.0 4.25e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0816997e+00 2.22e-07 1.55e-04 -4.0 7.74e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0817019e+00 5.72e-07 3.00e-05 -4.0 9.55e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815924e+00 3.99e-06 1.49e-04 -4.1 1.86e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0817304e+00 1.12e-05 8.13e-05 -4.0 4.97e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0816090e+00 6.90e-06 1.49e-04 -4.1 4.29e-01 -5.5 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 50 2.0808430e+00 5.20e-04 3.58e-03 -6.1 5.44e+00 -6.0 9.97e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0808430392290500e+00 2.0808430392290500e+00 Dual infeasibility......: 3.5785511046838932e-03 3.5785511046838932e-03 Constraint violation....: 5.1954712095136912e-04 5.1954712095136912e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9615107429505946e-05 1.9615107429505946e-05 Overall NLP error.......: 3.5785511046838932e-03 3.5785511046838932e-03 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 26.629 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) 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 4.8681748e+00 1.98e+00 7.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.8114806e+00 6.21e-01 1.56e+00 -0.9 1.96e+00 0.0 9.26e-01 6.87e-01f 1 Hello, world! 2 2.5050591e+00 5.94e-02 5.74e+00 -0.7 9.58e-01 -0.5 1.00e+00 9.45e-01f 1 Hello, world! 3 2.5643029e+00 4.55e-03 3.45e-01 -1.0 1.79e-01 -1.0 9.92e-01 1.00e+00f 1 Hello, world! 4 2.2893413e+00 7.68e-03 1.24e-01 -2.0 1.83e-01 -1.4 9.66e-01 1.00e+00h 1 Hello, world! 5 2.1041517e+00 3.30e-03 2.78e-02 -3.2 1.11e-01 -1.9 1.00e+00 9.64e-01h 1 Hello, world! 6 2.0909258e+00 7.81e-05 1.82e-03 -4.0 2.21e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909385e+00 1.07e-06 3.83e-05 -4.0 2.70e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909304e+00 4.31e-09 2.58e-05 -4.0 5.65e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909100e+00 1.37e-08 1.33e-04 -4.0 1.62e-01 -3.8 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 10 2.0908651e+00 8.08e-08 2.33e-04 -4.0 4.09e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907913e+00 2.92e-07 9.22e-04 -4.0 9.23e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906120e+00 2.31e-06 1.39e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0900984e+00 2.21e-05 6.01e-04 -4.0 8.17e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898331e+00 3.58e-06 1.69e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0891099e+00 2.38e-05 6.30e-03 -4.0 9.69e+00 -5.8 1.00e+00 8.24e-01h 1 Hello, world! 16 2.0877035e+00 2.49e-04 3.17e-02 -4.0 2.61e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0864588e+00 2.53e-04 2.44e-01 -4.0 5.48e+01 -5.8 1.00e+00 1.77e-01h 1 Hello, world! 18 2.0850269e+00 2.07e-04 2.48e-02 -4.0 2.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829595e+00 2.14e-04 2.50e-02 -4.0 3.57e+01 -6.8 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 20 2.0827900e+00 4.41e-04 1.46e-02 -4.0 5.33e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823254e+00 6.32e-04 8.57e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.6108416e+00 4.79e-04 1.09e+01 -4.0 9.96e+02 -8.2 4.04e-02 1.00e+00H 1 Hello, world! 23 2.0887113e+00 6.67e-05 1.16e+00 -4.1 2.45e-01 -0.4 6.35e-01 8.61e-01f 1 Hello, world! 24 2.0889962e+00 6.65e-05 7.17e+00 -4.0 1.05e-01 -0.8 1.00e+00 3.91e-03f 9 Hello, world! 25 2.0889768e+00 7.85e-08 1.59e-03 -4.0 3.35e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0886335e+00 1.02e-07 1.49e-03 -4.0 9.38e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0882345e+00 9.90e-07 1.20e-03 -4.0 2.28e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0881788e+00 2.84e-07 1.25e-04 -4.0 4.66e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0882286e+00 3.43e-07 1.36e-05 -4.0 2.32e-02 -3.2 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 2.0882210e+00 3.61e-08 1.35e-05 -4.0 6.89e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0882034e+00 4.82e-08 1.34e-05 -4.0 2.06e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0881525e+00 4.18e-07 2.00e-05 -4.0 6.12e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0880142e+00 3.27e-06 1.56e-04 -4.0 1.78e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0877051e+00 1.81e-05 8.98e-04 -4.0 4.97e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0872169e+00 4.37e-05 2.49e-03 -4.0 1.32e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0863203e+00 1.34e-04 5.65e-03 -4.0 3.48e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0847280e+00 7.28e-04 2.68e-02 -4.0 8.61e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826676e+00 1.00e-03 7.49e-02 -4.1 1.66e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0816592e+00 3.18e-03 2.78e-02 -4.1 2.33e+02 -8.0 7.27e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815796e+00 1.16e-05 1.08e-01 -4.0 8.78e+01 -6.7 1.00e+00 1.00e+00H 1 Hello, world! 41 2.0816735e+00 7.43e-04 2.97e-02 -4.0 1.92e+01 -7.2 9.92e-01 1.00e+00h 1 Hello, world! 42 2.0815603e+00 1.15e-03 2.81e-03 -4.1 3.30e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0817512e+00 1.55e-06 3.19e-01 -4.0 2.43e-01 -2.7 7.53e-01 1.00e+00h 1 Hello, world! 44 2.0816829e+00 7.21e-07 6.49e-04 -4.0 4.25e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0816997e+00 2.22e-07 1.55e-04 -4.0 7.74e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0817019e+00 5.72e-07 3.00e-05 -4.0 9.55e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0815924e+00 3.99e-06 1.49e-04 -4.1 1.86e-01 -4.6 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0817304e+00 1.12e-05 8.13e-05 -4.0 4.97e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0816090e+00 6.90e-06 1.49e-04 -4.1 4.29e-01 -5.5 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 50 2.0808430e+00 5.20e-04 3.58e-03 -6.1 5.44e+00 -6.0 9.97e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0808430392290500e+00 2.0808430392290500e+00 Dual infeasibility......: 3.5785511046838932e-03 3.5785511046838932e-03 Constraint violation....: 5.1954712095136912e-04 5.1954712095136912e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9615107429505946e-05 1.9615107429505946e-05 Overall NLP error.......: 3.5785511046838932e-03 3.5785511046838932e-03 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.864 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: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.124s jacobian structure: 1600 nonzeros (2.18s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.399s 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 (3.444s) linear index maps built (0.0s) evaluator ready (total: 5.625s) evaluator created (5.649s) 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: 5.65s) 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 4.5537077e+00 2.58e+00 3.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7163116e+00 1.19e+00 3.79e+00 -0.8 1.98e+00 0.0 1.00e+00 5.43e-01f 1 2 4.3443651e+00 1.02e+00 1.18e+01 1.2 2.63e+01 -0.5 7.75e-02 4.32e-02f 1 3 3.5690815e+00 6.78e-02 4.40e+00 0.1 8.75e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.4083838e+00 2.42e-02 9.06e+00 -4.0 2.69e-01 -0.5 7.25e-01 1.00e+00h 1 5 2.9810141e+00 3.43e-03 5.38e-01 -1.0 1.65e-01 -0.1 9.97e-01 1.00e+00h 1 6 2.4459497e+00 6.40e-03 1.11e-01 -1.7 9.78e-02 -0.6 9.98e-01 1.00e+00f 1 7 2.1852563e+00 6.49e-03 6.03e-02 -2.5 1.27e-01 -1.1 8.39e-01 7.42e-01h 1 8 2.0985386e+00 6.42e-04 5.69e-03 -3.2 4.44e-02 -1.5 9.83e-01 9.50e-01h 1 9 2.0908844e+00 6.23e-06 8.48e-04 -4.0 5.56e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908876e+00 6.15e-08 5.09e-05 -4.0 1.56e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908852e+00 3.04e-10 1.95e-05 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908798e+00 1.39e-09 1.91e-05 -4.0 5.30e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908658e+00 9.46e-09 1.97e-05 -4.0 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908325e+00 5.57e-08 1.15e-04 -4.0 4.06e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907513e+00 3.57e-07 4.76e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905215e+00 3.74e-06 5.48e-04 -4.0 3.34e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904248e+00 4.60e-07 3.75e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902711e+00 1.21e-06 1.01e-02 -4.0 4.50e+00 -5.4 1.00e+00 3.53e-01h 2 19 2.0893286e+00 3.74e-05 4.67e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0875501e+00 3.57e-04 3.97e-02 -4.0 3.21e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861632e+00 3.77e-04 4.71e-01 -4.0 1.13e+02 -5.9 1.00e+00 1.10e-01h 1 22 2.0845974e+00 4.75e-04 3.00e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0828084e+00 2.45e-04 2.49e-02 -4.0 3.37e+01 -6.9 1.00e+00 9.68e-01h 1 24 2.0830477e+00 1.13e-03 3.29e-02 -4.0 6.44e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821052e+00 1.53e-03 1.03e-02 -4.1 1.50e+02 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821051588032446e+00 2.0821051588032446e+00 Dual infeasibility......: 1.0303456330118527e-02 1.0303456330118527e-02 Constraint violation....: 1.5325721204706433e-03 1.5325721204706433e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6129541101921673e-04 1.6129541101921673e-04 Overall NLP error.......: 1.0303456330118527e-02 1.0303456330118527e-02 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 24.444 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) 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: 0.004s) 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 4.5537077e+00 2.58e+00 3.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7163116e+00 1.19e+00 3.79e+00 -0.8 1.98e+00 0.0 1.00e+00 5.43e-01f 1 2 4.3443651e+00 1.02e+00 1.18e+01 1.2 2.63e+01 -0.5 7.75e-02 4.32e-02f 1 3 3.5690815e+00 6.78e-02 4.40e+00 0.1 8.75e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.4083838e+00 2.42e-02 9.06e+00 -4.0 2.69e-01 -0.5 7.25e-01 1.00e+00h 1 5 2.9810141e+00 3.43e-03 5.38e-01 -1.0 1.65e-01 -0.1 9.97e-01 1.00e+00h 1 6 2.4459497e+00 6.40e-03 1.11e-01 -1.7 9.78e-02 -0.6 9.98e-01 1.00e+00f 1 7 2.1852563e+00 6.49e-03 6.03e-02 -2.5 1.27e-01 -1.1 8.39e-01 7.42e-01h 1 8 2.0985386e+00 6.42e-04 5.69e-03 -3.2 4.44e-02 -1.5 9.83e-01 9.50e-01h 1 9 2.0908844e+00 6.23e-06 8.48e-04 -4.0 5.56e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908876e+00 6.15e-08 5.09e-05 -4.0 1.56e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908852e+00 3.04e-10 1.95e-05 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908798e+00 1.39e-09 1.91e-05 -4.0 5.30e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908658e+00 9.46e-09 1.97e-05 -4.0 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908325e+00 5.57e-08 1.15e-04 -4.0 4.06e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907513e+00 3.57e-07 4.76e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905215e+00 3.74e-06 5.48e-04 -4.0 3.34e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904248e+00 4.60e-07 3.75e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902711e+00 1.21e-06 1.01e-02 -4.0 4.50e+00 -5.4 1.00e+00 3.53e-01h 2 19 2.0893286e+00 3.74e-05 4.67e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0875501e+00 3.57e-04 3.97e-02 -4.0 3.21e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861632e+00 3.77e-04 4.71e-01 -4.0 1.13e+02 -5.9 1.00e+00 1.10e-01h 1 22 2.0845974e+00 4.75e-04 3.00e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0828084e+00 2.45e-04 2.49e-02 -4.0 3.37e+01 -6.9 1.00e+00 9.68e-01h 1 24 2.0830477e+00 1.13e-03 3.29e-02 -4.0 6.44e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821052e+00 1.53e-03 1.03e-02 -4.1 1.50e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.3814444e+00 1.40e-03 4.49e+00 -4.0 4.17e+02 -7.4 4.45e-02 1.00e+00H 1 27 2.0852139e+00 1.76e-05 3.42e-01 -4.1 1.24e-01 0.4 1.00e+00 9.87e-01f 1 28 2.0854964e+00 1.75e-05 3.54e+00 -4.0 1.01e-01 -0.0 1.00e+00 7.81e-03f 8 29 2.0855447e+00 6.90e-08 1.31e-03 -3.9 4.37e-03 -0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0853282e+00 2.18e-08 1.29e-03 -4.0 1.28e-02 -1.0 1.00e+00 1.00e+00h 1 31 2.0852466e+00 8.48e-08 1.14e-03 -4.0 3.43e-02 -1.5 1.00e+00 1.00e+00h 1 32 2.0851322e+00 3.68e-07 7.03e-04 -4.0 6.32e-02 -2.0 1.00e+00 1.00e+00h 1 33 2.0851198e+00 7.25e-08 5.56e-05 -4.0 1.50e-02 -2.4 1.00e+00 1.00e+00h 1 34 2.0851281e+00 1.45e-08 1.18e-05 -4.0 9.55e-03 -2.9 1.00e+00 1.00e+00h 1 35 2.0851260e+00 7.05e-10 1.18e-05 -4.0 2.86e-02 -3.4 1.00e+00 1.00e+00h 1 36 2.0851195e+00 3.71e-09 1.18e-05 -4.0 8.57e-02 -3.9 1.00e+00 1.00e+00h 1 37 2.0851002e+00 3.28e-08 1.17e-05 -4.0 2.56e-01 -4.3 1.00e+00 1.00e+00h 1 38 2.0850440e+00 2.77e-07 2.27e-05 -4.0 7.53e-01 -4.8 1.00e+00 1.00e+00h 1 39 2.0848911e+00 2.23e-06 1.82e-04 -4.0 2.14e+00 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0845513e+00 1.56e-05 1.12e-03 -4.0 5.60e+00 -5.8 1.00e+00 1.00e+00h 1 41 2.0840944e+00 4.51e-05 3.21e-03 -4.0 1.42e+01 -6.2 1.00e+00 1.00e+00h 1 42 2.0834660e+00 1.45e-04 5.38e-03 -4.0 3.50e+01 -6.7 1.00e+00 1.00e+00h 1 43 2.0825731e+00 6.09e-04 1.80e-02 -4.0 7.21e+01 -7.2 1.00e+00 1.00e+00h 1 44 2.0819323e+00 1.03e-03 9.94e-03 -4.0 1.07e+02 -7.7 7.62e-01 1.00e+00h 1 45 2.0818040e+00 9.56e-04 9.88e-02 -4.0 1.06e+03 -7.3 9.62e-03 4.27e-02h 3 46 2.0884253e+00 5.76e-04 8.97e-01 -4.0 3.39e+01 -5.9 1.00e+00 5.45e-01H 1 47 2.0870938e+00 5.17e-04 3.28e+00 -4.0 5.05e-01 -1.9 1.92e-01 1.03e-01h 1 48 2.0815842e+00 1.47e-05 2.33e-02 -4.0 2.57e-01 -2.4 1.00e+00 1.00e+00f 1 49 2.0817863e+00 4.16e-05 7.04e+00 -3.4 1.52e-01 -2.8 9.79e-01 4.05e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818805e+00 3.76e-05 3.15e-03 -3.6 2.86e-01 -3.3 1.00e+00 1.00e+00h 1 51 2.0819990e+00 4.00e-05 2.27e-03 -3.6 6.65e-01 -3.8 1.00e+00 1.00e+00h 1 52 2.0815582e+00 8.99e-05 4.44e-01 -5.4 6.22e-01 -4.3 7.85e-01 1.00e+00h 1 53 2.0815921e+00 5.35e-05 1.09e-02 -4.0 1.68e+00 -4.7 1.00e+00 1.00e+00h 1 54 2.0816553e+00 1.95e-05 1.82e-03 -4.1 8.82e-01 -5.2 1.00e+00 1.00e+00h 1 55 2.0817534e+00 1.74e-04 6.92e-04 -4.1 4.28e+00 -5.7 1.00e+00 1.00e+00h 1 56 2.0809954e+00 9.69e-04 6.06e-03 -6.1 7.37e+00 -6.2 8.45e-01 8.72e-01h 1 57 2.0808657e+00 1.21e-04 3.24e-02 -4.9 1.42e+01 -6.7 1.00e+00 7.45e-01h 1 58 2.0810555e+00 1.34e-04 2.22e+00 -4.0 6.56e+00 -4.4 1.00e+00 3.39e-01h 1 59 2.0812746e+00 2.25e-05 4.28e-03 -4.0 5.85e-01 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816531e+00 1.06e-04 1.77e-03 -4.0 2.43e+00 -5.4 1.00e+00 1.00e+00h 1 61 2.0815669e+00 9.37e-05 1.21e-02 -4.1 4.65e+01 -5.9 1.06e-01 1.11e-01h 3 62 2.0817580e+00 5.69e-05 6.58e-01 -4.1 5.81e+00 -6.3 1.00e+00 3.90e-01h 1 63 2.0816764e+00 1.94e-04 6.05e-03 -4.1 8.49e+00 -6.8 1.00e+00 1.00e+00f 1 64 2.0816282e+00 7.74e-06 7.91e-04 -4.1 6.89e+00 -7.3 1.00e+00 1.00e+00h 1 65 2.0818605e+00 3.95e-04 1.84e-04 -4.0 1.72e+01 -7.8 1.00e+00 1.00e+00h 1 66 2.0815942e+00 6.10e-04 4.93e-04 -4.1 2.72e+01 -8.2 1.00e+00 1.00e+00h 1 67 2.0806194e+00 4.06e-03 5.53e-04 -6.1 5.11e+01 -8.7 9.78e-01 9.43e-01h 1 68 2.0818869e+00 4.97e-03 1.57e-03 -4.0 4.48e+01 -9.2 1.00e+00 1.00e+00f 1 69 2.0816148e+00 4.75e-04 1.57e-04 -4.1 1.99e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806050e+00 3.48e-03 2.43e-04 -6.1 4.23e+01 -10.2 9.76e-01 9.57e-01h 1 71 2.0808454e+00 3.04e-03 1.41e-02 -4.0 5.90e+01 -10.6 1.00e+00 1.93e-01f 1 72 2.0818381e+00 2.95e-03 1.51e-04 -4.0 3.48e+01 -11.1 1.00e+00 1.00e+00h 1 73 2.0815820e+00 1.86e-04 6.34e-06 -4.1 8.51e+00 -11.6 1.00e+00 1.00e+00h 1 74 2.0805923e+00 3.32e-03 1.41e-04 -6.1 4.08e+01 -12.1 9.77e-01 9.67e-01h 1 75 2.0818924e+00 6.68e-03 3.02e-04 -4.0 6.23e+01 -12.5 1.00e+00 1.00e+00f 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0818924212591829e+00 2.0818924212591829e+00 Dual infeasibility......: 3.0225759860750428e-04 3.0225759860750428e-04 Constraint violation....: 6.6830997091793520e-03 6.6830997091793520e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4288878371616589e-04 1.4288878371616589e-04 Overall NLP error.......: 6.6830997091793520e-03 6.6830997091793520e-03 Number of objective function evaluations = 96 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 96 Number of inequality constraint evaluations = 96 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.130 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 (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5537077e+00 2.58e+00 3.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7163116e+00 1.19e+00 3.79e+00 -0.8 1.98e+00 0.0 1.00e+00 5.43e-01f 1 2 4.3443651e+00 1.02e+00 1.18e+01 1.2 2.63e+01 -0.5 7.75e-02 4.32e-02f 1 3 3.5690815e+00 6.78e-02 4.40e+00 0.1 8.75e-01 -0.1 1.00e+00 1.00e+00f 1 4 3.4083838e+00 2.42e-02 9.06e+00 -4.0 2.69e-01 -0.5 7.25e-01 1.00e+00h 1 5 2.9810141e+00 3.43e-03 5.38e-01 -1.0 1.65e-01 -0.1 9.97e-01 1.00e+00h 1 6 2.4459497e+00 6.40e-03 1.11e-01 -1.7 9.78e-02 -0.6 9.98e-01 1.00e+00f 1 7 2.1852563e+00 6.49e-03 6.03e-02 -2.5 1.27e-01 -1.1 8.39e-01 7.42e-01h 1 8 2.0985386e+00 6.42e-04 5.69e-03 -3.2 4.44e-02 -1.5 9.83e-01 9.50e-01h 1 9 2.0908844e+00 6.23e-06 8.48e-04 -4.0 5.56e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908876e+00 6.15e-08 5.09e-05 -4.0 1.56e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908852e+00 3.04e-10 1.95e-05 -4.0 1.80e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908798e+00 1.39e-09 1.91e-05 -4.0 5.30e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908658e+00 9.46e-09 1.97e-05 -4.0 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908325e+00 5.57e-08 1.15e-04 -4.0 4.06e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907513e+00 3.57e-07 4.76e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905215e+00 3.74e-06 5.48e-04 -4.0 3.34e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904248e+00 4.60e-07 3.75e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902711e+00 1.21e-06 1.01e-02 -4.0 4.50e+00 -5.4 1.00e+00 3.53e-01h 2 19 2.0893286e+00 3.74e-05 4.67e-03 -4.0 1.16e+01 -5.9 1.00e+00 9.21e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0875501e+00 3.57e-04 3.97e-02 -4.0 3.21e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0861632e+00 3.77e-04 4.71e-01 -4.0 1.13e+02 -5.9 1.00e+00 1.10e-01h 1 22 2.0845974e+00 4.75e-04 3.00e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0828084e+00 2.45e-04 2.49e-02 -4.0 3.37e+01 -6.9 1.00e+00 9.68e-01h 1 24 2.0830477e+00 1.13e-03 3.29e-02 -4.0 6.44e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821052e+00 1.53e-03 1.03e-02 -4.1 1.50e+02 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0821051588032446e+00 2.0821051588032446e+00 Dual infeasibility......: 1.0303456330118527e-02 1.0303456330118527e-02 Constraint violation....: 1.5325721204706433e-03 1.5325721204706433e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6129541101921673e-04 1.6129541101921673e-04 Overall NLP error.......: 1.0303456330118527e-02 1.0303456330118527e-02 Number of objective function evaluations = 29 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 29 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.377 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: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.298s jacobian structure: 1600 nonzeros (2.355s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.654s 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 (3.706s) linear index maps built (0.0s) evaluator ready (total: 6.062s) evaluator created (6.085s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.182s) variables set (0.634s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.083s) optimizer initialization complete (total: 10.09s) 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 5.2717461e+00 2.35e+00 7.30e-01 9.74e-01 -1.0 - 0.00e+00 1 0 1 2.6289271e+00 8.46e-02 2.44e+00 3.05e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7208987e+00 4.00e-02 7.32e-01 1.34e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3656903e+00 2.42e-02 3.44e-01 4.24e-02 -1.7 -1.0 7.67e-01 2 1h 4 2.2636770e+00 1.13e-03 5.81e-02 2.23e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1180798e+00 7.61e-04 5.53e-03 3.54e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0914267e+00 6.73e-04 2.03e-03 1.74e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0914048e+00 4.40e-07 3.36e-05 1.51e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0900577e+00 7.92e-06 4.78e-05 2.33e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0900348e+00 1.88e-05 1.78e-04 6.39e-06 -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 2.0899924e+00 3.65e-04 2.05e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0899459e+00 2.93e-04 4.15e-03 1.85e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0898790e+00 3.69e-07 2.38e-03 1.85e-06 -5.7 -3.4 1.00e+00 1 1h 13 2.0898602e+00 1.40e-06 2.02e-04 2.11e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0898175e+00 7.95e-06 1.41e-04 5.17e-06 -5.7 -4.4 1.00e+00 1 1h 15 2.0897321e+00 1.36e-05 2.78e-03 1.86e-06 -5.7 -4.9 5.27e-01 1 1h 16 2.0893245e+00 6.53e-05 4.82e-04 2.53e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0890975e+00 5.57e-05 3.78e-02 2.02e-06 -5.7 -5.8 1.83e-01 1 1h 18 2.0863793e+00 6.06e-05 1.29e-02 5.80e-06 -5.7 -6.3 1.00e+00 1 1h 19 2.0857774e+00 5.33e-05 1.61e-01 2.94e-06 -5.7 -6.8 1.22e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817356e+00 4.20e-05 1.36e-01 1.99e-06 -5.7 -7.3 6.79e-01 1 1h 21 2.0817431e+00 1.65e-04 1.31e-01 7.06e-04 -5.7 -7.7 1.00e+00 2 1h 22 2.0811039e+00 5.41e-05 3.50e-02 3.29e-04 -5.7 -8.2 5.26e-01 1 1h 23 2.0806931e+00 1.33e-05 5.07e-02 1.43e-04 -5.7 -8.7 8.62e-01 1 1h 24 2.0807846e+00 5.95e-06 8.71e-02 1.08e-04 -5.7 -6.5 1.00e+00 1 1h 25 2.0807510e+00 4.92e-06 8.96e-02 7.85e-05 -5.7 -6.9 1.71e-01 2 1h 26 2.0806835e+00 1.55e-06 2.71e-03 1.72e-05 -5.7 -6.5 1.00e+00 1 1h 27 2.0806459e+00 9.26e-07 1.51e-02 1.34e-05 -5.7 -7.0 3.44e-01 2 1h 28 2.0806259e+00 6.73e-07 5.01e-03 1.16e-05 -5.7 -7.5 1.00e+00 1 1h 29 2.0805785e+00 3.56e-07 3.26e-03 5.05e-06 -5.7 -7.9 6.97e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805894e+00 6.87e-08 2.10e-02 1.52e-05 -5.7 -6.6 1.00e+00 1 1h 31 2.0805763e+00 1.26e-07 2.05e-04 4.69e-06 -5.7 -7.1 1.00e+00 2 1h 32 2.0805763e+00 8.00e-08 3.38e-03 4.69e-06 -5.7 -7.6 1.64e-04 2 6h 33 2.0805770e+00 8.03e-08 6.23e-02 6.37e-05 -5.7 -8.0 5.50e-03 1 3h 34 2.0805627e+00 2.68e-06 2.45e-03 5.83e-06 -5.7 -8.5 1.00e+00 1 1h 35 2.0805611e+00 1.68e-07 3.01e-04 2.52e-06 -5.7 -9.0 1.00e+00 1 1h 36 2.0805605e+00 1.31e-08 6.93e-05 1.89e-06 -5.7 -9.5 1.00e+00 1 1h 37 2.0805604e+00 9.45e-11 1.63e-05 1.84e-06 -5.7 -10.0 1.00e+00 1 1h 38 2.0805367e+00 3.95e-06 3.43e-06 6.15e-08 -8.6 -10.4 9.93e-01 2 1h 39 2.0805365e+00 1.55e-09 5.35e-09 2.57e-09 -8.6 -10.9 1.00e+00 2 1h Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 2.0805364804242705e+00 2.0805364804242705e+00 Dual infeasibility......: 5.3529303908552306e-09 5.3529303908552306e-09 Constraint violation....: 1.5455503543648774e-09 1.5455503543648774e-09 Complementarity.........: 2.5676843735445403e-09 2.5676843735445403e-09 Overall NLP error.......: 5.3529303908552306e-09 5.3529303908552306e-09 Number of objective function evaluations = 49 Number of objective gradient evaluations = 40 Number of constraint evaluations = 49 Number of constraint Jacobian evaluations = 40 Number of Lagrangian Hessian evaluations = 39 Number of KKT factorizations = 89 Number of KKT backsolves = 61 Total wall secs in initialization = 21.014 s Total wall secs in linear solver = 0.059 s Total wall secs in NLP function evaluations = 18.265 s Total wall secs in solver (w/o init./fun./lin. alg.) = 52.978 s Total wall secs = 92.316 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.073s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.379s jacobian structure: 1680 nonzeros (6.453s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.614s 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 (12.674s) linear index maps built (0.0s) evaluator ready (total: 19.128s) evaluator created (19.152s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.096s) 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 (5.078s) optimizer initialization complete (total: 24.328s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.3408456e+01 1.92e+00 3.22e+00 1.81e+00 -1.0 - 0.00e+00 1 0 1 7.0206074e+00 8.78e-01 2.06e+00 4.75e-01 -1.0 0.0 5.44e-01 1 1h 2 3.8984004e+00 4.22e-01 5.78e+00 3.36e-01 -1.0 -0.5 5.13e-01 2 1h 3 3.4238985e+00 3.39e-01 7.33e+00 3.28e-01 -1.0 -1.0 1.52e-01 2 1h 4 3.2914005e+00 3.02e-01 1.81e+01 1.16e+00 -1.0 -0.5 1.09e-01 1 1h 5 2.8846972e+00 2.62e-01 8.24e+00 4.51e-01 -1.0 -1.0 1.00e+00 2 1h 6 2.9185824e+00 1.71e-01 6.59e+00 3.28e-01 -1.0 -0.6 2.46e-01 1 1h 7 2.8203254e+00 8.69e-02 2.41e+00 2.41e-01 -1.0 -1.1 1.00e+00 2 1h 8 2.7245352e+00 9.77e-02 1.96e+00 1.70e-01 -1.0 -1.5 1.86e-02 2 2h 9 2.7434348e+00 1.96e-02 9.62e-02 1.24e-01 -1.0 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.2573336e+00 8.05e-02 9.73e-02 2.59e-02 -2.5 -2.5 1.00e+00 2 1h 11 2.1164882e+00 1.07e-02 8.40e-03 4.88e-03 -2.5 -3.0 1.00e+00 2 1h 12 2.0913250e+00 9.75e-04 4.19e-03 1.97e-04 -3.8 -3.4 1.00e+00 2 1h 13 2.0913080e+00 2.61e-05 3.40e-04 1.54e-04 -3.8 -3.9 1.00e+00 2 1h 14 2.0899194e+00 6.32e-05 2.82e-04 3.96e-05 -5.7 -4.4 1.00e+00 2 1h 15 2.0897824e+00 2.57e-05 1.71e-03 2.29e-06 -5.7 -4.9 7.38e-01 2 1h 16 2.0893693e+00 1.11e-05 4.22e-04 1.85e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0890929e+00 8.92e-06 3.36e-02 2.00e-06 -5.7 -5.8 2.37e-01 1 1h 18 2.0863791e+00 7.29e-06 1.25e-02 5.76e-06 -5.7 -6.3 1.00e+00 1 1h 19 2.0857288e+00 6.80e-06 1.57e-01 2.89e-06 -5.7 -6.8 1.34e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817323e+00 4.13e-05 1.35e-01 1.99e-06 -5.7 -7.3 6.76e-01 1 1h 21 2.0817445e+00 1.62e-04 1.30e-01 7.08e-04 -5.7 -7.7 1.00e+00 1 1h 22 2.0811022e+00 5.23e-05 3.47e-02 3.29e-04 -5.7 -8.2 5.29e-01 1 1h 23 2.0806947e+00 1.29e-05 5.02e-02 1.45e-04 -5.7 -8.7 8.52e-01 1 1h 24 2.0807851e+00 5.96e-06 8.82e-02 1.10e-04 -5.7 -6.5 1.00e+00 1 1h 25 2.0807470e+00 4.87e-06 8.87e-02 8.19e-05 -5.7 -6.9 1.80e-01 2 1h 26 2.0806529e+00 1.48e-06 3.36e-02 3.33e-05 -5.7 -7.4 6.37e-01 1 1h 27 2.0806907e+00 3.35e-07 3.52e-02 4.74e-05 -5.7 -6.1 1.00e+00 1 1h 28 2.0806717e+00 2.23e-07 2.69e-02 3.31e-05 -5.7 -6.6 2.87e-01 2 1h 29 2.0806437e+00 8.02e-07 1.87e-03 7.88e-06 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805993e+00 3.25e-07 4.67e-04 2.58e-06 -5.7 -7.5 1.00e+00 1 1h 31 2.0805859e+00 2.36e-07 4.57e-03 2.36e-06 -5.7 -8.0 4.25e-01 1 1H 32 2.0806024e+00 3.48e-09 1.70e-01 3.54e-05 -5.7 -5.8 9.89e-01 1 1H 33 2.0805932e+00 2.54e-07 1.55e-01 3.99e-05 -5.7 -6.2 3.18e-01 2 1h 34 2.0805874e+00 4.41e-07 8.35e-03 8.23e-06 -5.7 -6.7 1.00e+00 2 1h 35 2.0805823e+00 3.40e-07 1.77e-01 1.09e-05 -5.7 -5.4 3.97e-01 1 2h 36 2.0805781e+00 8.14e-08 9.38e-05 2.57e-06 -5.7 -5.9 1.00e+00 1 1h 37 2.0805758e+00 6.46e-08 1.82e-05 1.89e-06 -5.7 -6.3 1.00e+00 1 1h 38 2.0805534e+00 3.45e-06 7.93e-04 5.03e-07 -8.6 -6.8 9.03e-01 1 1h 39 2.0805526e+00 2.52e-06 5.64e-03 1.92e-07 -8.6 -6.4 2.70e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805497e+00 9.98e-07 5.07e-03 5.08e-08 -8.6 -6.9 6.53e-01 1 1h 41 2.0805494e+00 7.39e-07 1.70e-02 3.88e-08 -8.6 -6.4 2.60e-01 1 1h 42 2.0805479e+00 1.01e-07 1.95e-05 1.02e-08 -8.6 -6.9 1.00e+00 1 1h 43 2.0805469e+00 6.16e-08 7.34e-04 2.84e-09 -8.6 -7.4 3.90e-01 1 1h 44 2.0805422e+00 2.38e-09 1.50e-04 3.85e-09 -8.6 -7.9 1.00e+00 1 1h 45 2.0805381e+00 6.35e-10 2.01e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 46 2.0805366e+00 3.42e-10 1.82e-03 2.53e-09 -8.6 -8.8 1.00e+00 1 1h 47 2.0805368e+00 8.92e-11 1.04e-05 6.20e-07 -8.6 -6.6 1.00e+00 1 1h 48 2.0805367e+00 8.91e-11 1.41e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805366e+00 8.90e-11 1.80e-05 2.51e-09 -8.6 -4.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 8.43e-11 6.32e-04 2.51e-09 -8.6 -5.3 9.46e-01 1 1h 51 2.0805366e+00 8.91e-11 3.47e-07 5.49e-09 -8.6 -5.8 1.00e+00 1 1h 52 2.0805366e+00 8.91e-11 4.52e-08 2.82e-09 -8.6 -6.3 1.00e+00 1 1h 53 2.0805366e+00 8.92e-11 3.36e-07 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 54 2.0805403e+00 8.88e-16 3.79e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1H 55 2.0805374e+00 2.96e-11 6.71e-02 2.61e-09 -8.6 -4.1 6.57e-01 1 1h 56 2.0805366e+00 8.04e-11 7.10e-03 2.51e-09 -8.6 -4.6 8.99e-01 1 1h 57 2.0805370e+00 8.88e-16 3.23e-05 7.32e-07 -8.6 -5.0 1.00e+00 1 1H 58 2.0805367e+00 4.44e-16 9.20e-06 1.84e-07 -8.6 -5.5 1.00e+00 1 1H 59 2.0805366e+00 1.78e-15 2.69e-06 4.59e-08 -8.6 -6.0 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 8.92e-11 5.77e-07 1.18e-08 -8.6 -6.5 1.00e+00 1 1h 61 2.0805366e+00 8.92e-11 9.72e-08 3.99e-09 -8.6 -7.0 1.00e+00 1 1h 62 2.0805366e+00 8.92e-11 1.90e-07 2.62e-09 -8.6 -7.4 1.00e+00 1 1h 63 2.0805365e+00 8.92e-11 8.23e-07 2.51e-09 -8.6 -7.9 1.00e+00 1 1h 64 2.0805365e+00 8.95e-11 3.67e-04 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 65 2.0805365e+00 8.92e-11 8.12e-08 5.46e-09 -8.6 -6.2 1.00e+00 1 1h 66 2.0805365e+00 8.92e-11 5.57e-07 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 67 2.0805365e+00 8.92e-11 1.64e-06 3.25e-09 -8.6 -6.2 1.00e+00 1 1h 68 2.0805365e+00 8.92e-11 2.50e-04 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 69 2.0805365e+00 4.44e-16 8.10e-05 6.42e-09 -8.6 -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 1.53e-15 1.03e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1H 71 2.0805365e+00 8.92e-11 1.28e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 72 2.0805365e+00 8.92e-11 6.72e-08 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 73 2.0805365e+00 8.92e-11 3.76e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 8.92e-11 7.52e-09 2.51e-09 -8.6 -6.8 1.00e+00 1 1h Number of Iterations....: 74 (scaled) (unscaled) Objective...............: 2.0805364917134028e+00 2.0805364917134028e+00 Dual infeasibility......: 7.5187208411725044e-09 7.5187208411725044e-09 Constraint violation....: 8.9172447204077798e-11 8.9172447204077798e-11 Complementarity.........: 2.5059035602267516e-09 2.5059035602267516e-09 Overall NLP error.......: 7.5187208411725044e-09 7.5187208411725044e-09 Number of objective function evaluations = 86 Number of objective gradient evaluations = 75 Number of constraint evaluations = 86 Number of constraint Jacobian evaluations = 75 Number of Lagrangian Hessian evaluations = 74 Number of KKT factorizations = 182 Number of KKT backsolves = 101 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.096 s Total wall secs in NLP function evaluations = 24.717 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.957 s Total wall secs = 35.772 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.437s jacobian structure: 1600 nonzeros (2.499s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.84s 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 (3.897s) linear index maps built (0.0s) evaluator ready (total: 6.396s) evaluator created (6.418s) 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: 6.419s) 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 2.1083549e+01 3.42e+00 8.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0934362e+01 1.95e-01 2.25e+00 -0.7 1.98e+00 -4.0 8.98e-01 1.00e+00f 1 2 1.0460974e+01 2.25e-02 3.10e-01 -0.8 3.98e-01 -4.5 8.78e-01 1.00e+00f 1 3 9.9752356e+00 8.10e-03 1.26e-01 -1.8 2.75e-01 -5.0 8.65e-01 1.00e+00h 1 4 9.5911741e+00 6.81e-03 3.93e-02 -2.4 1.98e-01 -5.4 9.88e-01 1.00e+00f 1 5 9.4574840e+00 1.80e-03 9.75e-03 -3.6 1.09e-01 -5.9 9.86e-01 1.00e+00h 1 6 9.4294060e+00 2.09e-04 1.06e-03 -4.0 3.86e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4260091e+00 2.19e-05 1.04e-04 -4.0 8.85e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258105e+00 2.99e-07 1.27e-06 -4.0 8.33e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 5.74e-11 1.00e-09 -4.0 1.04e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086228720828e+00 9.4258086228720828e+00 Dual infeasibility......: 9.9999988891212761e-10 9.9999988891212761e-10 Constraint violation....: 5.7410298737181620e-11 5.7410298737181620e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000022225954499e-04 1.0000022225954499e-04 Overall NLP error.......: 9.9999988891212761e-10 9.9999988891212761e-10 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 = 25.559 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) 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 2.1083549e+01 3.42e+00 8.77e-01 9.56e-01 -1.0 - 0.00e+00 1 0 1 1.0748473e+01 1.23e-01 1.84e+00 5.75e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0111577e+01 1.25e-01 2.98e-01 1.65e-01 -1.0 -4.5 9.98e-01 2 1h 3 9.7098190e+00 4.24e-03 1.46e-02 3.89e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5001553e+00 3.73e-03 6.29e-02 9.25e-03 -3.8 -5.4 1.00e+00 2 1h 5 9.4389734e+00 9.30e-04 2.69e-03 2.29e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4275898e+00 1.94e-04 5.61e-04 4.97e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246517e+00 2.57e-05 1.72e-04 5.28e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245376e+00 5.36e-07 7.20e-07 2.75e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.21e-09 2.66e-09 5.06e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129862028083e+00 9.4245129862028083e+00 Dual infeasibility......: 2.6637880790048030e-09 2.6637880790048030e-09 Constraint violation....: 1.2115335401574612e-09 1.2115335401574612e-09 Complementarity.........: 5.0591352611697334e-09 5.0591352611697334e-09 Overall NLP error.......: 5.0591352611697334e-09 5.0591352611697334e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.187 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 0.205 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 ┌ 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/87quR/src/problems.jl:66 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: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.115s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.373s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (LinearRegularizer): 0.081s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.667s hessian structure: 2431 nonzeros (0.772s) linear index maps built (0.0s) evaluator ready (total: 0.887s) evaluator created (0.887s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.123s) 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 (3.69s) optimizer initialization complete (total: 4.701s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6391867e+00 2.37e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3976401e+00 4.58e+00 1.92e+00 -0.6 2.42e+01 -4.0 8.81e-01 9.58e-01f 1 2 2.7558600e+00 1.68e+00 3.96e+00 -0.9 7.30e+00 -1.8 3.92e-01 8.25e-01f 1 3 2.6567229e+00 2.08e-01 4.42e-01 -1.4 9.20e-01 -1.3 7.80e-01 1.00e+00h 1 4 2.4160379e+00 5.95e-02 3.42e-01 -1.7 8.96e-01 -1.8 7.86e-01 9.29e-01h 1 5 3.0350279e+00 5.18e-01 4.11e+00 0.3 3.74e+02 -2.3 5.15e-03 1.15e-02f 1 6 2.2918956e+00 2.00e-02 3.61e-01 -1.5 2.21e+00 -1.0 8.81e-01 1.00e+00f 1 7 2.2139556e+00 1.12e-01 9.92e-01 -1.6 1.98e+00 -1.4 1.00e+00 1.00e+00f 1 8 1.5227306e+00 5.77e-01 4.97e-01 -2.0 2.37e+00 -1.9 9.98e-01 7.90e-01h 1 9 1.4611514e+00 4.06e-02 1.33e-01 -2.1 1.67e+00 -2.4 9.89e-01 9.82e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3665718e+00 7.32e-02 7.98e-02 -2.9 3.98e+00 -2.9 9.82e-01 1.00e+00h 1 11 1.2505223e+00 1.22e-01 6.32e-02 -3.3 8.40e+00 -3.4 9.87e-01 1.00e+00h 1 12 1.1339670e+00 3.66e-01 1.53e-01 -2.9 1.47e+01 -3.8 9.33e-01 1.00e+00h 1 13 1.0087997e+00 9.67e-01 1.38e-01 -3.2 2.26e+01 -4.3 9.98e-01 1.00e+00h 1 14 9.0011268e-01 1.46e+00 1.40e-01 -3.9 3.44e+01 -4.8 1.00e+00 1.00e+00h 1 15 8.2528091e-01 2.07e+00 2.29e-01 -3.3 4.35e+01 -5.3 1.00e+00 1.00e+00h 1 16 7.7196070e-01 1.57e+00 3.81e-01 -3.0 7.80e+01 -5.7 5.64e-01 1.00e+00h 1 17 7.0584523e-01 2.96e+00 3.33e-01 -3.1 8.75e+01 -6.2 8.63e-01 9.94e-01h 1 18 6.9286362e-01 5.02e-02 7.42e-02 -3.9 5.54e+01 -5.8 1.00e+00 1.00e+00h 1 19 6.7104208e-01 2.48e+00 2.21e-01 -3.5 1.42e+02 -6.3 5.24e-01 8.37e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.5398983e-01 1.57e+00 3.36e-01 -3.8 5.30e+01 -5.8 1.00e+00 1.00e+00h 1 21 6.4446764e-01 3.57e+00 2.56e-01 -3.5 1.19e+02 -6.3 1.00e+00 1.00e+00h 1 22 6.3867674e-01 5.45e-01 2.16e-01 -3.7 3.47e+01 -5.9 1.00e+00 1.00e+00h 1 23 6.3349218e-01 3.30e-01 1.02e-01 -3.9 7.07e+01 -6.4 1.00e+00 1.00e+00h 1 24 6.1513440e-01 3.41e+00 1.77e-01 -4.0 2.18e+02 -6.8 1.00e+00 1.00e+00h 1 25 6.1303470e-01 8.53e-01 6.48e-02 -4.0 5.89e+01 -6.4 1.00e+00 1.00e+00h 1 26 6.0400155e-01 2.95e+00 1.76e-01 -4.0 1.82e+02 -6.9 1.00e+00 1.00e+00h 1 27 6.0274375e-01 6.97e-01 6.37e-02 -4.0 4.98e+01 -6.5 1.00e+00 1.00e+00h 1 28 5.9643829e-01 2.69e+00 2.06e-01 -4.0 1.70e+02 -6.9 1.00e+00 1.00e+00h 1 29 5.9505705e-01 6.49e-01 6.31e-02 -4.0 4.51e+01 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.9043917e-01 2.70e+00 2.55e-01 -4.0 1.67e+02 -7.0 1.00e+00 1.00e+00h 1 31 5.8819896e-01 1.10e+01 1.86e-01 -4.0 6.45e+03 -7.5 4.73e-02 6.17e-02h 1 32 5.8709388e-01 2.41e+00 1.97e-01 -4.0 1.70e+02 -7.1 1.00e+00 1.00e+00h 1 33 5.8658706e-01 4.56e+00 1.73e-01 -4.0 4.01e+03 -7.5 2.30e-01 5.50e-02h 3 34 5.8854922e-01 6.66e-01 1.82e-01 -4.0 1.30e+02 -7.1 1.00e+00 1.00e+00h 1 35 5.8236097e-01 1.46e+00 4.33e-01 -4.0 2.58e+02 -7.6 1.00e+00 1.00e+00h 1 36 5.9708275e-01 8.15e+01 2.33e+00 -3.0 1.95e+04 -8.1 5.51e-01 1.05e-01h 1 37 5.7951359e-01 2.91e+01 2.31e+00 -3.5 1.02e+03 -8.5 6.37e-02 7.62e-01h 1 38 6.5397997e-01 8.64e+01 5.61e+00 -2.9 1.78e+03 -8.1 7.94e-01 1.00e+00f 1 39 5.9111174e-01 4.98e+01 1.20e+00 -3.0 9.65e+02 -7.7 1.00e+00 4.25e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.9234961e-01 3.10e+01 1.59e+00 -3.0 1.65e+03 -8.2 4.20e-01 5.00e-01h 2 41 5.8789332e-01 2.64e+01 2.58e+00 -3.0 1.16e+03 -7.7 9.24e-01 5.04e-01h 1 42 5.7448820e-01 3.12e+01 3.67e+00 -3.0 1.59e+03 -8.2 9.04e-02 1.00e+00h 1 43 5.6065965e-01 1.64e+01 2.04e+00 -3.4 3.77e+02 -6.9 4.52e-01 6.66e-01h 1 44 6.0243824e-01 3.09e+00 1.88e+00 -2.8 1.51e+02 -7.4 4.66e-01 1.00e+00h 1 45 6.1305946e-01 4.03e+00 1.04e+00 -3.0 3.64e+02 -7.8 1.00e+00 9.68e-01H 1 46 5.8971684e-01 5.50e+00 3.10e+00 -3.0 4.28e+02 -8.3 1.00e+00 1.00e+00h 1 47 5.9446591e-01 6.78e-01 1.13e+00 -3.0 1.86e+02 -7.9 1.00e+00 1.00e+00h 1 48 5.7574076e-01 8.67e+00 1.05e+00 -3.3 9.56e+02 -8.4 1.00e+00 1.00e+00h 1 49 5.8389076e-01 6.38e+00 1.11e+00 -3.1 3.50e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.7990268e-01 1.18e+00 1.73e+00 -3.2 6.61e+02 -8.4 1.00e+00 9.18e-01H 1 51 5.9739437e-01 2.04e+01 1.41e+00 -3.0 8.03e+02 -8.0 1.00e+00 1.00e+00h 1 52 5.7826866e-01 7.69e+00 1.96e+00 -3.1 6.22e+02 -8.5 5.46e-01 5.77e-01h 1 53 5.7755080e-01 7.90e+01 2.54e+00 -3.1 1.00e+04 -8.9 9.15e-01 4.18e-01h 2 54 5.7231953e-01 4.99e+01 1.21e+00 -3.1 3.51e+02 -7.6 5.80e-01 3.89e-01h 2 55 5.7282045e-01 3.78e+01 1.00e+00 -3.1 5.07e+02 -7.2 3.81e-01 2.51e-01h 2 56 5.8438462e-01 6.15e+00 5.66e-01 -3.1 2.72e+02 -7.7 1.00e+00 1.00e+00h 1 57 5.6584477e-01 3.68e+00 9.88e-01 -3.1 2.94e+02 -8.1 9.48e-01 6.10e-01h 1 58 6.8745836e-01 2.66e+00 2.25e+00 -2.5 2.45e+02 -7.7 3.74e-01 1.00e+00f 1 59 6.3708397e-01 4.39e+00 1.95e+00 -2.7 3.93e+02 -8.2 9.28e-01 7.32e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 6.1318268e-01 1.62e+01 4.44e+00 -2.7 1.72e+03 -8.7 2.78e-01 4.89e-01h 2 61 6.2662699e-01 1.79e+01 9.39e-01 -2.7 1.69e+03 -8.2 1.00e+00 3.57e-01h 2 62 6.1751182e-01 2.06e+01 3.29e+00 -2.7 2.52e+03 -8.7 1.00e+00 5.00e-01h 2 63 6.2098056e-01 1.71e+01 1.78e+00 -2.7 9.62e+02 -8.3 6.45e-01 2.30e-01h 3 64 6.1999116e-01 1.24e+01 9.91e-01 -2.7 4.87e+02 -7.9 7.09e-01 3.88e-01h 2 65 6.1896633e-01 1.14e+01 9.66e-01 -2.7 1.28e+03 -8.3 7.44e-01 2.39e-01h 3 66 6.2864522e-01 4.28e-01 1.13e+00 -2.7 1.42e+02 -7.9 1.00e+00 1.00e+00h 1 67 6.3023703e-01 1.74e+00 1.63e+00 -2.7 4.53e+02 -8.4 1.00e+00 5.00e-01h 2 68 6.2693986e-01 5.32e+00 2.22e+00 -2.7 4.49e+03 -8.9 4.09e-01 1.57e-01h 3 69 6.3085347e-01 3.65e+00 1.68e+00 -2.7 3.90e+02 -8.4 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 6.2713644e-01 7.61e+00 2.04e+00 -2.7 7.68e+03 -8.9 2.87e-01 9.94e-02h 3 71 6.2847207e-01 5.96e+00 9.10e-01 -2.7 4.71e+02 -8.5 1.00e+00 2.50e-01h 3 72 6.2884413e-01 3.58e+00 7.02e-01 -2.7 2.87e+02 -8.1 1.00e+00 5.00e-01h 2 73 6.3044828e-01 4.31e+00 1.94e+00 -2.7 6.82e+02 -8.6 1.00e+00 5.00e-01h 2 74 6.2639684e-01 9.03e+00 2.08e+00 -2.7 2.78e+04 -9.0 8.15e-02 3.14e-02h 3 75 6.2750196e-01 8.56e+00 4.22e-01 -2.7 1.63e+03 -8.6 1.00e+00 9.42e-02h 4 76 6.2661326e-01 6.84e+00 4.50e-01 -2.7 4.95e+02 -8.2 1.00e+00 2.50e-01h 3 77 6.2783536e-01 5.83e+00 1.23e+00 -2.7 7.83e+02 -8.7 8.09e-01 2.50e-01h 3 78 6.2907559e-01 4.72e+00 9.00e-01 -2.7 5.43e+02 -8.2 1.00e+00 5.00e-01h 2 79 6.2830719e-01 7.93e+00 2.56e+00 -2.7 1.27e+03 -8.7 8.89e-01 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 6.2485412e-01 9.57e+00 1.99e+00 -2.7 1.42e+03 -8.3 4.03e-01 2.44e-01h 2 81 6.2410355e-01 1.18e+01 1.17e+00 -2.7 3.10e+03 -8.8 1.00e+00 2.18e-01h 3 82 6.2835865e-01 1.01e+00 2.06e+00 -2.7 2.73e+02 -8.3 1.00e+00 1.00e+00h 1 83 6.2897114e-01 1.94e+00 1.48e+00 -2.7 1.55e+03 -8.8 1.00e+00 2.50e-01h 3 84 6.4859375e-01 3.78e-01 2.20e+00 -2.7 5.92e+02 -8.4 1.00e+00 1.00e+00H 1 85 8.9101434e-01 6.62e+01 2.08e+01 -2.2 3.30e+03 -8.9 7.02e-01 1.00e+00h 1 86 8.1382066e-01 5.67e+01 9.51e+00 -2.4 6.61e+03 -9.3 6.69e-01 1.44e-01h 1 87 7.9157124e-01 4.84e+01 9.05e+00 -2.4 2.45e+03 -8.9 1.00e+00 1.00e+00h 1 88 7.4611687e-01 3.31e+01 3.10e+00 -2.4 2.07e+03 -8.5 9.22e-01 6.07e-01h 1 89 7.3745340e-01 2.68e+01 1.14e+01 -2.4 1.29e+03 -9.0 7.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 7.4666122e-01 1.11e+01 3.84e+00 -2.4 8.56e+02 -8.5 1.00e+00 1.00e+00h 1 91 7.7347650e-01 3.07e+00 1.06e+01 -2.4 1.99e+03 -9.0 9.77e-01 1.00e+00H 1 92 7.4035833e-01 3.85e+00 6.07e+00 -2.4 6.18e+02 -8.6 7.81e-01 9.80e-01h 1 93 7.6330088e-01 3.93e+01 1.17e+01 -2.4 2.52e+03 -9.1 8.12e-01 1.00e+00h 1 94 7.5614435e-01 2.99e+01 1.55e+00 -2.4 1.95e+03 -8.6 1.00e+00 4.03e-01h 2 95 7.5266593e-01 3.38e+01 2.12e+00 -2.4 1.20e+04 -9.1 5.90e-01 1.37e-01h 3 96 7.7535318e-01 1.05e+01 4.25e+00 -2.4 9.14e+02 -8.7 1.00e+00 1.00e+00h 1 97 7.6071049e-01 1.54e+01 4.67e+00 -2.4 4.48e+03 -9.2 5.98e-01 2.50e-01h 3 98 7.6595760e-01 3.89e-01 4.55e+00 -2.4 2.50e+02 -8.7 1.00e+00 1.00e+00h 1 99 7.6727472e-01 1.17e+00 1.23e+01 -2.4 8.20e+02 -9.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.6163409e-01 2.39e+01 2.88e+01 -2.4 7.17e+03 -9.7 1.00e+00 1.00e+00H 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.6163409267594973e-01 7.6163409267594973e-01 Dual infeasibility......: 2.8843958061019549e+01 2.8843958061019549e+01 Constraint violation....: 2.3928252176549506e+01 2.3928252176549506e+01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.3334741057969254e-03 4.3334741057969254e-03 Overall NLP error.......: 2.8843958061019549e+01 2.8843958061019549e+01 Number of objective function evaluations = 215 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 215 Number of inequality constraint evaluations = 215 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 43.451 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.366s jacobian structure: 1600 nonzeros (2.427s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.896s 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 (3.945s) linear index maps built (0.0s) evaluator ready (total: 6.373s) evaluator created (6.396s) 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 (0.001s) optimizer initialization complete (total: 6.398s) 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 3.8976363e+00 3.41e+00 5.99e-01 9.71e-01 -1.0 - 0.00e+00 1 0 1 2.6910060e+00 1.38e+00 1.78e+00 4.53e-01 -1.0 0.0 5.96e-01 1 1h 2 2.4574966e+00 8.87e-01 1.23e+00 2.36e-01 -1.0 -0.5 3.21e-01 1 1h 3 2.5911263e+00 3.12e-02 4.52e-01 1.10e-01 -1.0 -1.0 1.00e+00 1 1h 4 2.3387612e+00 4.40e-02 5.00e-01 4.90e-02 -1.7 -1.4 6.40e-01 1 1h 5 2.2732883e+00 2.76e-03 8.14e-02 2.41e-02 -1.7 -1.9 1.00e+00 1 1h 6 2.1225857e+00 1.77e-03 2.15e-02 4.57e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0911495e+00 1.62e-03 2.17e-03 1.76e-04 -3.8 -2.9 9.89e-01 1 1h 8 2.0914623e+00 4.90e-06 4.95e-05 1.51e-04 -3.8 -3.3 1.00e+00 1 1h 9 2.0901051e+00 2.13e-05 4.99e-05 2.14e-05 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900600e+00 3.05e-05 1.65e-04 4.94e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0899607e+00 4.21e-04 5.75e-04 1.85e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0896769e+00 8.82e-04 2.21e-03 1.85e-06 -5.7 -5.2 8.55e-01 1 1h 13 2.0887849e+00 2.32e-04 2.68e-03 1.15e-05 -5.7 -5.7 1.00e+00 1 1h 14 2.0884272e+00 2.11e-04 1.29e-01 2.45e-06 -5.7 -6.2 9.15e-02 1 1h 15 2.0839683e+00 7.73e-05 4.70e-02 3.69e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0830471e+00 6.18e-05 1.36e-01 2.80e-06 -5.7 -7.2 2.03e-01 1 1h 17 2.0816903e+00 4.54e-05 1.39e-01 3.41e-06 -5.7 -7.6 2.69e-01 1 1h 18 2.0814217e+00 3.29e-05 1.96e-01 3.93e-05 -5.7 -8.1 2.77e-01 1 1h 19 2.0806739e+00 4.19e-05 1.35e-01 1.87e-05 -5.7 -8.6 8.96e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0869846e+00 2.41e-07 2.75e-01 3.08e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0812313e+00 1.21e-04 4.22e+00 2.40e-04 -5.7 -5.0 5.23e-01 1 1H 22 2.0812023e+00 1.24e-04 4.21e+00 2.29e-04 -5.7 -5.5 1.36e-03 1 1h 23 2.0815285e+00 1.54e-05 5.04e+00 9.45e-04 -5.7 -6.0 1.50e-01 1 2h 24 2.0813043e+00 1.17e-04 3.03e+00 1.77e-04 -5.7 -6.5 3.07e-01 1 1h 25 2.0808773e+00 1.04e-05 7.72e-02 2.89e-05 -5.7 -6.9 1.00e+00 1 1H 26 2.0806767e+00 2.49e-05 1.65e-02 7.57e-06 -5.7 -7.4 1.00e+00 1 1h 27 2.0806641e+00 1.86e-05 8.63e-02 3.11e-06 -5.7 -7.0 2.56e-01 1 1h 28 2.0806022e+00 1.54e-06 4.74e-02 1.97e-06 -5.7 -7.5 9.70e-01 1 1h 29 2.1052607e+00 3.59e-08 1.77e-01 7.93e-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 2.1041966e+00 1.59e-07 2.70e+00 8.13e-05 -5.7 -3.9 1.44e-02 1 1h 31 2.1016396e+00 8.98e-07 4.12e+01 9.63e-05 -5.7 -3.5 5.08e-02 1 1h 32 2.0999559e+00 1.48e-06 3.98e+01 9.82e-05 -5.7 -4.0 3.42e-02 1 4h 33 2.0977307e+00 1.84e-06 2.61e+01 1.09e-04 -5.7 -3.5 5.59e-02 1 4h 34 2.0970327e+00 2.24e-06 2.60e+01 1.10e-04 -5.7 -4.0 1.72e-02 1 4h 35 2.0953073e+00 2.42e-06 1.87e+01 1.22e-04 -5.7 -3.6 5.14e-02 1 4h 36 2.0898274e+00 2.60e-05 1.54e+01 9.89e-05 -5.7 -4.1 1.76e-01 1 1h 37 2.0807036e+00 4.02e-05 5.96e+00 9.24e-06 -5.7 -4.5 6.25e-01 1 1h 38 2.0807338e+00 1.61e-05 2.93e+00 4.82e-04 -5.7 -5.0 5.20e-01 1 1h 39 2.0806395e+00 9.19e-05 2.85e+00 4.37e-04 -5.7 -5.5 1.16e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806577e+00 1.73e-04 4.51e+00 3.78e-04 -5.7 -6.0 3.36e-01 1 2h 41 2.0806355e+00 1.41e-04 1.66e+00 1.08e-04 -5.7 -6.4 1.46e-01 1 1h 42 2.0806263e+00 3.64e-06 5.29e-02 1.28e-05 -5.7 -6.9 1.00e+00 1 1h 43 2.0805980e+00 2.54e-05 3.51e-04 3.16e-06 -5.7 -7.4 1.00e+00 1 1h 44 2.0805770e+00 1.30e-06 9.33e-04 1.98e-06 -5.7 -7.9 1.00e+00 1 1h 45 2.0805658e+00 2.07e-06 1.15e-02 1.96e-06 -5.7 -8.4 1.00e+00 1 1h 46 2.0805687e+00 4.16e-07 1.74e-04 1.71e-05 -5.7 -6.1 1.00e+00 1 1h 47 2.0805722e+00 1.26e-07 1.20e-02 1.90e-06 -5.7 -6.6 1.00e+00 1 1h 48 2.0805616e+00 4.12e-08 1.71e-02 1.85e-06 -5.7 -4.4 9.10e-01 1 1h 49 2.0805728e+00 2.91e-08 3.74e-04 2.04e-05 -5.7 -4.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805674e+00 7.77e-08 6.93e-05 5.68e-06 -5.7 -5.3 1.00e+00 1 1h 51 2.0805651e+00 6.30e-09 1.46e-05 1.99e-06 -5.7 -5.8 1.00e+00 1 1h 52 2.0805456e+00 2.87e-07 9.59e-03 6.16e-07 -8.6 -5.4 7.72e-01 1 1h 53 2.0805415e+00 1.23e-07 1.25e-03 1.48e-07 -8.6 -5.8 8.81e-01 1 1h 54 2.0805401e+00 4.13e-08 1.70e-05 2.84e-08 -8.6 -6.3 1.00e+00 1 1h 55 2.0805395e+00 2.87e-08 3.21e-03 1.07e-08 -8.6 -6.8 3.06e-01 1 1h 56 2.0805392e+00 2.55e-08 4.12e-03 6.50e-09 -8.6 -7.3 1.12e-01 1 1h 57 2.0805383e+00 4.36e-10 4.77e-05 5.71e-09 -8.6 -7.8 1.00e+00 1 1h 58 2.0805372e+00 4.92e-11 5.33e-05 2.54e-09 -8.6 -8.2 1.00e+00 1 1h 59 2.0805366e+00 8.67e-11 8.15e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805367e+00 7.07e-12 8.39e-06 2.54e-07 -8.6 -6.5 1.00e+00 1 1h 61 2.0805368e+00 1.11e-16 2.23e-03 2.58e-09 -8.6 -7.0 1.00e+00 1 1H 62 2.0805366e+00 1.20e-12 4.12e-05 2.51e-09 -8.6 -4.7 1.00e+00 1 1h 63 2.0805366e+00 3.46e-13 2.10e-07 7.42e-09 -8.6 -5.2 1.00e+00 1 1h 64 2.0805366e+00 3.02e-14 6.95e-08 3.23e-09 -8.6 -5.7 1.00e+00 1 1h 65 2.0805366e+00 1.78e-13 3.95e-08 2.54e-09 -8.6 -6.2 1.00e+00 1 1h 66 2.0805366e+00 7.17e-13 3.81e-08 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 67 2.0805366e+00 9.16e-13 1.87e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 68 2.0805383e+00 4.44e-16 4.56e-04 6.91e-08 -8.6 -6.7 1.00e+00 1 1H 69 2.0805382e+00 5.60e-14 1.25e-01 5.54e-08 -8.6 -4.4 5.10e-02 1 5h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805371e+00 8.88e-16 6.80e-05 1.49e-08 -8.6 -4.0 1.00e+00 1 1H 71 2.0805366e+00 8.88e-16 6.95e-05 3.27e-09 -8.6 -4.5 1.00e+00 1 1H 72 2.0805366e+00 8.49e-13 3.31e-03 2.51e-09 -8.6 -5.0 9.05e-01 1 1h 73 2.0805366e+00 3.61e-13 1.20e-06 1.93e-08 -8.6 -5.5 1.00e+00 1 1h 74 2.0805366e+00 3.14e-13 3.63e-07 5.97e-09 -8.6 -5.9 1.00e+00 1 1h 75 2.0805366e+00 1.48e-12 5.29e-08 2.91e-09 -8.6 -6.4 1.00e+00 1 1h 76 2.0805365e+00 3.58e-12 1.64e-08 2.52e-09 -8.6 -6.9 1.00e+00 1 1h 77 2.0805365e+00 7.27e-10 1.53e-07 1.09e-09 -9.0 -7.4 1.00e+00 1 1h 78 2.0805365e+00 3.78e-13 4.71e-07 9.09e-10 -9.0 -7.8 1.00e+00 1 1h 79 2.0805365e+00 6.41e-13 9.29e-05 9.09e-10 -9.0 -8.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805485e+00 8.88e-16 1.62e-03 6.94e-08 -9.0 -7.0 1.00e+00 1 1H 81 2.0805381e+00 1.11e-15 2.02e-01 2.04e-08 -9.0 -3.9 1.00e+00 1 1H 82 2.0805365e+00 1.11e-15 1.53e-04 1.73e-09 -9.0 -4.3 1.00e+00 1 1H 83 2.0805361e+00 4.19e-06 1.06e-01 7.97e-09 -9.0 -4.8 8.26e-04 1 1H 84 2.0805363e+00 1.86e-06 4.69e-02 1.50e-09 -9.0 -5.3 5.57e-01 1 1h 85 2.0805364e+00 1.00e-06 2.82e-02 1.27e-09 -9.0 -5.8 4.60e-01 1 2h 86 2.0805364e+00 5.02e-07 1.42e-02 1.07e-09 -9.0 -6.2 5.00e-01 1 2h 87 2.0805365e+00 2.51e-07 7.05e-03 9.86e-10 -9.0 -6.7 5.00e-01 1 2h 88 2.0805365e+00 1.88e-07 5.16e-03 9.62e-10 -9.0 -7.2 2.50e-01 1 3h 89 2.0805365e+00 1.03e-11 4.45e-05 9.11e-10 -9.0 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0816473e+00 8.88e-16 2.25e-02 3.04e-07 -9.0 -7.2 1.00e+00 1 1H 91 2.0816232e+00 8.24e-13 1.27e+00 3.02e-07 -9.0 -3.2 1.10e-02 1 1h 92 2.0815673e+00 8.35e-12 1.79e+00 2.99e-07 -9.0 -3.7 2.10e-02 1 3h 93 2.0813471e+00 2.04e-11 2.58e-01 2.63e-07 -9.0 -3.3 1.13e-01 1 2h 94 2.0812410e+00 2.50e-11 2.71e-01 2.44e-07 -9.0 -3.7 5.70e-02 1 3h 95 2.0812288e+00 2.58e-11 2.09e-01 2.45e-07 -9.0 -4.2 3.03e-04 1 5h 96 2.0809432e+00 4.54e-11 8.96e+00 2.48e-07 -9.0 -3.8 1.94e-01 1 2h 97 2.0805397e+00 1.26e-10 5.04e+00 1.32e-09 -9.0 -4.3 4.98e-01 1 1h 98 2.0805381e+00 2.76e-11 8.08e-04 1.57e-07 -9.0 -4.7 1.00e+00 1 1h 99 2.0805379e+00 2.66e-11 2.52e-03 1.35e-07 -9.0 -5.2 3.63e-02 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 100 2.0805376e+00 2.36e-11 7.06e-02 1.19e-07 -9.0 -5.7 1.15e-01 1 1h Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805376136787963e+00 2.0805376136787963e+00 Dual infeasibility......: 7.0617440895469924e-02 7.0617440895469924e-02 Constraint violation....: 2.3641130719731507e-11 2.3641130719731507e-11 Complementarity.........: 1.1870968685485039e-07 1.1870968685485039e-07 Overall NLP error.......: 7.0617440895469924e-02 7.0617440895469924e-02 Number of objective function evaluations = 160 Number of objective gradient evaluations = 101 Number of constraint evaluations = 160 Number of constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Number of KKT factorizations = 249 Number of KKT backsolves = 127 Total wall secs in initialization = 6.056 s Total wall secs in linear solver = 0.232 s Total wall secs in NLP function evaluations = 19.817 s Total wall secs in solver (w/o init./fun./lin. alg.) = 29.209 s Total wall secs = 55.313 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:420 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 (0.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.469s) optimizer initialization complete (total: 0.58s) 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 2.7680535e+00 4.72e+00 3.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7052789e+00 3.69e-02 3.41e+00 -1.0 2.33e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3927400e+00 7.45e-02 4.06e-01 -1.5 1.87e+00 -2.5 1.00e+00 1.00e+00h 1 3 2.2118077e+00 2.35e-02 7.68e-02 -2.1 1.14e+00 -3.0 9.29e-01 1.00e+00h 1 4 2.0999485e+00 1.34e-02 4.93e-02 -2.8 1.04e+00 -3.4 9.92e-01 1.00e+00h 1 5 2.0921881e+00 7.51e-05 3.77e-03 -3.7 1.53e-01 -3.9 9.96e-01 1.00e+00h 1 6 2.0908973e+00 7.15e-05 1.14e-04 -4.0 5.03e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907507e+00 7.14e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903083e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889917e+00 6.98e-05 3.08e-04 -4.0 1.34e+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 2.0851411e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797710e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0803793e+00 4.87e-05 1.67e-01 -4.0 6.45e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775202e+00 5.85e-03 1.94e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.72e-01h 1 14 2.0771817e+00 6.78e-04 5.92e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761892e+00 9.97e-04 2.56e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.64e-01h 1 16 2.0755875e+00 6.21e-04 2.53e-02 -4.0 5.16e+02 -9.2 1.00e+00 7.13e-01h 1 17 2.0758582e+00 8.14e-04 1.19e-02 -4.0 1.44e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754574e+00 1.86e-03 4.88e-04 -4.1 8.06e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.15e-04 7.46e-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 2.0754220e+00 6.68e-04 8.72e-07 -4.1 2.52e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.24e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.68e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+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 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+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 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729679976e-05 8.3650444729679976e-05 Constraint violation....: 1.0240270858532030e-01 1.0240270858532030e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553922e-05 6.8229653538553922e-05 Overall NLP error.......: 1.0240270858532030e-01 1.0240270858532030e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.890 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s jacobian structure: 180 nonzeros (0.094s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.374s sub-objective 2 (QuadraticRegularizer): 0.093s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.591s hessian structure: 375 nonzeros (0.644s) linear index maps built (0.0s) evaluator ready (total: 0.877s) evaluator created (0.877s) NL constraint bounds extracted (0.011s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.215s) optimizer initialization complete (total: 4.23s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1482874e+00 9.21e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0683244e+00 2.04e-01 1.83e+00 -0.8 9.21e-01 0.0 9.95e-01 1.00e+00h 1 2 1.8909329e+00 4.47e-02 5.74e-01 -0.8 4.95e-01 -0.5 7.09e-01 7.81e-01h 1 3 1.5471182e+00 1.93e-02 3.33e+00 -1.4 9.13e+00 - 8.21e-01 7.68e-01F 1 4 1.2128846e+00 3.37e-03 9.03e-01 -2.1 3.57e-01 -1.0 1.00e+00 8.21e-01f 1 5 1.1054618e+00 1.70e-04 3.62e-03 -3.0 6.99e-02 -1.4 1.00e+00 1.00e+00h 1 6 1.0943767e+00 1.05e-07 2.14e-03 -4.0 6.75e-02 -1.9 1.00e+00 1.00e+00h 1 7 1.0938479e+00 1.93e-12 6.54e-04 -4.0 1.59e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0933831e+00 5.09e-16 2.00e-03 -4.0 4.44e-01 -2.9 1.00e+00 1.00e+00f 1 9 1.0925261e+00 6.81e-19 1.22e-02 -4.0 1.09e+00 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0922874e+00 3.41e-19 3.12e-02 -4.0 1.97e+00 -3.8 2.38e-01 5.00e-01f 2 11 1.0919839e+00 1.64e-24 1.88e-03 -4.0 7.32e-02 -1.6 1.00e+00 1.00e+00f 1 12 1.0919392e+00 9.57e-30 3.93e-04 -4.0 4.53e-02 -2.1 1.00e+00 1.00e+00f 1 13 1.0918685e+00 1.50e-30 3.80e-04 -4.0 1.31e-01 -2.5 1.00e+00 1.00e+00f 1 14 1.0916652e+00 1.00e-28 1.37e-03 -4.0 3.57e-01 -3.0 1.00e+00 1.00e+00f 1 15 1.0916007e+00 3.53e-28 2.81e-03 -4.0 8.13e-01 -3.5 2.09e-01 2.50e-01f 3 16 1.0915543e+00 5.37e-31 3.18e-04 -4.0 4.65e-02 -2.2 1.00e+00 1.00e+00f 1 17 1.0911476e+00 2.48e-25 3.81e-02 -4.0 3.14e+00 - 5.40e-01 4.48e-01f 2 18 1.0909090e+00 2.13e-25 3.00e-02 -4.0 1.72e+00 - 1.00e+00 1.00e+00f 1 19 1.0908997e+00 1.15e-26 9.75e-05 -4.0 1.68e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908997e+00 3.28e-27 5.11e-06 -4.0 7.37e-03 - 1.00e+00 1.00e+00f 1 21 1.0907197e+00 5.21e-27 3.20e-09 -4.1 8.11e-05 - 1.00e+00 1.00e+00f 1 22 1.0908997e+00 7.81e-28 2.63e-09 -4.0 2.59e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 1.0908997336802271e+00 1.0908997336802271e+00 Dual infeasibility......: 2.6311519538656236e-09 2.6311519538656236e-09 Constraint violation....: 7.8138839038587347e-28 7.8138839038587347e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000211694449034e-04 1.0000211694449034e-04 Overall NLP error.......: 2.6311519538656236e-09 2.6311519538656236e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 30 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 = 25.875 EXIT: Optimal Solution Found. 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: 2.489s jacobian structure: 1600 nonzeros (2.554s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.937s 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 (3.986s) linear index maps built (0.0s) evaluator ready (total: 6.541s) evaluator created (6.564s) 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: 6.566s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6071584e+00 2.98e+00 6.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1219240e+00 1.14e+00 2.22e+00 -0.8 2.08e+00 0.0 9.99e-01 6.17e-01f 1 2 2.5724382e+00 4.79e-02 1.74e+00 -0.8 1.25e+00 -0.5 7.67e-01 1.00e+00f 1 3 2.5625468e+00 6.23e-02 5.43e-01 -1.1 6.39e-01 -1.0 7.49e-01 1.00e+00H 1 4 2.4075050e+00 2.94e-02 5.82e-01 -1.5 9.98e-01 -1.4 9.74e-01 5.18e-01h 1 5 2.2414493e+00 1.65e-02 2.94e-01 -1.8 7.19e-01 -1.9 9.81e-01 7.86e-01h 1 6 2.1085993e+00 4.61e-03 2.73e-02 -2.6 2.64e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0909820e+00 1.82e-04 8.15e-03 -3.8 4.95e-02 -2.9 9.89e-01 1.00e+00h 1 8 2.0909360e+00 1.60e-06 1.64e-04 -4.0 4.11e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909196e+00 3.87e-08 2.69e-05 -4.0 1.21e-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 2.0908880e+00 4.23e-08 1.19e-04 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908181e+00 2.54e-07 3.27e-04 -4.0 8.67e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906298e+00 2.13e-06 4.93e-04 -4.0 2.58e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904335e+00 2.30e-06 6.54e-03 -4.0 1.54e+01 -5.7 2.42e-01 1.10e-01h 1 14 2.0894002e+00 2.25e-04 4.08e-02 -4.0 2.62e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879728e+00 8.54e-05 2.28e-02 -4.0 3.20e+00 -4.9 1.00e+00 6.82e-01h 1 16 2.0879601e+00 1.54e-05 5.69e-03 -4.0 3.35e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0869277e+00 3.89e-05 6.90e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853584e+00 1.94e-04 9.51e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0831146e+00 4.08e-04 2.72e-02 -4.0 3.97e+01 -6.8 1.00e+00 9.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825699e+00 3.87e-04 1.49e-02 -4.0 5.57e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823423e+00 3.62e-04 1.01e-02 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0823067e+00 7.81e-04 1.41e-02 -4.0 7.97e+03 -8.2 3.85e-03 1.07e-02h 7 23 2.0824042e+00 8.47e-04 4.67e-02 -4.0 4.33e+02 -6.9 8.72e-03 2.43e-02h 4 24 2.0822307e+00 4.77e-04 5.15e-01 -4.1 1.46e+00 -4.7 1.00e+00 5.73e-01h 1 25 2.0822589e+00 4.59e-05 9.16e-04 -4.0 1.09e+00 -5.1 1.00e+00 1.00e+00f 1 26 2.0822392e+00 1.17e-05 5.31e-04 -4.0 1.03e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0822422e+00 2.07e-05 2.23e-04 -4.0 1.48e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0822273e+00 1.11e-05 1.09e-04 -4.0 4.60e+00 -6.6 1.00e+00 1.00e+00h 1 29 2.0821718e+00 4.12e-06 3.26e-04 -4.0 1.28e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820595e+00 3.14e-05 1.98e-03 -4.0 2.89e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0819298e+00 1.11e-04 4.78e-03 -4.0 4.69e+01 -8.0 1.00e+00 1.00e+00h 1 32 2.0818611e+00 1.53e-04 4.11e-03 -4.0 5.91e+01 -8.5 1.00e+00 1.00e+00h 1 33 2.0818453e+00 4.68e-05 9.50e-04 -4.0 3.75e+01 -8.9 1.00e+00 1.00e+00h 1 34 2.0818435e+00 2.33e-06 5.85e-05 -4.0 9.97e+00 -9.4 1.00e+00 1.00e+00h 1 35 2.0818434e+00 1.66e-08 6.19e-07 -4.0 9.96e-01 -9.9 1.00e+00 1.00e+00h 1 36 2.0818434e+00 1.62e-11 1.00e-09 -4.0 3.55e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105573247e+00 2.0818434105573247e+00 Dual infeasibility......: 1.0000000179321861e-09 1.0000000179321861e-09 Constraint violation....: 1.6157741811184678e-11 1.6157741811184678e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999991e-05 9.9999999999999991e-05 Overall NLP error.......: 1.0000000179321861e-09 1.0000000179321861e-09 Number of objective function evaluations = 51 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 51 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 28.455 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.972s jacobian structure: 1680 nonzeros (3.035s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.465s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.515s) linear index maps built (0.0s) evaluator ready (total: 14.551s) evaluator created (14.591s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.002s) 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: 14.594s) 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 1.0969473e+01 3.76e+00 4.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3272552e+00 5.10e-01 4.50e+00 -0.8 2.97e+00 0.0 7.12e-01 8.67e-01f 1 2 4.2211361e+00 3.20e-01 8.82e+00 -0.8 3.08e-01 1.3 8.60e-01 3.72e-01f 1 3 3.6346834e+00 9.63e-02 7.24e+00 -0.9 3.11e-01 0.9 9.93e-01 6.99e-01h 1 4 2.7608194e+00 9.88e-03 5.92e+00 -4.0 3.70e-01 0.4 4.29e-01 1.00e+00h 1 5 2.5162314e+00 4.00e-03 9.33e-01 -1.7 1.06e-01 0.8 9.88e-01 1.00e+00f 1 6 2.3447222e+00 2.07e-03 5.07e-01 -2.7 1.63e-01 0.3 9.98e-01 5.01e-01f 1 7 2.2064481e+00 1.33e-03 3.82e-01 -4.0 1.88e-01 -0.2 1.00e+00 3.63e-01f 1 8 2.1127362e+00 4.78e-04 2.29e-01 -4.0 1.66e-01 -0.6 1.00e+00 6.47e-01f 1 9 2.0909807e+00 2.06e-05 5.87e-03 -4.0 7.51e-02 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909713e+00 1.75e-08 1.30e-04 -4.0 5.00e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0909712e+00 3.37e-11 9.11e-05 -4.0 1.05e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0909706e+00 2.33e-11 4.14e-05 -4.0 1.43e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909680e+00 2.31e-10 2.33e-05 -4.0 2.42e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909601e+00 2.63e-09 2.26e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0909402e+00 1.93e-08 3.89e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908991e+00 9.89e-08 2.29e-04 -4.0 4.87e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0908076e+00 4.44e-07 8.27e-04 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0905534e+00 4.74e-06 8.33e-04 -4.0 3.87e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0901836e+00 6.35e-06 1.36e-02 -4.0 1.15e+01 -5.9 6.78e-01 3.44e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0897942e+00 3.82e-04 7.31e-02 -4.0 3.45e+01 -6.4 1.00e+00 1.00e+00f 1 21 2.0869988e+00 2.58e-04 1.35e-01 -4.0 1.11e+01 -5.0 1.00e+00 4.83e-01h 1 22 2.0868906e+00 7.23e-05 1.34e-02 -4.0 4.28e+00 -5.5 1.00e+00 1.00e+00h 1 23 2.0857759e+00 9.88e-05 7.10e-03 -4.0 1.25e+01 -6.0 1.00e+00 1.00e+00h 1 24 2.0841984e+00 2.23e-04 1.25e-02 -4.0 2.67e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0827766e+00 1.16e-04 1.77e-02 -4.0 3.12e+01 -6.9 1.00e+00 8.35e-01h 1 26 2.0829254e+00 1.00e-03 3.12e-02 -4.0 7.01e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0820206e+00 1.99e-03 9.46e-03 -4.1 1.60e+02 -7.9 9.51e-01 1.00e+00h 1 28 2.0835944e+00 3.00e-05 5.56e-02 -4.0 5.62e+01 -6.6 1.00e+00 1.00e+00H 1 29 2.0836154e+00 7.21e-05 2.92e-01 -3.6 4.46e-01 -4.3 1.00e+00 7.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829727e+00 8.03e-05 4.31e-03 -3.7 7.31e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0825617e+00 1.08e-04 1.60e-03 -4.0 1.20e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0823327e+00 3.40e-05 5.52e-04 -4.0 3.71e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0820549e+00 1.56e-04 4.92e-02 -4.0 1.28e+01 -6.2 6.40e-01 1.00e+00h 1 34 2.0820698e+00 4.25e-04 5.26e-01 -4.0 3.21e+00 -4.9 6.75e-01 1.00e+00h 1 35 2.0819205e+00 9.86e-05 3.73e-01 -4.1 2.43e+00 -5.4 4.12e-01 3.41e-01h 1 36 2.0823679e+00 3.32e-03 2.05e-02 -4.0 6.89e+00 -5.9 1.00e+00 1.00e+00f 1 37 2.0821007e+00 2.11e-03 7.80e-03 -4.1 7.00e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0819485e+00 2.09e-03 1.25e-03 -4.1 1.06e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0818821e+00 8.10e-05 2.00e-03 -4.1 1.87e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819509e+00 5.41e-04 3.06e-03 -4.0 3.38e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0816179e+00 1.31e-03 3.85e-03 -4.1 5.34e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0818462e+00 1.17e-03 1.88e-03 -4.0 4.96e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818411e+00 1.56e-05 2.25e-04 -4.0 1.91e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818407e+00 1.64e-07 4.36e-05 -4.0 3.05e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818407e+00 4.37e-10 4.36e-05 -4.0 1.77e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818407e+00 1.49e-13 4.36e-05 -4.0 3.60e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815814e+00 2.08e-04 3.55e-05 -4.1 9.46e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818419e+00 2.15e-04 4.36e-05 -4.0 9.78e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815819e+00 2.14e-04 3.55e-05 -4.1 9.75e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -12.5 9.77e-01 9.68e-01h 1 51 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816124e+00 4.95e-04 3.62e-05 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.0 9.76e-01 9.61e-01h 1 54 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816420e+00 4.58e-07 3.73e-05 -4.1 8.54e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818414e+00 1.26e-04 4.36e-05 -4.0 7.46e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815817e+00 2.11e-04 3.55e-05 -4.1 9.63e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -17.3 9.77e-01 9.68e-01h 1 61 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816444e+00 5.44e-07 3.74e-05 -4.1 8.94e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -19.7 9.76e-01 9.71e-01h 1 66 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805468e+00 5.07e-08 3.73e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816573e+00 1.18e-06 3.78e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 72 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805469e+00 5.37e-08 3.79e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816639e+00 1.62e-06 3.80e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805470e+00 5.53e-08 3.82e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 8.67e-11 4.34e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816640e+00 1.63e-06 3.80e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 87 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.54e-08 3.82e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.45e-07 8.04e-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 90 2.0805365e+00 8.67e-11 4.34e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 4.34e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 4.34e-10 -9.0 2.17e-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 6.66e-16 4.34e-10 -9.0 2.17e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 4.3436365745823534e-10 4.3436365745823534e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 102 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.843 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.735s jacobian structure: 1594 nonzeros (2.797s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.707s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (6.756s) linear index maps built (0.0s) evaluator ready (total: 9.553s) evaluator created (9.574s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 9.575s) 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 9.9763731e+01 3.82e+00 3.18e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.6053101e+01 2.80e+00 2.30e+01 -0.5 3.12e+00 0.0 1.00e+00 2.67e-01f 1 2 3.5630829e+00 5.66e-01 1.92e+01 0.2 1.90e+00 -0.5 5.21e-01 7.98e-01f 1 3 3.7907740e+00 1.45e-01 6.54e+00 -0.3 1.56e+00 -1.0 9.54e-01 1.00e+00f 1 4 3.2898825e+00 2.32e-01 2.50e+00 -0.5 1.76e+00 -1.4 9.95e-01 8.38e-01h 1 5 2.8273728e+00 8.79e-02 1.46e+00 -4.0 1.18e+00 -1.9 6.87e-01 1.00e+00h 1 6 2.5821539e+00 6.00e-02 1.22e+00 -1.5 1.32e+00 -1.5 1.00e+00 4.31e-01f 1 7 2.1961470e+00 3.91e-02 1.56e-01 -1.9 4.26e-01 -2.0 9.85e-01 1.00e+00h 1 8 2.1085229e+00 2.45e-03 1.60e-02 -2.7 1.69e-01 -2.4 9.22e-01 1.00e+00h 1 9 2.0909966e+00 1.61e-04 7.62e-04 -4.0 4.46e-02 -2.9 1.00e+00 9.99e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909050e+00 2.85e-06 2.50e-04 -4.0 5.05e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908918e+00 2.63e-08 2.50e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908607e+00 6.47e-08 2.50e-04 -4.0 3.81e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907871e+00 3.26e-07 5.54e-04 -4.0 9.80e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905832e+00 3.03e-06 7.57e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900597e+00 4.09e-06 9.84e-03 -4.0 8.43e+00 -5.8 1.00e+00 7.16e-01H 1 16 2.0902501e+00 2.60e-04 6.10e-02 -4.0 2.82e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0873062e+00 1.91e-04 2.28e-01 -4.1 1.29e+01 -4.9 1.00e+00 4.34e-01h 1 18 2.0873314e+00 2.94e-05 1.39e-02 -4.0 3.58e+00 -5.4 1.00e+00 1.00e+00f 1 19 2.0863039e+00 5.99e-05 6.70e-03 -4.0 1.06e+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 2.0847701e+00 1.95e-04 1.01e-02 -4.0 2.44e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827786e+00 2.93e-04 2.63e-02 -4.0 3.59e+01 -6.8 1.00e+00 9.85e-01h 1 22 2.0831808e+00 1.44e-03 4.14e-02 -4.0 5.53e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822182e+00 7.46e-04 7.26e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1711004e+00 3.65e-05 2.62e+00 -4.0 6.58e+02 -8.3 7.17e-02 1.00e+00H 1 25 2.0842749e+00 5.80e-06 3.94e-01 -4.1 7.37e-02 -0.4 1.00e+00 8.41e-01f 1 26 2.0846999e+00 5.71e-06 2.55e+00 -4.0 7.31e-02 -0.9 1.00e+00 1.56e-02f 7 27 2.0847861e+00 4.27e-07 1.04e-03 -3.9 2.46e-02 -1.4 1.00e+00 1.00e+00h 1 28 2.0837606e+00 3.21e-06 9.44e-02 -5.9 7.61e-02 -1.9 7.92e-01 1.00e+00h 1 29 2.0843199e+00 3.32e-06 1.34e-03 -4.0 4.39e-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 30 2.0841144e+00 3.66e-07 2.01e-04 -4.1 1.24e-02 -2.8 1.00e+00 1.00e+00h 1 31 2.0834544e+00 3.06e-06 2.85e-02 -6.1 3.80e-02 -3.3 8.12e-01 1.00e+00h 1 32 2.0843598e+00 6.98e-06 1.56e-03 -4.0 5.64e-02 -3.8 1.00e+00 1.00e+00f 1 33 2.0840854e+00 6.62e-06 2.00e-04 -4.1 1.56e-01 -4.2 1.00e+00 1.00e+00h 1 34 2.0833742e+00 7.59e-05 1.72e-02 -6.1 7.82e-01 -4.7 8.83e-01 1.00e+00h 1 35 2.0841956e+00 1.81e-04 2.45e-03 -4.0 1.36e+00 -5.2 1.00e+00 1.00e+00h 1 36 2.0837124e+00 1.58e-04 6.21e-04 -4.1 3.57e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0825607e+00 8.24e-04 3.75e-03 -6.2 1.02e+01 -6.1 9.87e-01 9.56e-01h 1 38 2.0823973e+00 5.14e-04 4.26e-02 -6.2 2.22e+01 -6.6 1.00e+00 3.98e-01h 1 39 2.0816721e+00 1.84e-04 1.26e-02 -6.2 5.39e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822984e+00 1.01e-02 4.61e-02 -4.0 1.10e+02 -7.6 7.43e-01 1.00e+00f 1 41 2.0817182e+00 3.90e-03 3.60e-02 -4.2 1.45e+02 -8.1 7.35e-01 1.00e+00h 1 42 2.0818243e+00 2.73e-03 1.32e+00 -4.2 1.46e+02 -6.7 1.00e+00 3.01e-01h 1 43 2.0820294e+00 4.57e-04 7.30e-01 -4.2 2.93e+01 -7.2 6.55e-01 1.00e+00f 1 44 2.0816380e+00 4.50e-04 8.57e-01 -4.2 5.98e+00 -4.1 4.75e-02 5.27e-02h 2 45 2.0816283e+00 1.45e-04 5.96e-01 -4.0 1.04e-01 -1.8 1.00e+00 6.77e-01h 1 46 2.0817737e+00 2.95e-06 4.09e-03 -4.0 1.05e-01 -2.3 1.00e+00 1.00e+00h 1 47 2.0817076e+00 1.47e-07 2.50e-04 -4.0 1.91e-02 -2.8 1.00e+00 1.00e+00h 1 48 2.0816702e+00 9.20e-08 2.50e-04 -4.0 1.48e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0816707e+00 2.43e-08 2.50e-04 -4.0 4.34e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816786e+00 8.50e-08 2.50e-04 -4.0 1.23e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0815738e+00 1.76e-06 2.00e-04 -4.1 1.76e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0817310e+00 1.66e-05 2.50e-04 -4.0 7.78e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0816072e+00 1.55e-05 2.01e-04 -4.1 1.64e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0807545e+00 5.69e-04 8.83e-03 -6.1 5.94e+00 -6.1 9.60e-01 1.00e+00h 1 55 2.0806965e+00 1.21e-05 1.99e-03 -5.3 1.84e+00 -5.7 1.00e+00 9.74e-01h 1 56 2.0819236e+00 2.15e-03 3.55e-02 -4.0 2.29e+01 -6.2 1.00e+00 1.00e+00f 1 57 2.0818750e+00 2.88e-05 1.24e-01 -4.0 5.76e+00 -6.7 8.84e-01 1.00e+00h 1 58 2.0818334e+00 1.71e-05 1.21e-03 -4.0 8.74e+00 -7.1 1.00e+00 1.00e+00h 1 59 2.0818215e+00 4.39e-05 9.26e-04 -4.0 1.39e+01 -7.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806882e+00 1.68e-03 1.94e-03 -6.0 2.02e+01 -8.1 9.76e-01 9.08e-01h 1 61 2.0809887e+00 1.53e-03 2.23e-02 -4.0 4.33e+01 -8.6 1.00e+00 2.59e-01f 1 62 2.0814691e+00 8.03e-04 1.88e-03 -4.2 2.00e+01 -9.0 1.00e+00 1.00e+00h 1 63 2.0814224e+00 7.81e-04 8.08e-02 -4.2 5.90e+00 -3.2 2.99e-02 2.75e-02h 1 64 2.0814825e+00 3.15e-06 7.36e-04 -4.2 1.02e-01 -3.7 1.00e+00 1.00e+00f 1 65 2.0816503e+00 3.03e-06 2.89e-04 -4.0 1.23e-01 -4.2 1.00e+00 1.00e+00h 1 66 2.0815187e+00 5.87e-06 2.00e-04 -4.1 3.79e-01 -4.6 1.00e+00 1.00e+00h 1 67 2.0809149e+00 1.47e-04 5.09e-02 -6.1 1.54e+00 -5.1 9.14e-01 1.00e+00h 1 68 2.0807541e+00 4.01e-05 3.70e-02 -6.1 2.69e+00 -5.6 1.00e+00 9.12e-01h 1 69 2.0807428e+00 1.87e-07 2.39e-04 -6.1 1.11e-01 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809474e+00 5.16e-06 2.78e-01 -4.0 1.65e+00 -3.8 1.35e-01 2.21e-01f 1 71 2.0808477e+00 5.39e-06 7.93e-04 -4.9 3.18e-01 -4.3 1.00e+00 1.00e+00f 1 72 2.0808357e+00 1.08e-06 1.83e-04 -4.9 3.15e-01 -4.8 1.00e+00 1.00e+00h 1 73 2.0808100e+00 2.41e-06 8.05e-05 -4.9 8.16e-01 -5.3 1.00e+00 1.00e+00h 1 74 2.0806464e+00 3.05e-05 3.98e-03 -7.3 2.72e+00 -5.7 5.63e-01 7.79e-01h 1 75 2.0813422e+00 9.78e-05 2.68e-01 -4.0 1.68e+01 -6.2 1.00e+00 1.94e-01f 2 76 2.0813720e+00 7.41e-07 2.10e-03 -4.1 3.37e-02 -1.3 1.00e+00 1.00e+00h 1 77 2.0813883e+00 9.38e-08 8.47e-04 -4.1 4.66e-02 -1.7 1.00e+00 1.00e+00h 1 78 2.0813108e+00 5.11e-08 3.68e-04 -4.1 8.02e-02 -2.2 1.00e+00 1.00e+00h 1 79 2.0809302e+00 9.43e-07 3.00e-01 -6.2 7.46e-02 -2.7 6.70e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0807836e+00 3.60e-07 7.41e-03 -6.2 1.62e-02 -3.2 9.44e-01 1.00e+00h 1 81 2.0807773e+00 1.49e-08 1.03e-05 -6.2 4.70e-02 -3.7 1.00e+00 1.00e+00h 1 82 2.0824108e+00 2.49e-05 1.47e-02 -4.0 4.00e-01 -4.1 1.00e+00 1.00e+00f 1 83 2.0815621e+00 1.02e-05 5.58e-01 -4.0 1.03e-01 -1.9 8.47e-01 5.81e-01h 1 84 2.0816377e+00 4.41e-07 5.39e-02 -4.0 8.05e-02 -2.4 9.61e-01 1.00e+00f 1 85 2.0815154e+00 1.28e-06 3.27e+00 -4.0 5.46e+00 -2.9 1.02e-01 3.51e-02h 2 86 2.0815016e+00 2.22e-08 5.50e-04 -4.0 1.88e-02 -1.5 1.00e+00 1.00e+00h 1 87 2.0811651e+00 4.24e-07 4.90e-01 -6.0 5.23e-02 -2.0 6.57e-01 1.00e+00h 1 88 2.0808450e+00 1.61e-06 2.01e-01 -6.0 1.33e-01 -2.5 6.62e-01 7.09e-01h 1 89 2.0807821e+00 1.09e-07 6.93e-05 -6.0 1.25e-02 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0807790e+00 1.64e-08 1.02e-05 -6.0 2.80e-02 -3.4 1.00e+00 1.00e+00h 1 91 2.0807649e+00 1.17e-07 1.10e-04 -9.0 8.50e-02 -3.9 9.90e-01 1.00e+00h 1 92 2.0807536e+00 8.24e-10 1.03e-05 -9.0 2.54e-01 -4.4 1.00e+00 1.00e+00h 1 93 2.0817107e+00 3.67e-05 8.97e-01 -4.0 1.65e+00 -4.9 1.00e+00 4.10e-01f 1 94 2.0816868e+00 2.57e-04 1.57e-01 -3.9 4.18e+00 -5.3 1.00e+00 7.36e-01f 1 95 2.0820038e+00 7.34e-05 2.43e-03 -3.9 2.52e+00 -5.8 1.00e+00 1.00e+00h 1 96 2.0820595e+00 1.43e-03 1.16e-02 -3.9 1.69e+01 -6.3 1.00e+00 1.00e+00h 1 97 2.0825091e+00 2.24e-04 2.02e-01 -3.9 5.28e+00 -6.8 6.57e-01 1.00e+00h 1 98 2.0823062e+00 1.87e-06 6.31e-04 -3.9 6.67e-02 -1.8 1.00e+00 1.00e+00h 1 99 2.0814791e+00 5.08e-06 1.85e-01 -5.8 1.57e-01 -2.3 6.55e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0812296e+00 2.41e-06 1.26e-01 -5.8 3.90e-02 -2.8 9.39e-01 7.41e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0812296379918105e+00 2.0812296379918105e+00 Dual infeasibility......: 1.2635027620618061e-01 1.2635027620618061e-01 Constraint violation....: 2.4052950928638017e-06 2.4052950928638017e-06 Variable bound violation: 6.7307490136947479e-10 6.7307490136947479e-10 Complementarity.........: 9.5454281167658059e-06 9.5454281167658059e-06 Overall NLP error.......: 1.2635027620618061e-01 1.2635027620618061e-01 Number of objective function evaluations = 122 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 122 Number of inequality constraint evaluations = 122 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 37.474 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.072s) 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 (0.055s) 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: 0.129s) 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 3.6353070e+00 2.86e+00 3.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7680558e+00 1.16e-01 1.10e+00 -1.0 2.02e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.4241940e+00 3.58e-02 3.15e-01 -1.4 9.58e-01 -2.5 9.32e-01 1.00e+00h 1 3 2.1527634e+00 3.85e-02 4.53e-02 -2.5 1.13e+00 -3.0 9.87e-01 1.00e+00h 1 4 2.0954466e+00 5.02e-03 1.94e-02 -3.3 5.29e-01 -3.4 9.88e-01 9.78e-01h 1 5 2.0908125e+00 1.01e-04 1.03e-03 -4.0 1.70e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907213e+00 3.45e-06 2.75e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905740e+00 8.57e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0905740412004223e+00 2.0905740412004223e+00 Dual infeasibility......: 2.0543818334878315e-05 2.0543818334878315e-05 Constraint violation....: 8.5729923499089367e-07 8.5729923499089367e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999933313e-05 9.9999999999933313e-05 Overall NLP error.......: 2.0543818334878315e-05 2.0543818334878315e-05 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 27.989 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) 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: 0.0s hessian structure: 1749 nonzeros (0.054s) 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: 0.128s) 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 3.8295485e+00 2.30e+00 4.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6821367e+00 1.05e-01 1.98e+00 -1.1 1.96e+00 0.0 8.86e-01 1.00e+00h 1 2 2.5958730e+00 2.26e-02 1.39e+00 -0.9 2.43e-01 0.4 1.00e+00 7.53e-01h 1 3 2.5210125e+00 2.51e-03 4.10e-01 -1.6 1.01e-01 -0.1 9.97e-01 1.00e+00h 1 4 2.1862454e+00 5.10e-03 8.95e-02 -1.9 1.59e-01 -0.5 9.82e-01 7.87e-01f 1 5 2.1156658e+00 1.06e-03 4.66e-02 -2.7 3.62e-02 -1.0 9.76e-01 8.31e-01h 1 6 2.0909513e+00 6.84e-05 9.94e-03 -4.0 1.33e-02 -1.5 1.00e+00 9.99e-01h 1 7 2.0909175e+00 7.44e-08 3.14e-04 -4.0 5.43e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909163e+00 1.14e-09 3.09e-05 -4.0 8.44e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909146e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909096e+00 9.69e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908947e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908499e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907155e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903134e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891161e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856064e+00 5.52e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796339e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807126e+00 1.66e-04 1.86e-01 -4.0 6.76e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775320e+00 7.72e-03 2.58e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769564e+00 1.37e-03 7.04e-02 -4.0 1.91e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762861e+00 2.15e-03 2.00e-02 -4.0 3.36e+02 -8.6 1.00e+00 7.45e-01h 1 22 2.0755109e+00 1.65e-03 2.75e-02 -4.0 5.87e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758040e+00 3.61e-03 1.52e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753926e+00 1.38e-03 7.83e-04 -4.1 1.01e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.71e-04 7.72e-06 -4.0 2.21e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.95e-07 1.16e-06 -4.0 1.21e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.32e-09 8.71e-08 -4.0 4.39e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.95e-11 1.57e-09 -4.0 6.95e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121577974e+00 2.0756712121577974e+00 Dual infeasibility......: 1.5664905494180807e-09 1.5664905494180807e-09 Constraint violation....: 3.9505065885236945e-11 3.9505065885236945e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.5664905494180807e-09 1.5664905494180807e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 29.554 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.052s 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: 0.123s) evaluator created (0.123s) 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: 0.123s) 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 3.3151093e+00 2.60e+00 5.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2825928e+00 9.42e-01 1.57e+00 -0.8 1.89e+00 0.0 1.00e+00 6.44e-01f 1 2 2.5629088e+00 3.31e-02 2.25e+00 -1.0 7.84e-01 -0.5 9.57e-01 1.00e+00h 1 3 2.3804969e+00 1.92e-02 3.56e-01 -1.5 2.49e-01 -1.0 9.93e-01 7.89e-01h 1 4 2.1615949e+00 7.22e-03 7.59e-02 -2.3 1.71e-01 -1.4 9.86e-01 1.00e+00h 1 5 2.0974904e+00 8.59e-04 1.47e-02 -3.8 6.14e-02 -1.9 1.00e+00 8.73e-01h 1 6 2.0908511e+00 9.60e-06 2.82e-03 -4.0 8.85e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0907970e+00 1.30e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0907927e+00 1.67e-09 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0907794e+00 6.93e-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 2.0907396e+00 6.24e-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...............: 2.0907395843817520e+00 2.0907395843817520e+00 Dual infeasibility......: 2.0564989046845083e-05 2.0564989046845083e-05 Constraint violation....: 6.2404661587550647e-08 6.2404661587550647e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994692e-05 9.9999999999994692e-05 Overall NLP error.......: 2.0564989046845083e-05 2.0564989046845083e-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 = 28.287 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) 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 (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.13s) 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: 0.131s) 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 1.2755048e+00 1.95e+00 7.82e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7043255e+00 5.84e-01 2.33e+00 -0.9 1.77e+00 - 1.00e+00 7.02e-01f 1 2 2.6100344e+00 1.46e-02 1.83e+00 -1.1 6.50e-01 - 8.31e-01 1.00e+00h 1 3 2.3089506e+00 4.72e-03 1.05e-01 -1.8 8.12e-02 - 9.89e-01 1.00e+00h 1 4 2.1206994e+00 1.55e-03 7.32e-02 -2.8 5.52e-02 - 9.94e-01 9.14e-01h 1 5 2.0910482e+00 8.43e-05 1.26e-02 -4.0 1.53e-02 - 1.00e+00 9.80e-01h 1 6 2.0908929e+00 1.30e-07 1.25e-03 -4.0 1.25e-03 - 1.00e+00 1.00e+00h 1 7 2.0908940e+00 4.54e-09 7.06e-05 -4.0 1.67e-02 - 1.00e+00 1.00e+00h 1 8 2.0908936e+00 1.60e-11 4.01e-05 -4.0 9.48e-03 - 1.00e+00 1.00e+00h 1 9 2.0908931e+00 9.06e-12 2.24e-05 -4.0 5.30e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908931e+00 2.12e-14 2.24e-05 -4.0 2.24e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908930758319135e+00 2.0908930758319135e+00 Dual infeasibility......: 2.2391897946339974e-05 2.2391897946339974e-05 Constraint violation....: 2.1169230376896081e-14 2.1169230376896081e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000365991608e-04 1.0000000365991608e-04 Overall NLP error.......: 2.2391897946339974e-05 2.2391897946339974e-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 = 0 Total seconds in IPOPT = 9.368 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 (0.069s) 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 2.1719215e+00 3.70e+00 4.30e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7692140e+00 5.76e-02 4.29e-01 -1.0 2.94e+00 -2.0 8.50e-01 1.00e+00f 1 2 2.2860967e+00 1.16e-01 4.05e-01 -1.7 2.29e+00 -2.5 9.53e-01 1.00e+00h 1 3 2.2592340e+00 1.25e-02 6.13e-02 -1.7 8.24e-01 -3.0 1.00e+00 1.00e+00h 1 4 2.1183057e+00 4.23e-03 3.89e-03 -2.5 2.70e-01 -3.4 1.00e+00 1.00e+00h 1 5 2.0912995e+00 4.21e-04 1.03e-03 -3.8 1.18e-01 -3.9 9.99e-01 1.00e+00h 1 6 2.0907824e+00 3.47e-05 5.64e-04 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906354e+00 7.73e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901945e+00 7.78e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888825e+00 7.14e-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 2.0850469e+00 6.77e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850469459100962e+00 2.0850469459100962e+00 Dual infeasibility......: 2.8005474252207892e-03 2.8005474252207892e-03 Constraint violation....: 6.7663965761055600e-04 6.7663965761055600e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.8005474252207892e-03 2.8005474252207892e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 29.761 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: 0.053s 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: 0.122s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.124s) [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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.124s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (2.029s) optimizer initialization complete (total: 2.153s) 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 4.9487623e+00 3.19e+00 3.45e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9084135e+00 2.21e-02 1.17e+00 -1.0 2.47e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3579792e+00 1.86e-02 6.89e-02 -1.8 3.42e-01 -1.6 9.75e-01 1.00e+00h 1 3 2.1333065e+00 3.62e-03 4.26e-01 -3.0 1.41e-01 -1.1 1.00e+00 1.00e+00h 1 4 2.0943961e+00 8.64e-04 1.53e+00 -3.5 3.10e-01 -1.6 1.00e+00 8.87e-01h 1 5 2.0918311e+00 2.93e-04 7.71e-01 -4.0 5.45e-01 -2.1 1.00e+00 3.97e-01h 1 6 2.0907918e+00 4.60e-04 2.07e-01 -4.0 6.12e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0910267e+00 1.93e-06 5.04e-03 -4.0 2.77e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0910162e+00 6.50e-07 2.06e-05 -4.0 7.06e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909954e+00 1.67e-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 2.0909333e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907503e+00 1.30e-06 4.98e-05 -4.0 1.88e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902287e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888804e+00 8.22e-05 3.17e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861820e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830986e+00 9.16e-04 4.73e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828557e+00 9.30e-04 2.31e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823468e+00 3.92e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.19e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819520e+00 2.70e-04 8.73e-03 -4.0 9.95e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.71e-05 8.53e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.37e-07 1.40e-05 -4.0 4.48e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.89e-10 3.30e-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 4.62e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191120e+00 2.0819382907191120e+00 Dual infeasibility......: 1.2302246515331211e-11 1.2302246515331211e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 1.2302246515331211e-11 1.2302246515331211e-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 = 28.623 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) 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 (0.062s) optimizer initialization complete (total: 0.175s) 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 1.5907914e+00 3.46e+00 1.67e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8461832e+00 3.31e-02 8.43e-01 -1.2 2.26e+00 -2.0 9.98e-01 1.00e+00h 1 2 2.2428205e+00 4.43e-02 1.36e-01 -1.6 6.05e-01 -1.6 9.76e-01 8.36e-01h 1 3 2.1463351e+00 2.26e-03 1.79e+00 -2.5 1.64e-01 -1.1 9.68e-01 1.00e+00h 1 4 2.1188175e+00 5.33e-03 1.51e+00 -2.6 6.86e-01 -1.6 9.06e-01 6.66e-01h 1 5 2.0966680e+00 1.29e-03 1.40e-01 -4.0 7.98e-01 -2.1 8.43e-01 7.81e-01h 1 6 2.0932092e+00 8.63e-04 1.87e+00 -3.6 4.41e-01 -1.7 1.00e+00 3.22e-01h 1 7 2.0912096e+00 7.05e-05 2.69e-01 -4.0 4.63e-01 -2.2 1.00e+00 1.00e+00h 1 8 2.0908504e+00 2.21e-06 1.78e-02 -4.0 3.58e-02 -2.6 1.00e+00 1.00e+00h 1 9 2.0909012e+00 7.61e-07 3.40e-05 -4.0 3.19e-02 -3.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908897e+00 1.49e-08 2.41e-05 -4.0 9.26e-02 -3.6 1.00e+00 1.00e+00h 1 11 2.0908619e+00 2.73e-08 6.01e-05 -4.0 2.50e-01 -4.1 1.00e+00 1.00e+00h 1 12 2.0908097e+00 1.10e-07 3.55e-04 -4.0 6.02e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0906988e+00 6.89e-07 1.19e-03 -4.0 1.47e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0903908e+00 7.80e-06 8.15e-04 -4.0 4.83e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0903252e+00 7.64e-06 6.50e-03 -4.0 8.37e+01 -6.0 4.22e-02 1.05e-02h 2 16 2.0886327e+00 1.86e-04 4.57e-02 -4.0 3.40e+01 -6.4 1.00e+00 6.61e-01h 1 17 2.0858108e+00 1.77e-03 1.29e-01 -4.0 7.39e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0832805e+00 9.96e-04 1.99e-01 -4.0 1.54e+01 -5.6 1.00e+00 4.87e-01h 1 19 2.0831240e+00 1.30e-04 1.05e-02 -4.0 4.57e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828812e+00 7.45e-05 1.41e-03 -4.0 1.13e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0827362e+00 1.91e-05 1.06e-03 -4.0 3.14e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0824532e+00 2.09e-04 3.64e-03 -4.0 8.06e+01 -7.5 1.00e+00 1.00e+00h 1 23 2.0822614e+00 1.49e-03 2.05e-02 -4.0 2.15e+02 -8.0 4.07e-01 1.00e+00h 1 24 2.0821485e+00 6.91e-05 7.11e-04 -4.0 2.41e+00 -5.7 1.00e+00 1.00e+00h 1 25 2.0820563e+00 3.59e-05 3.87e-04 -4.0 6.85e+00 -6.2 1.00e+00 1.00e+00h 1 26 2.0819541e+00 3.35e-04 4.80e-02 -4.0 2.98e+01 -6.7 5.67e-01 1.00e+00h 1 27 2.0828780e+00 5.68e-05 9.38e-01 -4.0 9.99e+00 -5.4 5.47e-01 1.00e+00H 1 28 2.0820660e+00 1.59e-05 3.55e-01 -4.1 1.38e-01 -1.3 1.00e+00 7.20e-01h 1 29 2.0824841e+00 4.32e-06 6.89e-03 -4.0 2.11e-01 -1.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822555e+00 9.44e-07 1.40e-03 -4.0 1.56e-02 -2.3 1.00e+00 1.00e+00h 1 31 2.0821802e+00 2.07e-06 1.49e-04 -4.0 7.01e-02 -2.8 1.00e+00 1.00e+00h 1 32 2.0822028e+00 4.94e-08 2.98e-05 -4.0 2.07e-02 -3.2 1.00e+00 1.00e+00h 1 33 2.0822016e+00 1.12e-07 1.14e-05 -4.0 6.03e-02 -3.7 1.00e+00 1.00e+00h 1 34 2.0821915e+00 2.81e-07 1.41e-05 -4.0 1.89e-01 -4.2 1.00e+00 1.00e+00h 1 35 2.0821515e+00 3.27e-06 2.56e-04 -4.0 6.50e-01 -4.7 1.00e+00 1.00e+00h 1 36 2.0820852e+00 9.26e-06 3.63e-03 -4.0 1.64e+00 -5.2 1.00e+00 1.00e+00h 1 37 2.0818366e+00 2.40e-05 1.27e-03 -4.1 9.58e-01 -5.6 1.00e+00 1.00e+00h 1 38 2.0820087e+00 2.45e-05 2.75e-04 -4.0 8.42e-01 -6.1 1.00e+00 1.00e+00h 1 39 2.0820013e+00 7.65e-06 1.71e-05 -4.0 2.47e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819812e+00 1.66e-06 7.80e-05 -4.0 7.02e+00 -7.1 1.00e+00 1.00e+00h 1 41 2.0819371e+00 1.31e-05 5.42e-04 -4.0 1.78e+01 -7.5 1.00e+00 1.00e+00h 1 42 2.0818819e+00 4.96e-05 1.68e-03 -4.0 3.57e+01 -8.0 1.00e+00 1.00e+00h 1 43 2.0818482e+00 6.57e-05 1.75e-03 -4.0 4.52e+01 -8.5 1.00e+00 1.00e+00h 1 44 2.0818394e+00 2.09e-05 4.52e-04 -4.0 2.82e+01 -9.0 1.00e+00 1.00e+00h 1 45 2.0818384e+00 1.08e-06 3.18e-05 -4.0 7.28e+00 -9.4 1.00e+00 1.00e+00h 1 46 2.0818383e+00 7.54e-09 3.09e-07 -4.0 7.00e-01 -9.9 1.00e+00 1.00e+00h 1 47 2.0818383e+00 6.97e-12 3.72e-10 -4.0 2.39e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 2.0818383021930069e+00 2.0818383021930069e+00 Dual infeasibility......: 3.7188021818857983e-10 3.7188021818857983e-10 Constraint violation....: 6.9748651299050834e-12 6.9748651299050834e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 3.7188021818857983e-10 3.7188021818857983e-10 Number of objective function evaluations = 51 Number of objective gradient evaluations = 48 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 48 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 47 Total seconds in IPOPT = 28.642 EXIT: Optimal Solution Found. initializing optimizer... ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 690 running 1 of 1 signal (10): User defined signal 1 egal_types at /source/src/builtins.c:174:17 egal_types at /source/src/builtins.c:185:18 ijl_types_equal at /source/src/subtype.c:2406:41 jl_specializations_get_linfo_ at /source/src/gf.c:236:17 building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 #specialize_method#6 at ./runtime_internals.jl:1792:40 [inlined] specialize_method at ./runtime_internals.jl:1779:4 [inlined] typeinf_edge at ./../usr/share/julia/Compiler/src/typeinfer.jl:1147:14 integrator 1 jacobian structure: 0.145s jacobian structure: 180 nonzeros (0.228s) abstract_call_method at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:769:296 integrator 1 hessian structure: 0.121s computing objective hessian structure (CompositeObjective)... infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:178:51 abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:340:173 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2941:1211 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3049:51 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3042:4 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3202:21 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3220:28 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3584:11 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3991:142 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3948:4 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4532:703 jfptr_typeinf_local_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4810:151 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1537:141 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1720:2 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1729:19 jfptr_typeinf_ext_toplevel_2.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_type_infer at /source/src/gf.c:467:35 jl_compile_method_internal at /source/src/gf.c:3640:24 _jl_invoke at /source/src/gf.c:4105:16 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 _ at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:97:42 Evaluator at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:93:24 unknown function (ip: 0x7009d1a0c4d6) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 #get_optimizer_and_variables#3 at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:68:29 get_optimizer_and_variables at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:55:25 [inlined] #_solve#2 at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:39:187 _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:11:31 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/solve.jl:202:9 unknown function (ip: 0x7009d1a0ac01) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/solve.jl:195:41 unknown function (ip: 0x700991f69e96) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x7009ec5d1536) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x7009ec5d10de) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x7009ec517f42) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 sub-objective 1 (KnotPointObjective): 0.79s exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x700a029ba249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== sub-objective 2 (QuadraticRegularizer): 0.146s sub-objective 3 (MinimumTimeObjective): 0.017s ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 objective hessian structure: 9.209sOverhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007009e81fc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:593 _start() ╎ 1 @Base/client.jl:318 exec_options(opts::Base.JLOptions) ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:328 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:327 include(mapexpr::Function, mod::Module, _path::Strin… ╎ 1 @Base/loading.jl:3173 _include(mapexpr::Function, mod::Module, _path:… ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof(identity), mod:… ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…er.jl:134 run_tests(path::String) ╎ ╎ 1 @TestItemRunner/…r.jl:250 run_tests(path::String; filter::Nothing… ╎ ╎ 1 @Test/src/Test.jl:2415 iterate(A::Vector{Any}, state::Int64) ╎ ╎ ╎ 1 @TestItemRunner/….jl:253 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:275 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:277 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:117 run_testitem(filepath::String, use_… ╎ ╎ ╎ ╎ 1 @Base/file.jl:112 cd(f::TestItemRunner.var"#run_testitem#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:118 (::TestItemRunner.var"#run_testit… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:7 withpath(f::TestItemRunner.var"#ru… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:119 haskey(d::IdDict{Any, Any}, k::S… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3123 include_string(m::Module, txt::… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3113 include_string(mapexpr::typeof… ╎ ╎ ╎ ╎ ╎ 1 @Base/boot.jl:517 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:195 kwcall(::@NamedTuple{max_iter… ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:202 solve!(prob::DirectTrajOptPr… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:11 _solve ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:39 _solve(prob::DirectTrajOptP… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:55 get_optimizer_and_variables ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:68 get_optimizer_and_variabl… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:93 kwcall(::@NamedTuple{eva… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:181 Evaluator(prob::Direct… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:126 kwcall(::@NamedTuple{… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:135 hessian_structure(ob… hessian structure: 375 nonzeros (9.35s) linear index maps built (0.0s) evaluator ready (total: 9.864s) evaluator created (9.865s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.137s) ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 applying constraint: symmetry constraint on u wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== applying constraint: initial value of x applying constraint: bounds on Δt ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007f12eca56c20 Total snapshots: 372. Utilization: 0% ╎372 @Base/task.jl:1168 wait_forever() 371╎ 372 @Base/task.jl:1246 wait() linear constraints added: 3 (5.826s) optimizer initialization complete (total: 15.841s) 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 [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457:34 wait at ./task.jl:1246:50 wait_forever at ./task.jl:1168:5 jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] start_task at /source/src/task.c:1275:19 unknown function (ip: (nil)) at (unknown file) Allocations: 23443387 (Pool: 23442457; Big: 930); GC: 23 [690] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/constraints/linear/symmetry_constraint.jl:166 _ZN12_GLOBAL__N_111DAGCombiner16visitTokenFactorEPN4llvm6SDNodeE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN12_GLOBAL__N_111DAGCombiner7combineEPN4llvm6SDNodeE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm12SelectionDAG7CombineENS_12CombineLevelEPNS_14BatchAAResultsENS_15CodeGenOptLevelE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm16SelectionDAGISel17CodeGenAndEmitDAGEv at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm16SelectionDAGISel20SelectAllBasicBlocksERKNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm16SelectionDAGISel20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm22SelectionDAGISelLegacy20runOnMachineFunctionERNS_15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm19MachineFunctionPass13runOnFunctionERNS_8FunctionE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm13FPPassManager13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm13FPPassManager11runOnModuleERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm6legacy15PassManagerImpl3runERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) operator() at /source/src/jitlayers.cpp:1392:23 compileModule at /source/src/jitlayers.cpp:2348:79 materialize at /source/src/jitlayers.cpp:884:36 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) process_tasks at /source/src/julia-task-dispatcher.h:396:15 dispatch at /source/src/julia-task-dispatcher.h:356:20 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.20.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2046:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:496:39 jl_compile_method_internal at /source/src/gf.c:3652:27 _jl_invoke at /source/src/gf.c:4105:16 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/z3jRk/src/jacobian.jl:58:3 unknown function (ip: 0x70096d37b615) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/integrators/bilinear_integrator.jl:114:56 unknown function (ip: 0x70096d37b2c2) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:487:29 unknown function (ip: 0x70096d37ac95) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/evaluator.jl:359:5 unknown function (ip: 0x7009d1a8bc75) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1190:49 _eval_jac_g_cb at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1279:41 [inlined] #_setup_inner##7 at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1324:3 unknown function (ip: 0x7009d1a897d2) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 _Eval_Jac_G_CB at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/src/C_wrapper.jl:0:31 unknown function (ip: 0x7009d1a6718b) at (unknown file) _ZN5Ipopt11TNLPAdapter19internal_eval_jac_gEb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt11TNLPAdapter10Eval_jac_cERKNS_6VectorERNS_6MatrixE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt15GradientScaling30DetermineScalingParametersImplENS_8SmartPtrIKNS_11VectorSpaceEEES4_S4_NS1_IKNS_11MatrixSpaceEEES7_NS1_IKNS_14SymMatrixSpaceEEERKNS_6MatrixERKNS_6VectorESD_SG_RdRNS1_ISE_EESJ_SJ_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt19StandardScalingBase16DetermineScalingENS_8SmartPtrIKNS_11VectorSpaceEEES4_S4_NS1_IKNS_11MatrixSpaceEEES7_NS1_IKNS_14SymMatrixSpaceEEERS7_SB_RSA_RKNS_6MatrixERKNS_6VectorESF_SI_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt12OrigIpoptNLP20InitializeStructuresERNS_8SmartPtrINS_6VectorEEEbS4_bS4_bS4_bS4_bS4_S4_ at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt9IpoptData24InitializeDataStructuresERNS_8IpoptNLPEbbbbb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt25DefaultIterateInitializer18SetInitialIteratesEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt14IpoptAlgorithm18InitializeIteratesEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt14IpoptAlgorithm8OptimizeEb at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication13call_optimizeEv at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication11OptimizeNLPERKNS_8SmartPtrINS_3NLPEEERNS1_INS_16AlgorithmBuilderEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication11OptimizeNLPERKNS_8SmartPtrINS_3NLPEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) _ZN5Ipopt16IpoptApplication12OptimizeTNLPERKNS_8SmartPtrINS_4TNLPEEE at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) IpoptSolve at /home/pkgeval/.julia/artifacts/70465b8ab4c5555d0a58aeb9b5069e4a814f3df0/lib/libipopt.so (unknown line) #IpoptSolve##0 at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/src/C_wrapper.jl:408:80 [inlined] disable_sigint at ./c.jl:167:3 IpoptSolve at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/src/C_wrapper.jl:407:14 [inlined] optimize! at /home/pkgeval/.julia/packages/Ipopt/2KIJQ/ext/IpoptMathOptInterfaceExt/MOI_wrapper.jl:1487:434 unknown function (ip: 0x7009d1a50a02) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 #_solve#2 at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:42:197 _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/ipopt_solver/solver.jl:11:31 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/solve.jl:202:9 unknown function (ip: 0x7009d1a0ac01) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/87quR/src/solvers/solve.jl:195:41 unknown function (ip: 0x700991f69e96) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:910:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:7 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:16 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:16 [inlined] cd at ./file.jl:112:19 unknown function (ip: 0x7009ec5d1536) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:127 unknown function (ip: 0x7009ec5d10de) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:2 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:5 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:21 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:24 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:26 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:29 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:687 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x7009ec517f42) at (unknown file) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 include_string at ./loading.jl:3113:145 _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 _include at ./loading.jl:3173:45 include at ./Base.jl:327:3 IncludeInto at ./Base.jl:328:4 jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:693:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:884:21 ijl_eval_thunk at /source/src/toplevel.c:768:18 jl_toplevel_eval_flex at /source/src/toplevel.c:712:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:602:15 jl_toplevel_eval_flex at /source/src/toplevel.c:684:27 ijl_toplevel_eval at /source/src/toplevel.c:782:12 ijl_toplevel_eval_in at /source/src/toplevel.c:827:13 eval at ./boot.jl:517:3 exec_options at ./client.jl:318:410 _start at ./client.jl:593:36 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4113:23 [inlined] ijl_apply_generic at /source/src/gf.c:4339:12 jl_apply at /source/src/julia.h:2327:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x700a029ba249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1752724963 (Pool: 1752679338; Big: 45625); GC: 686 PkgEval terminated after 2722.79s: test duration exceeded the time limit