Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2130 (8560e32f58*) started at 2026-05-08T00:58:45.188 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.05s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.3 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 v7.2.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.17 [c823fa1f] + DirectTrajOpt v0.9.3 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [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 v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [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 v1.5.2 [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 v1.18.0 [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 v2.8.1 [2efcf032] + SymbolicIndexingInterface v0.3.47 [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 v1.9.3+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2026.3.19 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.18s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... 31.0 s ✓ DirectTrajOpt 33.0 s ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 73 seconds. 216 already precompiled. Precompilation completed after 92.51s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_gAFfeV/Project.toml` [c823fa1f] DirectTrajOpt v0.9.3 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [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_gAFfeV/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 v7.2.1 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.17 [c823fa1f] DirectTrajOpt v0.9.3 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [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 v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [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 v1.5.2 [40e66cde] LDLFactorizations v0.10.2 [b964fa9f] LaTeXStrings v1.4.0 [5078a376] LazyArrays v2.9.7 [5c8ed15e] LinearOperators v2.13.0 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [2621e9c9] MadNLP v0.9.1 [b8f27783] MathOptInterface v1.51.0 [bb5d69b7] MaybeInplace v0.1.4 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.7.1 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.3 ⌅ [538bc3a1] NamedTrajectories v0.8.4 [be0214bd] NonlinearSolveBase v2.25.0 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore 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 v1.18.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.7.2 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.1 [2efcf032] SymbolicIndexingInterface v0.3.47 [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 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.5.1+0 [deac9b47] LibCURL_jll v8.19.0+0 [e37daf67] LibGit2_jll v1.9.3+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2026.3.19 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... ┌ 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/bnQ8f/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.898s integrator 2 jacobian structure: 0.055s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (1.993s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.227s sub-objective 2 (QuadraticRegularizer): 1.818s sub-objective 3 (LinearRegularizer): 0.08s sub-objective 4 (MinimumTimeObjective): 0.018s objective hessian structure: 4.237s hessian structure: 2431 nonzeros (4.335s) linear index maps built (0.0s) evaluator ready (total: 6.782s) evaluator created (11.17s) NL constraint bounds extracted (0.095s) NLP block data built (0.0s) Ipopt optimizer configured (0.392s) variables set (0.966s) 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 (3.801s) optimizer initialization complete (total: 16.518s) ****************************************************************************** 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...: 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 2.7281103e+00 2.13e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6442842e+00 2.02e+00 1.08e+00 -1.1 2.24e+01 -4.0 4.09e-01 2.00e-01f 1 2 3.2039613e+00 1.25e+00 1.84e+01 -1.0 1.32e+01 -2.7 2.27e-01 9.75e-01f 1 3 3.0051837e+00 9.56e-01 1.04e+01 -0.9 1.42e+00 -0.4 6.54e-01 4.53e-01f 1 4 3.0216882e+00 2.51e-01 5.78e+00 -0.8 1.75e+00 -0.9 4.90e-01 1.00e+00f 1 5 2.7024031e+00 2.92e-01 4.14e+00 -0.8 3.11e+00 -0.5 1.00e+00 2.38e-01f 1 6 2.6940246e+00 2.22e-02 2.84e-01 -1.1 4.83e-01 -1.0 9.09e-01 1.00e+00f 1 7 2.3831262e+00 1.85e-02 1.17e-01 -1.8 5.01e-01 -1.4 8.90e-01 1.00e+00f 1 8 2.1770837e+00 2.06e-02 2.67e-01 -2.5 1.06e+00 -1.9 9.58e-01 5.25e-01h 1 9 2.0309527e+00 1.62e-02 9.32e-02 -2.9 6.67e-01 -2.4 9.91e-01 6.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0076038e+00 4.12e-03 9.91e-02 -3.6 1.45e-01 -2.9 1.00e+00 7.45e-01h 1 11 2.0010595e+00 4.41e-05 2.39e-03 -4.0 1.26e-01 -3.4 1.00e+00 1.00e+00h 1 12 2.0010146e+00 1.32e-07 4.86e-03 -4.0 3.39e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0010363e+00 2.55e-11 1.30e-02 -4.0 6.54e-01 -4.3 1.00e+00 1.00e+00f 1 14 2.0010507e+00 2.36e-11 2.51e-02 -4.0 1.26e+00 -4.8 1.00e+00 1.00e+00f 1 15 2.0007152e+00 1.63e-08 3.23e-02 -4.1 1.62e+00 -5.3 1.00e+00 1.00e+00f 1 16 2.0012053e+00 1.21e-08 1.01e-01 -4.0 5.06e+00 -5.7 1.00e+00 1.00e+00f 1 17 2.0008014e+00 1.10e-08 7.95e-02 -4.1 4.86e+00 -6.2 1.00e+00 8.21e-01f 1 18 2.0010474e+00 9.39e-10 2.48e-01 -4.1 1.24e+01 -6.7 1.00e+00 1.00e+00f 1 19 2.0008513e+00 2.10e-09 3.01e-01 -4.1 1.65e+01 -7.2 1.00e+00 9.15e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0011688e+00 1.59e-09 6.47e-01 -4.1 3.24e+01 -7.6 1.00e+00 1.00e+00f 1 21 2.0009109e+00 2.88e-09 8.64e-01 -4.1 4.81e+01 -8.1 1.00e+00 9.01e-01f 1 22 2.0012226e+00 1.32e-09 1.72e+00 -4.1 8.62e+01 -8.6 1.00e+00 1.00e+00f 1 23 2.0009155e+00 1.44e-09 2.59e+00 -4.1 1.40e+02 -9.1 1.00e+00 9.24e-01f 1 24 2.0012596e+00 4.06e-10 4.73e+00 -4.1 2.36e+02 -9.6 1.00e+00 1.00e+00f 1 25 2.0009003e+00 6.89e-10 7.73e+00 -4.1 4.17e+02 -10.0 1.00e+00 9.27e-01f 1 26 2.0012837e+00 2.92e-10 1.34e+01 -4.1 6.69e+02 -10.5 1.00e+00 1.00e+00f 1 27 2.0008618e+00 5.97e-10 2.36e+01 -4.1 1.26e+03 -11.0 1.00e+00 9.38e-01f 1 28 2.0013159e+00 1.44e-10 3.81e+01 -4.1 1.90e+03 -11.5 1.00e+00 1.00e+00f 1 29 2.0008015e+00 4.43e-10 6.59e+01 -4.1 3.48e+03 -11.9 1.00e+00 9.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0013297e+00 4.54e-11 1.03e+02 -4.1 5.17e+03 -12.4 1.00e+00 1.00e+00f 1 31 2.0007079e+00 2.84e-10 1.63e+02 -4.1 8.42e+03 -12.9 1.00e+00 9.71e-01f 1 32 2.0012751e+00 4.24e-12 2.39e+02 -4.1 1.19e+04 -13.4 1.00e+00 1.00e+00f 1 33 2.0006240e+00 1.15e-10 2.88e+02 -4.1 1.44e+04 -13.8 1.00e+00 1.00e+00f 1 34 2.0015428e+00 1.71e-12 4.85e+02 -4.0 2.42e+04 -14.3 1.00e+00 1.00e+00f 1 35 2.0008423e+00 2.31e-11 7.04e+01 -4.1 7.04e+03 -14.8 1.00e+00 5.00e-01f 2 36 2.0007050e+00 5.12e-12 1.95e+02 -4.1 9.75e+03 -15.3 1.00e+00 1.00e+00f 1 37 2.0006390e+00 1.27e-13 1.44e+02 -4.1 7.20e+03 -15.8 1.00e+00 1.00e+00f 1 38 2.0006098e+00 4.12e-14 7.07e+01 -4.1 3.53e+03 -16.2 1.00e+00 1.00e+00h 1 39 2.0008842e+00 1.30e-12 1.06e+02 -4.0 5.30e+03 -16.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0005708e+00 5.62e-13 1.24e+02 -4.1 6.22e+03 -17.2 1.00e+00 1.00e+00f 1 41 2.0008765e+00 1.14e-11 1.33e+02 -4.0 6.65e+03 -17.7 1.00e+00 1.00e+00f 1 42 2.0005608e+00 4.39e-12 1.28e+02 -4.1 6.42e+03 -18.1 1.00e+00 1.00e+00f 1 43 2.0008758e+00 1.03e-10 1.33e+02 -4.0 6.63e+03 -18.6 1.00e+00 1.00e+00f 1 44 2.0005594e+00 3.97e-11 1.31e+02 -4.1 6.55e+03 -19.1 1.00e+00 1.00e+00f 1 45 2.0006554e+00 1.55e-10 6.79e+01 -4.1 3.39e+03 -19.6 1.00e+00 1.00e+00h 1 46 2.0006195e+00 1.43e-10 2.32e+01 -4.1 1.16e+03 -20.0 1.00e+00 1.00e+00h 1 47 2.0006347e+00 6.38e-11 1.02e+01 -4.1 5.08e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0006286e+00 2.48e-11 4.13e+00 -4.1 2.06e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0006311e+00 1.05e-11 1.66e+00 -4.1 8.29e+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 50 2.0006301e+00 4.15e-12 6.94e-01 -4.1 3.47e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006305e+00 1.75e-12 2.75e-01 -4.1 1.38e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006304e+00 6.92e-13 1.16e-01 -4.1 5.79e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006304e+00 2.90e-13 4.59e-02 -4.1 2.29e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006304e+00 1.15e-13 1.93e-02 -4.1 9.65e-01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006304e+00 4.83e-14 7.64e-03 -4.1 3.82e-01 -20.0 1.00e+00 1.00e+00h 1 56 2.0006304e+00 1.92e-14 3.22e-03 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006304e+00 8.05e-15 1.27e-03 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 58 2.0006304e+00 3.19e-15 5.36e-04 -4.1 9.51e-02 -20.0 1.00e+00 1.00e+00h 1 59 1.9998548e+00 1.22e-08 2.25e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006835e+00 3.09e-09 2.09e+03 -4.0 2.09e+05 -20.0 1.00e+00 5.00e-01f 2 61 2.0004219e+00 9.68e-11 2.30e+03 -3.9 1.15e+05 -20.0 1.00e+00 1.00e+00f 1 62 2.0009584e+00 3.48e-09 5.53e+02 -3.9 2.77e+04 -20.0 1.00e+00 1.00e+00f 1 63 2.0010394e+00 3.03e-09 1.06e+02 -3.9 5.31e+03 -20.0 1.00e+00 1.00e+00h 1 64 2.0010519e+00 7.46e-10 2.71e+01 -3.9 1.36e+03 -20.0 1.00e+00 1.00e+00h 1 65 2.0010688e+00 5.73e-10 6.12e+00 -3.9 3.06e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0010705e+00 1.33e-10 4.72e+00 -3.9 2.36e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0010733e+00 9.76e-11 1.07e+00 -3.9 5.34e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0010736e+00 2.24e-11 7.84e-01 -3.9 3.92e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010740e+00 1.63e-11 1.79e-01 -3.9 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010741e+00 3.74e-12 1.31e-01 -3.9 6.53e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010742e+00 2.72e-12 2.99e-02 -3.9 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010742e+00 6.22e-13 2.18e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010742e+00 4.52e-13 4.99e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010742e+00 1.04e-13 3.63e-03 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010742e+00 7.53e-14 8.31e-04 -3.9 4.93e-01 -20.0 1.00e+00 1.00e+00h 1 76 1.9998649e+00 8.64e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 77 1.9998453e+00 3.09e-13 2.18e+02 -5.9 1.18e+04 -20.0 9.30e-01 1.00e+00h 1 78 1.8266031e+00 2.01e-13 1.95e+06 -5.9 9.73e+07 -20.0 1.80e-03 1.00e+00f 1 79 1.8118317e+00 5.20e-13 2.06e+03 -5.5 1.36e+08 -20.0 1.00e+00 7.58e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9416950e+00 5.20e-13 1.31e+06 -4.0 9.41e+10 -20.0 1.00e+00 6.95e-04f 1 81 1.9999589e+00 5.17e-13 6.47e+05 -3.2 6.41e+09 -20.0 1.00e+00 5.05e-03f 1 82 1.9999072e+00 1.84e-11 1.64e+03 -3.2 8.18e+04 -20.0 1.00e+00 1.00e+00f 1 83 2.0294048e+00 5.44e-06 5.13e+01 -3.2 2.56e+03 -20.0 1.00e+00 1.00e+00f 1 84 2.0104314e+00 1.30e-03 8.55e+02 -3.2 8.55e+04 -20.0 1.00e+00 5.00e-01f 2 85 2.0086603e+00 2.52e-04 1.43e+02 -3.2 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0061775e+00 1.33e-05 1.42e+02 -3.2 7.09e+03 -20.0 1.00e+00 1.00e+00h 1 87 2.0064852e+00 2.70e-06 1.61e+02 -3.2 8.03e+03 -20.0 1.00e+00 1.00e+00h 1 88 2.0059409e+00 4.09e-06 3.23e+01 -3.2 1.62e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0059981e+00 2.86e-07 3.31e+01 -3.2 1.66e+03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0058950e+00 6.55e-07 3.50e+00 -3.2 1.75e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0059046e+00 4.46e-08 5.72e+00 -3.2 2.86e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0058870e+00 1.08e-07 5.84e-01 -3.2 8.67e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0058886e+00 7.34e-09 9.58e-01 -3.2 8.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0058857e+00 1.79e-08 9.73e-02 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0058859e+00 1.22e-09 1.60e-01 -3.2 8.65e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0058855e+00 2.97e-09 1.62e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0058855e+00 2.03e-10 2.66e-02 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0058854e+00 4.94e-10 2.70e-03 -3.2 8.64e+01 -20.0 1.00e+00 1.00e+00h 1 99 1.9999842e+00 6.11e-05 2.65e+02 -4.8 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0000042e+00 4.87e-10 7.05e+01 -4.8 3.52e+03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0000041918828968e+00 2.0000041918828968e+00 Dual infeasibility......: 7.0478856231117334e+01 7.0478856231117334e+01 Constraint violation....: 4.8735735714601687e-10 4.8735735714601687e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4521242200319296e-05 1.4521242200319296e-05 Overall NLP error.......: 7.0478856231117334e+01 7.0478856231117334e+01 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 68.692 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.113s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.499s hessian structure: 1749 nonzeros (0.595s) linear index maps built (0.0s) evaluator ready (total: 0.708s) evaluator created (0.709s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (3.154s) optimizer initialization complete (total: 3.984s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5072305e+00 3.67e+00 2.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4481169e+00 2.67e+00 4.86e+00 -0.4 1.38e+01 -2.0 1.57e-01 2.70e-01f 1 2 2.1190643e+00 2.25e+00 4.79e+00 -0.1 3.13e+01 -1.6 1.00e-01 2.41e-01f 1 3 2.2503553e+00 4.58e+00 2.38e+01 -0.2 4.03e+01 -2.1 1.65e-01 3.43e-01h 1 4 1.9380973e+00 3.40e+00 1.79e+01 -0.3 1.48e+01 -2.5 8.35e-01 2.72e-01f 1 5 1.8694845e+00 2.59e+00 1.48e+01 -4.0 7.12e+00 -1.2 3.73e-01 2.58e-01h 1 6 1.9029909e+00 1.37e+00 7.64e+00 -1.4 3.81e+00 -0.8 2.36e-01 4.89e-01h 1 7 1.9228317e+00 1.03e+00 1.09e+01 -0.8 4.74e+00 -0.3 8.43e-01 2.53e-01h 1 8 1.9051345e+00 4.70e-01 7.59e+00 -1.0 2.86e+00 0.1 9.96e-01 5.42e-01h 1 9 1.9748221e+00 3.96e-01 4.93e+00 -0.1 1.39e+01 -0.4 4.73e-01 1.56e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9594033e+00 1.63e-01 6.58e+00 -1.1 8.24e-01 -0.9 9.04e-01 5.97e-01h 1 11 1.8608749e+00 7.28e-02 2.73e+00 -2.0 4.18e-01 -0.4 7.62e-01 5.78e-01h 1 12 1.7888247e+00 5.73e-02 1.74e+00 -1.9 6.87e-01 -0.9 9.97e-01 2.15e-01h 1 13 1.6495190e+00 3.31e-02 8.71e-01 -1.5 6.83e-01 -1.4 1.00e+00 4.33e-01f 1 14 1.4545622e+00 2.97e-03 1.36e-01 -1.9 4.18e-01 -1.9 9.94e-01 1.00e+00h 1 15 1.3362811e+00 3.99e-03 4.20e-02 -2.5 4.77e-01 -2.4 9.98e-01 1.00e+00h 1 16 1.2834948e+00 5.87e-03 2.79e-02 -3.2 1.27e+00 -2.8 9.38e-01 1.00e+00h 1 17 1.2652064e+00 3.68e-03 2.85e-03 -3.8 9.05e-02 -1.5 9.96e-01 1.00e+00h 1 18 1.2625859e+00 1.79e-04 8.94e-04 -4.0 8.63e-02 -2.0 1.00e+00 1.00e+00h 1 19 1.2624921e+00 2.40e-04 3.61e-04 -4.0 1.05e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2622559e+00 3.18e-04 3.97e-04 -4.0 3.44e-01 -2.9 1.00e+00 1.00e+00h 1 21 1.2611944e+00 9.63e-03 4.25e-03 -4.0 1.40e+00 -3.4 8.09e-01 1.00e+00h 1 22 1.2655404e+00 8.86e-03 4.67e-02 -4.0 5.44e+00 -3.0 1.00e+00 8.31e-02h 1 23 1.2574567e+00 8.20e-02 3.69e-02 -4.1 3.40e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.2545759e+00 2.30e+00 1.45e+00 -3.1 4.15e+01 -3.0 1.00e+00 2.47e-01h 1 25 1.2511489e+00 5.98e-01 3.39e-01 -3.4 4.32e+00 -3.5 1.00e+00 1.00e+00h 1 26 1.2697886e+00 1.32e-01 1.02e-01 -3.0 1.34e+00 -2.2 1.00e+00 9.91e-01h 1 27 1.2692367e+00 9.06e-02 2.71e-01 -3.1 2.30e+00 -2.7 5.84e-01 3.10e-01h 1 28 1.2748710e+00 6.81e-03 1.49e-01 -3.1 6.86e-01 -2.2 5.24e-01 1.00e+00h 1 29 1.2742516e+00 8.59e-03 8.34e-03 -3.1 3.56e-01 -1.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.2736340e+00 2.25e-03 6.89e-03 -3.1 1.66e-01 -1.4 1.00e+00 1.00e+00h 1 31 1.2545882e+00 3.26e-02 2.75e-02 -4.6 8.98e-01 -1.9 5.47e-01 9.60e-01h 1 32 1.2531181e+00 1.35e-01 5.33e-02 -2.9 9.63e-01 -1.4 8.79e-01 1.00e+00f 1 33 1.2338750e+00 7.76e-02 5.80e-02 -4.0 2.32e-01 -1.0 6.80e-01 4.32e-01h 1 34 1.2396244e+00 4.98e-03 1.06e-01 -3.0 4.67e-01 -1.5 1.00e+00 1.00e+00h 1 35 1.2191602e+00 1.08e-01 6.33e-02 -3.0 1.06e+00 -2.0 9.08e-01 8.26e-01h 1 36 1.2088242e+00 5.59e-02 1.16e-01 -3.3 8.38e-01 -2.4 9.87e-01 6.03e-01h 1 37 1.1928261e+00 4.28e-02 2.44e-02 -3.9 1.35e+00 -2.9 1.00e+00 9.98e-01h 1 38 1.1846765e+00 6.82e-02 1.52e-02 -4.0 2.21e+00 -3.4 1.00e+00 1.00e+00h 1 39 1.1795282e+00 7.57e-02 1.59e-02 -4.0 3.09e+00 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1751586e+00 9.44e-02 1.31e-02 -4.0 4.83e+00 -4.4 1.00e+00 1.00e+00h 1 41 1.1717705e+00 1.16e-01 1.10e-02 -4.0 7.38e+00 -4.8 1.00e+00 1.00e+00h 1 42 1.1690390e+00 1.42e-01 8.08e-03 -4.0 1.13e+01 -5.3 1.00e+00 1.00e+00h 1 43 1.1668585e+00 1.74e-01 4.72e-03 -4.0 1.73e+01 -5.8 1.00e+00 1.00e+00h 1 44 1.1651150e+00 2.12e-01 6.80e-04 -4.0 2.63e+01 -6.3 1.00e+00 1.00e+00h 1 45 1.1637253e+00 2.57e-01 4.06e-03 -4.0 3.98e+01 -6.7 1.00e+00 1.00e+00h 1 46 1.1626225e+00 3.08e-01 9.54e-03 -4.0 5.97e+01 -7.2 1.00e+00 1.00e+00h 1 47 1.1617571e+00 3.64e-01 1.55e-02 -4.0 8.85e+01 -7.7 1.00e+00 1.00e+00h 1 48 1.1610967e+00 4.18e-01 2.14e-02 -4.0 1.28e+02 -8.2 1.00e+00 1.00e+00h 1 49 1.1606409e+00 4.45e-01 2.48e-02 -4.0 1.78e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1604843e+00 3.57e-01 1.71e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 51 1.1608060e+00 3.07e-02 3.92e-03 -4.0 9.67e+01 -9.6 1.00e+00 1.00e+00h 1 52 1.1608500e+00 6.39e-04 1.79e-04 -4.0 8.42e+00 -10.1 1.00e+00 1.00e+00h 1 53 1.1608491e+00 1.01e-05 1.34e-06 -4.0 1.33e+00 -10.6 1.00e+00 1.00e+00h 1 54 1.1608491e+00 1.20e-09 3.93e-11 -4.0 1.47e-02 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 54 (scaled) (unscaled) Objective...............: 1.1608491308232067e+00 1.1608491308232067e+00 Dual infeasibility......: 3.9329532062733555e-11 3.9329532062733555e-11 Constraint violation....: 1.1954863765595292e-09 1.1954863765595292e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000120e-04 1.0000000000000120e-04 Overall NLP error.......: 1.1954863765595292e-09 1.1954863765595292e-09 Number of objective function evaluations = 55 Number of objective gradient evaluations = 55 Number of equality constraint evaluations = 55 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 55 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 54 Total seconds in IPOPT = 39.291 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s jacobian structure: 180 nonzeros (0.084s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.339s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.539s hessian structure: 375 nonzeros (0.589s) linear index maps built (0.0s) evaluator ready (total: 0.797s) evaluator created (0.797s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.125s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.043s) optimizer initialization complete (total: 3.977s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8656251e+00 7.67e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6706321e+00 1.65e-01 1.82e+00 -0.9 6.29e-01 0.0 9.99e-01 1.00e+00h 1 2 1.6985617e+00 5.10e-02 6.14e-01 -0.9 3.21e-01 -0.5 6.72e-01 6.90e-01h 1 3 1.5580607e+00 9.34e-02 1.63e+00 -2.0 4.84e+00 - 7.07e-01 4.78e-01h 2 4 1.4444984e+00 5.39e-02 4.87e-01 -1.2 1.12e+00 -1.0 1.00e+00 3.65e-01h 1 5 1.4087975e+00 2.21e-02 2.42e+00 -1.7 1.97e+01 - 9.86e-01 6.30e-01h 1 6 1.1788323e+00 4.58e-03 4.31e-01 -2.9 1.34e-01 -1.4 1.00e+00 7.92e-01h 1 7 1.0956744e+00 4.44e-04 9.34e-01 -4.0 9.97e+00 - 1.00e+00 9.92e-01h 1 8 1.0922297e+00 3.39e-06 4.46e-02 -3.6 1.81e+00 - 1.00e+00 9.96e-01h 1 9 1.0910149e+00 4.53e-09 8.41e-04 -4.0 2.68e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 2.62e-13 9.11e-06 -4.0 1.17e-02 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 9.28e-06 -4.0 2.09e-05 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 1.21e-34 9.26e-06 -4.0 2.99e-11 - 1.00e+00 1.00e+00h 1 13 1.0908587e+00 1.79e-35 3.24e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 14 1.0910386e+00 8.88e-16 3.34e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.3377931391020965e-09 3.3377931391020965e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 3.3377931391020965e-09 3.3377931391020965e-09 Number of objective function evaluations = 17 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 17 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 24.333 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.085s hessian structure: 30 nonzeros (0.085s) linear index maps built (0.0s) evaluator ready (total: 0.086s) evaluator created (0.086s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.121s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.005s) optimizer initialization complete (total: 3.212s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4548466e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3141418e-02 4.26e-12 1.74e-02 -4.0 2.26e-02 -2.0 9.83e-01 1.00e+00f 1 2 6.2699601e-03 8.58e-13 8.42e-02 -3.2 6.16e-02 -1.6 9.73e-01 1.00e+00f 1 3 7.6850812e-04 1.00e-11 6.52e-02 -3.8 1.29e-01 -1.1 1.00e+00 8.95e-01f 1 4 1.7751701e-04 4.89e-12 1.56e-02 -3.4 4.66e-01 -1.6 1.00e+00 3.42e-01f 2 5 1.9391493e-04 2.05e-12 1.21e-02 -3.1 1.54e+00 -2.1 9.52e-01 5.00e-01f 2 6 1.9391493e-04 2.05e-12 9.90e-03 -3.3 2.77e+00 -2.6 3.65e-01 3.30e-15h 47 7 6.2609984e-04 2.31e-12 8.80e-03 -3.3 4.69e+00 -3.1 1.89e-01 1.89e-01s 63 Cannot call restoration phase at point that is almost feasible (violation 2.308938e-12). Abort in line search due to no other fall back. Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 6.2609984318622470e-04 6.2609984318622470e-04 Dual infeasibility......: 8.7998048783651944e-03 8.7998048783651944e-03 Constraint violation....: 2.3089377632068420e-12 2.3089377632068420e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4556516314227495e-03 1.4556516314227495e-03 Overall NLP error.......: 8.7998048783651944e-03 8.7998048783651944e-03 Number of objective function evaluations = 123 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 123 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 2.802 EXIT: Error in step computation! initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.087s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.175s hessian structure: 40 nonzeros (0.175s) linear index maps built (0.0s) evaluator ready (total: 0.175s) evaluator created (0.175s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.932s) optimizer initialization complete (total: 3.231s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 9.5765852e-01 4.60e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9897970e-01 2.19e-09 2.45e-01 -4.0 4.92e-01 -2.0 7.73e-01 1.00e+00h 1 2 2.1953181e-01 1.84e-10 1.07e-01 -1.3 3.73e-01 -1.6 9.99e-01 1.00e+00f 1 3 8.3694270e-02 2.36e-10 3.27e-02 -2.5 5.14e-01 -1.1 1.00e+00 1.00e+00f 1 4 5.2306862e-02 2.58e-11 3.35e-02 -3.7 1.92e-01 -0.7 1.00e+00 1.00e+00f 1 5 2.4635126e-02 1.36e-11 1.89e-02 -4.0 3.17e-01 -1.2 1.00e+00 1.00e+00f 1 6 8.2069716e-03 1.14e-11 8.05e-03 -4.0 3.93e-01 -1.7 1.00e+00 1.00e+00f 1 7 1.5960026e-03 7.87e-12 3.87e-03 -4.0 3.54e-01 -2.2 1.00e+00 1.00e+00f 1 8 4.2766103e-04 3.84e-12 8.34e-04 -4.0 1.45e-01 -2.6 1.00e+00 1.00e+00f 1 9 4.8436812e-04 7.30e-13 6.86e-04 -4.0 2.36e-01 -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 3.4096123e-04 3.82e-14 4.78e-04 -4.1 2.33e-01 -3.6 1.00e+00 1.00e+00f 1 11 5.3800720e-04 2.59e-14 7.72e-04 -4.0 1.14e-01 -4.1 1.00e+00 1.00e+00f 1 12 2.6302485e-04 4.97e-15 9.81e-04 -4.1 1.86e-01 -4.5 1.00e+00 1.00e+00f 1 13 4.4382391e-04 2.68e-15 4.78e-04 -4.0 2.92e-01 -5.0 1.00e+00 5.00e-01f 2 14 2.6926503e-04 2.44e-15 7.09e-04 -4.1 1.36e-01 -5.5 1.00e+00 1.00e+00f 1 15 3.0740266e-05 7.33e-15 1.04e-03 -6.2 4.39e-01 -6.0 9.61e-01 1.00e+00f 1 16 1.6523312e-03 1.78e-15 8.27e-03 -4.0 2.21e+00 -6.4 1.00e+00 5.00e-01f 2 17 2.6423966e-05 1.95e-14 3.21e-03 -4.1 1.12e+00 -6.9 1.00e+00 1.00e+00f 1 18 1.5609994e-03 2.42e-14 8.83e-03 -4.0 1.08e+00 -7.4 1.00e+00 1.00e+00f 1 19 1.1263858e-05 1.51e-14 2.61e-03 -4.2 1.21e+00 -7.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.4453719e-04 1.33e-15 2.89e-03 -4.0 1.48e+00 -8.4 1.00e+00 5.00e-01f 2 21 2.2372671e-04 2.33e-15 2.68e-04 -4.2 3.81e-01 -8.8 1.00e+00 5.00e-01f 2 22 2.0583917e-05 3.77e-15 9.17e-04 -6.4 4.60e-01 -9.3 9.58e-01 1.00e+00f 1 23 8.3071691e-06 2.83e-15 1.12e-04 -6.4 1.17e-01 -9.8 1.00e+00 1.00e+00f 1 24 1.1071086e-03 1.33e-15 3.74e-03 -4.0 1.05e+01 -10.3 1.00e+00 1.13e-01f 4 25 1.4278142e-04 4.23e-14 3.12e-03 -4.0 6.59e-01 -10.7 1.00e+00 1.00e+00f 1 26 6.7902809e-04 2.24e-14 3.09e-03 -4.0 4.68e-01 -11.2 1.00e+00 1.00e+00f 1 27 3.7866841e-04 3.77e-15 4.59e-04 -4.0 4.00e-01 -11.7 1.00e+00 5.00e-01f 2 28 3.4934129e-05 5.33e-15 1.47e-03 -6.1 5.58e-01 -12.2 9.48e-01 1.00e+00f 1 29 1.4428816e-05 4.55e-15 1.75e-04 -6.1 1.38e-01 -12.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.8411079e-06 7.77e-16 1.12e-04 -6.1 1.62e-01 -13.1 1.00e+00 1.00e+00f 1 31 7.6128365e-04 4.06e-16 1.57e-03 -4.0 1.76e+01 -13.6 1.00e+00 6.78e-02f 4 32 2.2042604e-04 3.82e-14 2.23e-03 -4.0 4.26e-01 -14.1 1.00e+00 1.00e+00f 1 33 5.7446616e-04 1.27e-14 2.01e-03 -4.0 3.11e-01 -14.6 1.00e+00 1.00e+00f 1 34 3.8555626e-04 2.00e-15 3.76e-04 -4.0 2.88e-01 -15.0 1.00e+00 5.00e-01f 2 35 3.3881060e-05 5.44e-15 1.58e-03 -6.1 6.01e-01 -15.5 9.43e-01 1.00e+00f 1 36 1.4282991e-05 4.22e-15 1.78e-04 -6.1 1.42e-01 -16.0 1.00e+00 1.00e+00f 1 37 3.7152574e-06 6.66e-16 1.19e-04 -6.1 1.73e-01 -16.5 1.00e+00 1.00e+00f 1 38 6.3895894e-04 4.44e-16 7.75e-04 -4.0 1.89e+01 -16.9 1.00e+00 6.30e-02f 4 39 2.5300588e-04 3.38e-14 1.82e-03 -4.1 3.38e-01 -17.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.1935598e-04 8.44e-15 1.53e-03 -4.1 2.42e-01 -17.9 1.00e+00 1.00e+00f 1 41 3.8095996e-04 1.33e-15 3.32e-04 -4.1 2.36e-01 -18.4 1.00e+00 5.00e-01f 2 42 3.2755939e-05 5.22e-15 1.65e-03 -6.1 6.33e-01 -18.9 9.39e-01 1.00e+00f 1 43 1.3950177e-05 3.89e-15 1.81e-04 -6.1 1.46e-01 -19.3 1.00e+00 1.00e+00f 1 44 3.5965581e-06 6.11e-16 1.23e-04 -6.1 1.82e-01 -19.8 1.00e+00 1.00e+00f 1 45 5.4823507e-04 5.83e-16 7.82e-05 -4.0 2.03e+01 -20.0 1.00e+00 5.88e-02f 4 46 2.8275091e-04 3.04e-14 1.41e-03 -4.1 2.57e-01 -20.0 1.00e+00 1.00e+00f 1 47 4.7241223e-04 5.55e-15 1.08e-03 -4.1 1.75e-01 -20.0 1.00e+00 1.00e+00f 1 48 2.9598013e-04 4.22e-15 1.01e-03 -4.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 49 4.6526324e-04 2.89e-15 9.37e-04 -4.1 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.0319409e-04 3.55e-15 9.14e-04 -4.1 1.65e-01 -20.0 1.00e+00 1.00e+00f 1 51 4.5807936e-04 2.89e-15 8.41e-04 -4.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 52 2.3449022e-05 4.66e-15 1.82e-03 -6.1 7.71e-01 -20.0 9.24e-01 1.00e+00f 1 53 1.2280765e-05 4.00e-15 1.19e-04 -6.1 1.05e-01 -20.0 1.00e+00 1.00e+00f 1 54 3.0715458e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 55 4.9875188e-04 3.50e-16 5.05e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.18e-02f 4 56 3.0814115e-04 2.95e-14 1.09e-03 -4.1 1.94e-01 -20.0 1.00e+00 1.00e+00f 1 57 4.4548808e-04 4.00e-15 7.49e-04 -4.1 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 58 2.4208567e-05 4.44e-15 1.89e-03 -6.1 7.91e-01 -20.0 9.22e-01 1.00e+00f 1 59 1.2426889e-05 3.77e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.1141860e-06 4.44e-16 1.21e-04 -6.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 61 3.9926113e-06 2.22e-16 2.10e-05 -6.1 3.64e-02 -20.0 1.00e+00 1.00e+00f 1 62 3.4335906e-06 5.55e-17 6.09e-06 -6.1 1.09e-02 -20.0 1.00e+00 1.00e+00h 1 63 2.6149592e-07 3.90e-17 5.26e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 64 2.4886467e-03 6.70e-16 1.22e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.34e-02f 3 65 8.2880024e-05 4.91e-14 7.12e-03 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00f 1 66 7.7330830e-04 2.95e-14 5.40e-03 -3.9 8.18e-01 -20.0 1.00e+00 1.00e+00f 1 67 4.4006882e-04 5.77e-15 7.70e-04 -3.9 5.35e-01 -20.0 1.00e+00 5.00e-01f 2 68 4.3471876e-05 4.22e-15 2.13e-03 -5.9 7.13e-01 -20.0 9.30e-01 1.00e+00f 1 69 1.7959525e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.1442821e-06 6.81e-16 1.66e-04 -5.9 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.8572389e-06 2.91e-16 1.77e-05 -5.9 2.51e-02 -20.0 1.00e+00 1.00e+00h 1 72 5.4061486e-06 9.11e-17 2.82e-06 -5.9 4.05e-03 -20.0 1.00e+00 1.00e+00h 1 73 3.8913634e-07 7.55e-17 7.96e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 74 1.5647280e-07 3.21e-17 8.37e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 75 1.5991179e-03 7.39e-16 1.36e-03 -4.0 3.12e+02 -20.0 1.00e+00 7.79e-03f 3 76 4.7381891e-04 6.39e-14 5.69e-03 -3.8 7.35e-01 -20.0 1.00e+00 1.00e+00f 1 77 8.9272595e-04 1.91e-14 2.23e-03 -3.8 2.65e-01 -20.0 1.00e+00 1.00e+00f 1 78 5.6081402e-04 8.44e-15 2.32e-03 -3.8 3.03e-01 -20.0 1.00e+00 1.00e+00f 1 79 8.8229013e-04 3.11e-15 1.46e-03 -3.8 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 4.9742917e-05 8.55e-15 3.58e-03 -5.7 1.03e+00 -20.0 8.95e-01 1.00e+00f 1 81 2.6541353e-05 6.88e-15 2.41e-04 -5.7 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 82 7.9994173e-06 7.84e-16 2.29e-04 -5.7 2.32e-01 -20.0 1.00e+00 1.00e+00f 1 83 1.1625731e-05 3.33e-16 7.01e-05 -5.7 7.23e-02 -20.0 1.00e+00 1.00e+00f 1 84 1.0177839e-05 1.48e-16 5.57e-06 -5.7 4.18e-02 -20.0 1.00e+00 5.00e-01f 2 85 7.3198752e-07 7.46e-17 1.34e-04 -8.5 3.47e-01 -20.0 9.65e-01 1.00e+00f 1 86 2.9734525e-07 6.59e-17 1.38e-05 -8.5 7.59e-02 -20.0 1.00e+00 1.00e+00f 1 87 4.7216011e-08 2.47e-17 9.56e-06 -8.5 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 88 1.2695161e-03 5.72e-16 3.82e-03 -4.0 5.88e+02 -20.0 1.00e+00 4.17e-03f 3 89 5.1506464e-04 5.60e-14 4.41e-03 -3.8 5.71e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 8.0380496e-04 1.33e-14 1.36e-03 -3.8 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 91 4.7996031e-05 7.33e-15 3.68e-03 -5.7 1.08e+00 -20.0 8.87e-01 1.00e+00f 1 92 2.5063994e-05 5.55e-15 2.64e-04 -5.7 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 93 7.5172244e-06 6.66e-16 2.43e-04 -5.7 2.54e-01 -20.0 1.00e+00 1.00e+00f 1 94 1.0724072e-05 3.33e-16 6.87e-05 -5.7 7.36e-02 -20.0 1.00e+00 1.00e+00f 1 95 9.4663165e-06 1.70e-16 6.26e-06 -5.7 4.35e-02 -20.0 1.00e+00 5.00e-01f 2 96 6.8356063e-07 6.25e-17 1.40e-04 -8.5 3.75e-01 -20.0 9.62e-01 1.00e+00f 1 97 2.7762033e-07 6.42e-17 1.45e-05 -8.5 8.23e-02 -20.0 1.00e+00 1.00e+00f 1 98 4.3885155e-08 3.08e-17 1.00e-05 -8.5 1.25e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7484037e-04 6.00e-16 8.36e-03 -4.0 6.83e+02 -20.0 1.00e+00 3.58e-03f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.6970640e-04 4.40e-14 2.54e-03 -3.8 3.32e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.6970639801931695e-04 5.6970639801931695e-04 Dual infeasibility......: 2.5408779496013979e-03 2.5408779496013979e-03 Constraint violation....: 4.3964831775156199e-14 4.3964831775156199e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7508240768659015e-04 1.7508240768659015e-04 Overall NLP error.......: 2.5408779496013979e-03 2.5408779496013979e-03 Number of objective function evaluations = 160 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 160 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.222 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! 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: 2.705s jacobian structure: 1600 nonzeros (2.782s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.789s 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): 0.018s objective hessian structure: 0.019s hessian structure: 1749 nonzeros (3.859s) linear index maps built (0.0s) evaluator ready (total: 6.641s) evaluator created (6.666s) NL constraint bounds extracted (0.102s) 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 (0.12s) optimizer initialization complete (total: 6.889s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2718099e+00 2.91e+00 8.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6183018e+00 5.97e-02 2.11e+00 -0.9 2.14e+00 0.0 9.57e-01 1.00e+00h 1 2 2.5136279e+00 2.95e-02 6.08e-01 -1.1 3.29e-01 -0.5 9.94e-01 1.00e+00h 1 3 2.2403470e+00 3.86e-03 8.75e-02 -2.2 1.04e-01 -1.0 9.46e-01 1.00e+00h 1 4 2.1068344e+00 1.33e-03 9.75e-03 -3.0 6.04e-02 -1.4 9.82e-01 9.35e-01h 1 5 2.0908694e+00 5.71e-05 3.73e-03 -4.0 2.32e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909017e+00 1.27e-07 1.27e-04 -4.0 4.35e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909004e+00 1.11e-09 1.78e-05 -4.0 1.30e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908969e+00 5.30e-10 1.76e-05 -4.0 3.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908870e+00 4.37e-09 1.71e-05 -4.0 1.12e-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 2.0908614e+00 3.22e-08 5.01e-05 -4.0 3.13e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907958e+00 2.17e-07 2.45e-04 -4.0 8.57e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906084e+00 2.17e-06 3.62e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904367e+00 2.12e-06 5.95e-03 -4.0 2.97e+01 -5.7 1.25e-01 5.48e-02h 1 14 2.0893174e+00 2.25e-04 3.96e-02 -4.0 2.62e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0879784e+00 8.09e-05 1.90e-02 -4.0 2.96e+00 -4.9 1.00e+00 6.96e-01h 1 16 2.0879643e+00 1.31e-05 5.22e-03 -4.0 3.36e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0869342e+00 3.87e-05 6.84e-03 -4.0 1.01e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0853637e+00 1.94e-04 9.50e-03 -4.0 2.38e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0831241e+00 4.07e-04 2.71e-02 -4.0 3.97e+01 -6.8 1.00e+00 9.45e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825617e+00 3.78e-04 1.51e-02 -4.0 5.58e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823460e+00 3.49e-04 1.02e-02 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0823119e+00 7.60e-04 1.37e-02 -4.0 1.50e+04 -8.2 2.02e-03 5.62e-03h 7 23 2.0824387e+00 8.69e-04 6.02e-02 -4.0 9.05e+02 -6.9 3.29e-03 1.37e-02h 4 24 2.0822410e+00 3.15e-04 2.12e-01 -4.1 1.03e+00 -4.7 1.00e+00 7.60e-01h 1 25 2.0822826e+00 1.01e-04 9.85e-04 -4.0 1.74e+00 -5.1 1.00e+00 1.00e+00f 1 26 2.0822284e+00 1.18e-05 9.81e-04 -4.0 9.84e-01 -5.6 1.00e+00 1.00e+00h 1 27 2.0822423e+00 2.33e-05 1.96e-04 -4.0 1.50e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0822300e+00 1.28e-05 1.42e-04 -4.0 4.56e+00 -6.6 1.00e+00 1.00e+00h 1 29 2.0821749e+00 4.47e-06 2.99e-04 -4.0 1.29e+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 2.0820616e+00 3.08e-05 2.00e-03 -4.0 2.91e+01 -7.5 1.00e+00 1.00e+00h 1 31 2.0819306e+00 1.12e-04 4.84e-03 -4.0 4.72e+01 -8.0 1.00e+00 1.00e+00h 1 32 2.0818612e+00 1.55e-04 4.17e-03 -4.0 5.92e+01 -8.5 1.00e+00 1.00e+00h 1 33 2.0818453e+00 4.73e-05 9.58e-04 -4.0 3.75e+01 -8.9 1.00e+00 1.00e+00h 1 34 2.0818435e+00 2.34e-06 5.81e-05 -4.0 9.94e+00 -9.4 1.00e+00 1.00e+00h 1 35 2.0818434e+00 1.66e-08 6.13e-07 -4.0 9.92e-01 -9.9 1.00e+00 1.00e+00h 1 36 2.0818434e+00 1.61e-11 1.00e-09 -4.0 3.53e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105572297e+00 2.0818434105572297e+00 Dual infeasibility......: 1.0000000174985053e-09 1.0000000174985053e-09 Constraint violation....: 1.6072476682893466e-11 1.6072476682893466e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 1.0000000174985053e-09 1.0000000174985053e-09 Number of objective function evaluations = 50 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 50 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 28.117 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 6.28s jacobian structure: 1680 nonzeros (6.394s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 12.57s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.35s sub-objective 2 (QuadraticRegularizer): 0.087s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s sub-objective 5 (GlobalObjective): 0.69s objective hessian structure: 1.233s hessian structure: 1964 nonzeros (13.906s) linear index maps built (0.0s) evaluator ready (total: 20.3s) evaluator created (20.326s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) 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 (4.843s) optimizer initialization complete (total: 25.288s) 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 1.1882236e+01 2.51e+00 3.90e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3829870e+00 1.12e-01 4.70e+00 -1.0 1.99e+00 0.0 7.50e-01 9.87e-01f 1 2 3.1097278e+00 4.00e-03 1.67e+00 -1.0 3.41e-01 0.4 9.84e-01 1.00e+00f 1 3 2.4013573e+00 5.19e-03 4.41e-01 -1.7 2.86e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.1551899e+00 1.46e-03 4.53e-02 -2.4 1.11e-01 -0.5 9.96e-01 9.51e-01f 1 5 2.1004273e+00 5.10e-04 4.86e-02 -3.9 4.87e-02 -1.0 9.97e-01 7.71e-01h 1 6 2.0908962e+00 9.74e-06 5.51e-04 -4.0 9.07e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908836e+00 9.61e-09 1.63e-04 -4.0 1.47e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908773e+00 1.49e-10 6.07e-05 -4.0 1.66e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908739e+00 1.93e-10 1.51e-05 -4.0 1.24e-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 2.0908706e+00 4.82e-10 1.52e-05 -4.0 3.73e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908616e+00 4.08e-09 1.51e-05 -4.0 1.12e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908349e+00 3.55e-08 1.50e-05 -4.0 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907527e+00 3.15e-07 6.64e-05 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0904056e+00 3.89e-06 1.32e-03 -4.0 3.45e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0898316e+00 3.78e-05 8.26e-03 -4.0 1.03e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0891640e+00 3.74e-05 7.30e-02 -4.0 1.53e+01 -5.4 1.00e+00 2.66e-01h 1 17 2.0882987e+00 4.86e-05 1.20e-02 -4.0 1.12e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0869300e+00 1.05e-04 4.04e-02 -4.0 2.84e+01 -6.3 1.00e+00 5.64e-01h 1 19 2.0839265e+00 9.27e-04 4.39e-02 -4.0 5.20e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827675e+00 3.54e-04 1.23e-02 -4.0 5.31e+01 -7.3 1.00e+00 5.89e-01h 1 21 2.0825476e+00 1.02e-03 3.11e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0825432e+00 2.15e-03 3.70e-02 -4.0 1.22e+02 -7.3 1.00e+00 1.00e+00h 1 23 2.0821154e+00 1.35e-03 1.12e-02 -4.0 1.18e+01 -6.0 1.00e+00 1.00e+00h 1 24 2.0820453e+00 4.23e-05 9.64e-04 -4.0 6.12e-01 -4.7 1.00e+00 1.00e+00h 1 25 2.0825954e+00 8.95e-07 7.40e-02 -4.0 2.51e+00 -5.1 6.08e-01 1.00e+00H 1 26 2.0822196e+00 7.59e-07 3.82e-03 -4.0 4.81e-02 -1.1 1.00e+00 1.00e+00h 1 27 2.0821798e+00 2.15e-07 5.47e-04 -4.0 1.69e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0822127e+00 1.91e-08 2.09e-04 -4.0 2.32e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0822136e+00 6.86e-09 9.63e-05 -4.0 3.22e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822116e+00 1.98e-08 3.52e-05 -4.0 2.41e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0822096e+00 3.17e-08 3.52e-05 -4.0 2.56e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0822055e+00 1.12e-07 3.52e-05 -4.0 7.11e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0821971e+00 6.14e-07 3.53e-05 -4.0 1.73e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0820547e+00 7.60e-06 8.48e-05 -4.1 3.37e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0821907e+00 1.02e-05 1.64e-04 -4.0 4.82e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0820366e+00 2.15e-05 3.69e-04 -4.1 1.28e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0822080e+00 6.73e-05 3.37e-04 -4.0 2.93e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0819725e+00 2.00e-04 1.11e-03 -4.1 1.04e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0821067e+00 3.92e-04 2.21e-03 -4.0 1.89e+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 2.0817354e+00 1.11e-03 2.77e-03 -4.1 4.46e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818787e+00 1.44e-03 5.93e-03 -4.0 6.04e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815861e+00 1.19e-03 2.49e-03 -4.1 5.34e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818422e+00 4.91e-04 2.91e-04 -4.0 2.09e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818407e+00 5.83e-07 3.80e-05 -4.0 2.95e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818407e+00 4.11e-10 3.80e-05 -4.0 1.74e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818407e+00 1.43e-13 3.80e-05 -4.0 3.58e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815814e+00 2.08e-04 3.10e-05 -4.1 9.46e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818419e+00 2.15e-04 3.81e-05 -4.0 9.78e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815819e+00 2.14e-04 3.10e-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 3.16e-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 3.26e-05 -4.1 8.54e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818414e+00 1.26e-04 3.81e-05 -4.0 7.46e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815817e+00 2.11e-04 3.10e-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 3.26e-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 3.26e-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 3.30e-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 3.31e-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 3.31e-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 3.34e-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 8.66e-11 3.79e-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 3.31e-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 3.34e-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 3.79e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 2.22e-16 3.79e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.79e-10 -9.0 1.90e-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 3.79e-10 -9.0 1.90e-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......: 3.7929067586884627e-10 3.7929067586884627e-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 = 55.090 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: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.424s jacobian structure: 1594 nonzeros (4.485s) integrator 1 hessian structure: 0.108s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 13.871s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (13.981s) linear index maps built (0.0s) evaluator ready (total: 18.466s) evaluator created (18.489s) 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: 18.489s) 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 1.1760621e+02 3.10e+00 3.45e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7739030e+01 2.34e+00 2.02e+01 -1.0 1.66e+01 -2.0 1.32e-01 4.91e-01f 1 2 7.7161708e+00 8.33e-01 8.21e+00 -1.0 1.12e+01 -2.5 5.22e-01 5.91e-01f 1 3 4.2191427e+00 1.01e+00 5.15e+00 -0.7 2.00e+01 -3.0 1.00e+00 4.19e-01f 1 4 2.9865441e+00 6.29e-01 1.41e+01 -2.0 2.86e+01 -3.4 1.60e-01 3.98e-01h 1 5 2.4416961e+00 2.10e-01 4.22e+00 -1.4 4.73e+00 -3.0 5.96e-01 1.00e+00f 1 6 2.3268177e+00 1.09e-02 6.48e-01 -1.5 2.52e-01 0.1 9.89e-01 1.00e+00h 1 7 2.1740832e+00 2.98e-03 3.53e-01 -2.3 1.34e-01 -0.3 9.97e-01 8.84e-01h 1 8 2.1216924e+00 2.44e-03 2.43e-01 -3.3 1.85e-01 -0.8 1.00e+00 5.99e-01h 1 9 2.0964854e+00 7.05e-04 1.06e-01 -4.0 1.15e-01 -1.3 1.00e+00 7.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0917228e+00 1.88e-04 1.51e-02 -4.0 3.96e-02 -1.8 1.00e+00 8.09e-01h 1 11 2.0911373e+00 6.08e-07 3.90e-04 -4.0 5.45e-02 -2.3 1.00e+00 1.00e+00h 1 12 2.0911234e+00 1.23e-08 2.39e-04 -4.0 1.77e-02 -2.7 1.00e+00 1.00e+00h 1 13 2.0911180e+00 8.86e-10 2.39e-04 -4.0 4.36e-02 -3.2 1.00e+00 1.00e+00h 1 14 2.0911029e+00 7.94e-09 2.39e-04 -4.0 1.32e-01 -3.7 1.00e+00 1.00e+00h 1 15 2.0910544e+00 7.56e-08 2.39e-04 -4.0 4.04e-01 -4.2 1.00e+00 1.00e+00h 1 16 2.0908999e+00 7.43e-07 1.68e-03 -4.0 1.26e+00 -4.6 1.00e+00 1.00e+00h 1 17 2.0907565e+00 2.33e-06 6.17e-03 -4.0 1.88e+00 -5.1 1.00e+00 1.00e+00h 1 18 2.0903732e+00 1.50e-05 1.47e-03 -4.0 6.27e+00 -5.6 1.00e+00 1.00e+00h 1 19 2.0900995e+00 1.56e-05 3.39e-02 -4.0 1.56e+01 -6.1 8.27e-01 2.16e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0882082e+00 2.94e-04 5.82e-02 -4.0 4.36e+01 -6.5 1.00e+00 6.47e-01h 1 21 2.0854368e+00 2.02e-03 1.38e-01 -4.0 7.96e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0832754e+00 1.21e-03 3.13e-01 -3.7 1.99e+01 -5.7 1.00e+00 5.07e-01h 1 23 2.0828020e+00 1.84e-04 1.08e-02 -4.0 5.63e+00 -6.2 1.00e+00 1.00e+00h 1 24 2.0828100e+00 2.08e-04 1.14e-03 -4.0 1.37e+01 -6.7 1.00e+00 1.00e+00h 1 25 2.0826560e+00 6.28e-05 1.33e-03 -4.0 3.75e+01 -7.1 1.00e+00 1.00e+00h 1 26 2.0823513e+00 2.97e-04 4.22e-03 -4.0 9.65e+01 -7.6 1.00e+00 1.00e+00h 1 27 2.0823354e+00 6.60e-04 1.56e-02 -4.0 2.41e+03 -8.1 1.53e-02 3.12e-02h 6 28 2.0823054e+00 6.82e-04 3.41e-03 -4.0 5.26e+02 -6.8 4.31e-03 9.62e-03h 4 29 2.0825864e+00 4.35e-04 1.95e-01 -4.0 1.78e+00 -4.5 4.85e-01 6.03e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822215e+00 3.11e-04 4.14e-03 -4.1 1.67e+00 -5.0 1.00e+00 1.00e+00h 1 31 2.0823441e+00 3.29e-05 9.28e-04 -4.0 1.14e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0823036e+00 4.70e-05 5.98e-04 -4.0 1.83e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0822690e+00 2.34e-05 2.64e-04 -4.0 4.21e+00 -6.4 1.00e+00 1.00e+00h 1 34 2.0822134e+00 1.10e-05 4.81e-04 -4.0 1.06e+01 -6.9 1.00e+00 1.00e+00h 1 35 2.0821072e+00 2.43e-05 1.58e-03 -4.0 2.48e+01 -7.4 1.00e+00 1.00e+00h 1 36 2.0819638e+00 8.71e-05 4.49e-03 -4.0 4.49e+01 -7.9 1.00e+00 1.00e+00h 1 37 2.0818687e+00 1.72e-04 5.29e-03 -4.0 6.15e+01 -8.3 1.00e+00 1.00e+00h 1 38 2.0818421e+00 8.47e-05 1.79e-03 -4.0 4.83e+01 -8.8 1.00e+00 1.00e+00h 1 39 2.0818385e+00 7.06e-06 2.39e-04 -4.0 1.65e+01 -9.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 8.61e-08 2.39e-04 -4.0 2.17e+00 -9.8 1.00e+00 1.00e+00h 1 41 2.0818383e+00 1.44e-10 2.39e-04 -4.0 1.03e-01 -10.2 1.00e+00 1.00e+00h 1 42 2.0818383e+00 3.20e-14 2.39e-04 -4.0 1.70e-03 -10.7 1.00e+00 1.00e+00h 1 43 2.0815798e+00 2.05e-04 1.91e-04 -4.1 9.35e+00 -11.2 1.00e+00 1.00e+00h 1 44 2.0818395e+00 2.12e-04 2.39e-04 -4.0 9.66e+00 -11.7 1.00e+00 1.00e+00h 1 45 2.0815804e+00 2.11e-04 1.91e-04 -4.1 9.63e+00 -12.2 1.00e+00 1.00e+00h 1 46 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.6 9.78e-01 9.71e-01h 1 47 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.1 1.00e+00 1.00e+00f 1 48 2.0816136e+00 4.88e-04 1.96e-04 -4.1 2.07e+01 -13.6 1.00e+00 1.00e+00h 1 49 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.1 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -14.5 1.00e+00 1.00e+00h 1 51 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -15.0 1.00e+00 1.00e+00f 1 52 2.0816837e+00 9.34e-04 2.03e-04 -4.1 4.57e+01 -15.5 1.00e+00 1.00e+00h 1 53 2.0816477e+00 4.73e-07 2.03e-04 -4.1 8.52e+00 -16.0 1.00e+00 1.00e+00h 1 54 2.0818389e+00 1.15e-04 2.39e-04 -4.0 7.07e+00 -16.5 1.00e+00 1.00e+00h 1 55 2.0815801e+00 2.08e-04 1.91e-04 -4.1 9.50e+00 -16.9 1.00e+00 1.00e+00h 1 56 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.4 9.78e-01 9.71e-01h 1 57 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -17.9 1.00e+00 1.00e+00h 1 58 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.4 1.00e+00 1.00e+00f 1 59 2.0816887e+00 9.54e-04 2.04e-04 -4.1 4.72e+01 -18.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816504e+00 5.63e-07 2.04e-04 -4.1 8.93e+00 -19.3 1.00e+00 1.00e+00h 1 61 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.8 9.77e-01 9.75e-01h 1 62 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805469e+00 4.72e-08 1.89e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 65 2.0817159e+00 1.04e-03 2.06e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816648e+00 1.22e-06 2.06e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 68 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805471e+00 4.99e-08 1.92e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817306e+00 1.08e-03 2.08e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816723e+00 1.67e-06 2.08e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 75 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805472e+00 5.15e-08 1.94e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 9.27e-11 2.17e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817309e+00 1.08e-03 2.08e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816725e+00 1.68e-06 2.08e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 83 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805472e+00 5.16e-08 1.94e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 9.28e-11 2.17e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 8.88e-16 2.17e-09 -9.0 1.09e-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 90 2.0805365e+00 8.88e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 2.22e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 2.22e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 2.22e-16 2.17e-09 -9.0 1.09e-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 4.44e-16 2.17e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.1704009547516573e-09 2.1704009547516573e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.320 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.115s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.116s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3376042e+00 2.49e+00 5.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5949469e+00 7.87e-02 1.82e+00 -1.0 1.83e+00 0.0 9.21e-01 1.00e+00h 1 2 2.6041908e+00 5.10e-03 6.25e-01 -1.1 2.18e-01 -0.5 9.83e-01 1.00e+00h 1 3 2.3208558e+00 4.52e-03 5.72e-02 -1.7 8.82e-02 -1.0 9.80e-01 1.00e+00h 1 4 2.1210008e+00 2.64e-03 6.54e-02 -2.8 9.22e-02 -1.4 9.94e-01 9.06e-01f 1 5 2.0917148e+00 5.95e-05 3.94e-03 -3.7 1.82e-02 -1.9 9.92e-01 1.00e+00h 1 6 2.0908760e+00 1.03e-06 4.19e-05 -4.0 7.85e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908757e+00 5.54e-09 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908757486680734e+00 2.0908757486680734e+00 Dual infeasibility......: 2.0582036732671372e-05 2.0582036732671372e-05 Constraint violation....: 5.5354102065918731e-09 5.5354102065918731e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000701339235e-04 1.0000000701339235e-04 Overall NLP error.......: 2.0582036732671372e-05 2.0582036732671372e-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 = 25.710 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 1.6277617e+00 2.42e+00 5.39e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8800022e+00 4.72e-01 1.95e+00 -1.0 1.92e+00 0.0 9.28e-01 8.08e-01f 1 2 2.9215791e+00 2.17e-02 1.05e+00 -0.7 3.59e-01 0.4 1.00e+00 1.00e+00f 1 3 2.6472915e+00 1.12e-02 2.19e-01 -1.3 1.20e-01 -0.1 9.93e-01 1.00e+00h 1 4 2.2316154e+00 3.12e-03 5.63e-02 -2.3 8.19e-02 -0.5 8.96e-01 1.00e+00f 1 5 2.1050065e+00 1.24e-03 2.67e-02 -3.3 6.59e-02 -1.0 9.98e-01 8.52e-01h 1 6 2.0910484e+00 9.35e-06 7.52e-04 -4.0 5.13e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909441e+00 2.09e-08 2.06e-05 -4.0 1.88e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909436e+00 7.84e-11 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909419e+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 2.0909369e+00 9.67e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909220e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908771e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907428e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903406e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891431e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856326e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796353e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807370e+00 1.46e-04 1.79e-01 -4.0 6.71e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775339e+00 7.16e-03 2.39e-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 2.0769284e+00 1.09e-03 4.31e-02 -4.0 1.79e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761353e+00 1.21e-03 1.91e-02 -4.0 3.24e+02 -8.6 1.00e+00 8.59e-01h 1 22 2.0754805e+00 2.07e-03 2.87e-02 -4.0 5.41e+02 -9.1 1.00e+00 7.25e-01h 1 23 2.0757858e+00 2.64e-03 1.45e-02 -4.0 1.61e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756788e+00 3.59e-04 6.42e-04 -4.0 8.05e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.16e-06 1.04e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.62e-08 1.31e-06 -4.0 1.42e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.72e-09 1.13e-07 -4.0 4.69e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.84e-11 1.89e-09 -4.0 7.43e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121662071e+00 2.0756712121662071e+00 Dual infeasibility......: 1.8911908252535609e-09 1.8911908252535609e-09 Constraint violation....: 4.8390846885126848e-11 4.8390846885126848e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 1.8911908252535609e-09 1.8911908252535609e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 27.149 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 3.2534005e+00 3.95e+00 4.65e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6062397e+00 7.04e-02 6.37e+00 -1.0 2.04e+00 0.0 1.50e-01 9.95e-01f 1 2 2.4156750e+00 4.96e-02 4.49e+00 -0.6 3.12e-01 0.4 9.29e-01 2.85e-01f 1 3 2.4405758e+00 9.30e-03 3.33e+00 -0.9 4.11e-01 -0.1 9.78e-01 1.00e+00f 1 4 2.3851894e+00 3.16e-04 3.42e-01 -1.9 4.05e-02 -0.5 1.00e+00 1.00e+00h 1 5 2.1396826e+00 2.13e-03 4.43e-02 -2.6 9.84e-02 -1.0 9.96e-01 7.60e-01f 1 6 2.0937383e+00 1.36e-04 2.06e-02 -3.8 2.23e-02 -1.5 9.97e-01 9.36e-01h 1 7 2.0908895e+00 8.62e-07 2.44e-04 -4.0 5.35e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909021e+00 1.93e-08 3.78e-05 -4.0 1.03e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909004e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908954e+00 9.73e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908954141219160e+00 2.0908954141219160e+00 Dual infeasibility......: 2.0584753291194025e-05 2.0584753291194025e-05 Constraint violation....: 9.7330608503365390e-10 9.7330608503365390e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0584753291194025e-05 2.0584753291194025e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.898 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.118s) 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 4.8363088e+00 3.16e+00 5.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8808584e+00 5.38e-02 1.91e+00 -1.0 1.91e+00 - 1.00e+00 1.00e+00f 1 2 2.4295955e+00 6.68e-03 1.18e-01 -1.4 1.19e-01 - 9.89e-01 1.00e+00h 1 3 2.1637090e+00 1.54e-03 9.67e-02 -2.8 7.14e-02 - 9.03e-01 1.00e+00f 1 4 2.0950422e+00 6.28e-04 3.39e-02 -3.8 3.79e-02 - 9.97e-01 8.89e-01h 1 5 2.0908379e+00 1.32e-05 1.78e-02 -4.0 1.92e-02 - 1.00e+00 1.00e+00h 1 6 2.0908617e+00 2.85e-08 1.03e-04 -4.0 1.60e-02 - 1.00e+00 1.00e+00h 1 7 2.0908615e+00 2.71e-10 6.92e-05 -4.0 1.06e-02 - 1.00e+00 1.00e+00h 1 8 2.0908613e+00 3.98e-12 5.46e-05 -4.0 6.99e-03 - 1.00e+00 1.00e+00h 1 9 2.0908613e+00 3.07e-14 4.57e-05 -4.0 4.57e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0906814e+00 8.46e-10 6.18e-05 -4.1 6.18e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0906814030370149e+00 2.0906814030370149e+00 Dual infeasibility......: 6.1755771714240221e-05 6.1755771714240221e-05 Constraint violation....: 8.4609052674201185e-10 8.4609052674201185e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0005282933297292e-05 8.0005282933297292e-05 Overall NLP error.......: 6.1755771714240221e-05 6.1755771714240221e-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 = 9.408 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) 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: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.115s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0778278e+00 2.12e+00 5.93e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7985200e+00 6.02e-02 2.47e+00 -1.0 1.99e+00 0.0 5.10e-01 1.00e+00f 1 2 2.7469800e+00 2.22e-02 6.15e-01 -1.0 2.61e-01 -0.5 1.00e+00 1.00e+00h 1 3 2.3608736e+00 7.76e-03 5.41e-02 -1.7 1.57e-01 -1.0 9.01e-01 8.98e-01h 1 4 2.1249897e+00 2.56e-03 1.45e-02 -2.5 1.01e-01 -1.4 1.00e+00 1.00e+00h 1 5 2.0914930e+00 9.74e-05 3.44e-03 -3.8 1.79e-02 -1.9 9.97e-01 9.88e-01h 1 6 2.0913360e+00 6.67e-07 1.13e-04 -3.8 1.66e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908820e+00 7.58e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908775e+00 2.22e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908642e+00 6.91e-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 2.0908244e+00 6.23e-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...............: 2.0908243939916833e+00 2.0908243939916833e+00 Dual infeasibility......: 2.0575556596914824e-05 2.0575556596914824e-05 Constraint violation....: 6.2270339305087186e-08 6.2270339305087186e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994760e-05 9.9999999999994760e-05 Overall NLP error.......: 2.0575556596914824e-05 2.0575556596914824e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 26.754 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: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) 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 (0.056s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) 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: 0.121s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.906s) optimizer initialization complete (total: 2.027s) 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 3.1377008e+00 3.28e+00 1.81e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9023865e+00 1.56e-02 7.26e-01 -1.0 2.88e+00 -2.0 9.89e-01 1.00e+00h 1 2 2.3621944e+00 2.18e-02 7.54e-02 -1.8 3.40e-01 -1.6 9.81e-01 1.00e+00h 1 3 2.1606731e+00 3.14e-03 2.71e-01 -3.1 1.75e-01 -1.1 9.61e-01 1.00e+00h 1 4 2.1038917e+00 1.04e-03 1.33e-01 -4.0 7.11e-02 -1.6 1.00e+00 7.81e-01h 1 5 2.0935356e+00 4.52e-04 5.37e-01 -4.0 4.83e-01 -2.1 1.00e+00 4.07e-01h 1 6 2.0911565e+00 3.45e-04 7.44e-01 -4.0 1.27e+00 -2.6 1.00e+00 5.89e-01h 1 7 2.0910316e+00 1.05e-04 8.41e-02 -4.0 6.56e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909726e+00 2.74e-06 2.22e-03 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909705e+00 1.11e-06 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 2.0909086e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907259e+00 1.29e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902054e+00 1.09e-05 4.20e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888597e+00 8.21e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861669e+00 4.40e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830906e+00 9.15e-04 4.71e-02 -4.0 5.33e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828522e+00 9.34e-04 2.29e-02 -4.0 5.39e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823446e+00 3.94e-04 1.00e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.27e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.68e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.68e-05 8.46e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.82e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.23e-11 -4.0 4.61e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191022e+00 2.0819382907191022e+00 Dual infeasibility......: 1.2269605741566797e-11 1.2269605741566797e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.2269605741566797e-11 1.2269605741566797e-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 = 28.849 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) 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 (0.063s) optimizer initialization complete (total: 0.184s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.7615071e+00 3.33e+00 1.95e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8496628e+00 1.51e-02 4.40e-01 -1.0 2.30e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3401341e+00 1.54e-02 4.24e-02 -1.8 2.68e-01 -1.6 9.52e-01 1.00e+00h 1 3 2.1409187e+00 3.17e-03 2.56e-01 -2.9 1.28e-01 -1.1 9.43e-01 9.49e-01h 1 4 2.0960560e+00 5.58e-04 8.45e-02 -3.8 5.11e-02 -1.6 1.00e+00 8.50e-01h 1 5 2.0920246e+00 1.83e-04 5.36e-01 -4.0 4.77e-01 -2.1 1.00e+00 4.75e-01h 1 6 2.0910353e+00 9.22e-05 6.61e-02 -4.0 4.81e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908796e+00 8.19e-07 5.31e-03 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908820e+00 1.97e-07 2.82e-05 -4.0 5.60e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908690e+00 7.74e-09 1.60e-05 -4.0 1.64e-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 2.0908330e+00 6.42e-08 6.52e-05 -4.0 4.66e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907313e+00 6.09e-07 2.13e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903714e+00 4.92e-06 8.93e-04 -4.0 4.10e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0892676e+00 5.34e-05 5.50e-03 -4.0 1.29e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0880452e+00 1.02e-04 6.91e-02 -4.0 3.57e+01 -6.4 1.00e+00 3.88e-01h 1 15 2.0841120e+00 1.68e-03 5.66e-02 -4.0 6.64e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0836538e+00 9.22e-04 6.93e-03 -3.8 1.02e+01 -6.4 1.00e+00 7.50e-01h 1 17 2.0828031e+00 2.06e-03 4.83e-03 -4.0 2.69e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825670e+00 1.57e-04 3.20e-03 -4.0 6.90e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0821660e+00 7.00e-04 6.93e-03 -4.0 1.58e+02 -7.9 7.76e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1162866e+00 7.43e-05 2.99e-01 -4.0 7.70e+01 -6.5 7.99e-01 1.00e+00H 1 21 2.0834503e+00 2.34e-05 5.64e-01 -4.0 3.78e-01 -0.7 3.51e-01 6.87e-01f 1 22 2.0835294e+00 1.22e-06 7.66e-03 -4.0 3.93e-02 -1.2 1.00e+00 1.00e+00f 1 23 2.0832706e+00 1.30e-06 2.00e-03 -4.0 8.53e-02 -1.7 1.00e+00 1.00e+00h 1 24 2.0828259e+00 7.68e-06 1.47e-03 -4.0 2.02e-01 -2.1 1.00e+00 1.00e+00h 1 25 2.0829402e+00 2.49e-07 3.17e-04 -4.0 3.12e-02 -2.6 1.00e+00 1.00e+00h 1 26 2.0828991e+00 1.66e-07 1.84e-05 -4.0 2.28e-02 -3.1 1.00e+00 1.00e+00h 1 27 2.0828951e+00 3.15e-08 8.14e-06 -4.0 3.01e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0828894e+00 3.80e-09 8.11e-06 -4.0 9.00e-02 -4.0 1.00e+00 1.00e+00h 1 29 2.0828723e+00 3.58e-08 8.02e-06 -4.0 2.67e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0828233e+00 3.02e-07 2.88e-05 -4.0 7.73e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0826938e+00 2.25e-06 2.11e-04 -4.0 2.08e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0824348e+00 1.23e-05 1.08e-03 -4.0 4.98e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0821948e+00 3.89e-05 2.13e-03 -4.0 1.16e+01 -6.4 1.00e+00 1.00e+00h 1 34 2.0820352e+00 2.49e-04 3.21e-02 -4.0 3.76e+01 -6.9 5.40e-01 1.00e+00h 1 35 2.0821328e+00 2.64e-04 4.63e-03 -4.0 4.57e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0822924e+00 4.68e-07 2.76e-02 -4.1 1.17e+01 -6.1 5.57e-01 1.00e+00H 1 37 2.0822322e+00 4.53e-07 2.33e-03 -4.0 2.90e-02 -1.1 1.00e+00 1.00e+00h 1 38 2.0822098e+00 3.22e-07 6.25e-04 -4.0 2.25e-02 -1.6 1.00e+00 1.00e+00h 1 39 2.0822458e+00 3.65e-08 1.13e-04 -4.0 1.30e-02 -2.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822447e+00 5.73e-09 2.13e-05 -4.0 7.58e-03 -2.5 1.00e+00 1.00e+00h 1 41 2.0822428e+00 5.61e-09 1.20e-05 -4.0 1.27e-02 -3.0 1.00e+00 1.00e+00h 1 42 2.0822407e+00 8.45e-09 1.21e-05 -4.0 3.83e-02 -3.5 1.00e+00 1.00e+00h 1 43 2.0822342e+00 1.00e-07 1.24e-05 -4.0 1.18e-01 -4.0 1.00e+00 1.00e+00h 1 44 2.0822115e+00 1.03e-06 8.50e-05 -4.0 3.82e-01 -4.5 1.00e+00 1.00e+00h 1 45 2.0819893e+00 2.74e-05 1.28e-03 -4.1 1.18e+00 -4.9 1.00e+00 1.00e+00h 1 46 2.0820854e+00 9.77e-06 4.56e-04 -4.0 4.24e-01 -5.4 1.00e+00 1.00e+00h 1 47 2.0820822e+00 8.92e-06 4.45e-05 -4.0 8.56e-01 -5.9 1.00e+00 1.00e+00h 1 48 2.0820781e+00 4.83e-06 8.23e-05 -4.0 2.14e+00 -6.4 1.00e+00 1.00e+00h 1 49 2.0820584e+00 7.67e-07 5.18e-05 -4.0 6.35e+00 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820084e+00 1.30e-05 5.91e-04 -4.0 1.59e+01 -7.3 1.00e+00 1.00e+00h 1 51 2.0819301e+00 5.30e-05 2.09e-03 -4.0 3.10e+01 -7.8 1.00e+00 1.00e+00h 1 52 2.0818658e+00 1.02e-04 3.12e-03 -4.0 4.99e+01 -8.3 1.00e+00 1.00e+00h 1 53 2.0818423e+00 6.26e-05 1.44e-03 -4.0 4.40e+01 -8.7 1.00e+00 1.00e+00h 1 54 2.0818386e+00 7.39e-06 1.71e-04 -4.0 1.72e+01 -9.2 1.00e+00 1.00e+00h 1 55 2.0818383e+00 1.26e-07 4.21e-06 -4.0 2.62e+00 -9.7 1.00e+00 1.00e+00h 1 56 2.0818383e+00 2.88e-10 1.33e-08 -4.0 1.44e-01 -10.2 1.00e+00 1.00e+00h 1 57 2.0818383e+00 8.88e-14 5.10e-12 -4.0 2.78e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 2.0818383021780029e+00 2.0818383021780029e+00 Dual infeasibility......: 5.0970926969168967e-12 5.0970926969168967e-12 Constraint violation....: 8.8817841970012523e-14 8.8817841970012523e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 5.0970926969168967e-12 5.0970926969168967e-12 Number of objective function evaluations = 60 Number of objective gradient evaluations = 58 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 58 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 57 Total seconds in IPOPT = 28.185 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s jacobian structure: 180 nonzeros (0.085s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.367s sub-objective 2 (QuadraticRegularizer): 0.092s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.572s hessian structure: 375 nonzeros (0.624s) linear index maps built (0.0s) evaluator ready (total: 0.853s) evaluator created (0.853s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.139s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.726s) optimizer initialization complete (total: 4.731s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2419481e+00 7.68e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3719529e+00 1.94e-01 1.87e+00 -0.9 7.64e-01 0.0 9.84e-01 1.00e+00h 1 2 1.3589101e+00 5.26e-02 7.56e-01 -0.9 5.46e-01 -0.5 6.61e-01 7.53e-01h 1 3 1.5479469e+00 6.64e-02 2.75e+00 -1.3 3.75e+00 - 7.64e-01 8.93e-01h 1 4 1.5644883e+00 1.83e-02 6.31e+00 -1.8 4.79e-01 -1.0 1.00e+00 8.76e-01h 1 5 1.3807096e+00 1.61e-02 5.64e+00 -1.2 3.96e+00 -1.4 1.00e+00 1.21e-01f 1 6 1.2606247e+00 5.70e-03 2.10e+00 -1.8 1.51e+00 -1.9 1.00e+00 6.49e-01f 1 7 1.1159175e+00 5.01e-04 5.02e-01 -2.9 4.89e+00 - 1.00e+00 9.76e-01h 1 8 1.1000692e+00 2.44e-04 1.25e-01 -4.0 2.06e+00 - 1.00e+00 5.13e-01h 1 9 1.0908212e+00 5.27e-07 2.77e-02 -4.0 1.14e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909026e+00 2.96e-09 1.62e-03 -4.0 3.56e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.38e-14 2.28e-05 -4.0 9.69e-04 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 7.33e-24 2.34e-14 -4.0 1.44e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 2.3411828031782989e-14 2.3411828031782989e-14 Constraint violation....: 7.3318576627137763e-24 7.3318576627137763e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000785e-04 1.0000000000000785e-04 Overall NLP error.......: 2.3411828031782989e-14 2.3411828031782989e-14 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 24.916 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.55s jacobian structure: 1600 nonzeros (2.617s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.129s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.187s) linear index maps built (0.0s) evaluator ready (total: 6.805s) evaluator created (6.829s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.192s) variables set (0.756s) 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 (3.1s) optimizer initialization complete (total: 10.983s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.5531878e+00 3.91e+00 6.60e-01 9.81e-01 -1.0 - 0.00e+00 1 0 1 2.5711485e+00 4.51e-01 2.69e+00 3.10e-01 -1.0 0.0 8.87e-01 2 1h 2 2.5671833e+00 4.20e-02 1.39e+00 1.37e-01 -1.0 0.4 9.96e-01 1 1h 3 2.5648974e+00 3.11e-02 2.84e-01 1.00e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.3755774e+00 1.03e-02 4.44e-01 4.55e-02 -1.7 -0.5 6.74e-01 2 1h 5 2.2478554e+00 2.24e-03 7.94e-02 2.11e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.1168003e+00 1.04e-03 1.74e-02 3.91e-03 -2.5 -1.5 1.00e+00 2 1h 7 2.0914117e+00 2.57e-04 1.67e-03 1.70e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0914015e+00 2.78e-05 1.52e-04 1.51e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0900587e+00 3.11e-06 4.50e-05 2.36e-05 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900429e+00 1.73e-05 1.80e-04 6.69e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0900243e+00 3.85e-05 7.44e-05 2.70e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899779e+00 5.68e-04 8.33e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0899352e+00 1.90e-05 4.71e-03 1.85e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0898453e+00 1.06e-06 4.46e-03 1.85e-06 -5.7 -3.5 9.49e-01 1 1h 15 2.0900202e+00 6.31e-07 1.11e-02 7.20e-04 -5.7 -4.0 4.90e-01 1 1h 16 2.0897625e+00 1.96e-06 1.37e-03 1.45e-04 -5.7 -4.4 1.00e+00 1 1h 17 2.0896051e+00 8.07e-06 1.28e-03 1.99e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0893504e+00 8.14e-06 7.90e-03 1.88e-06 -5.7 -5.4 5.51e-01 1 1h 19 2.0881234e+00 1.46e-05 2.51e-03 6.09e-06 -5.7 -5.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0876460e+00 1.26e-05 9.97e-02 2.37e-06 -5.7 -6.4 1.52e-01 1 1h 21 2.0827872e+00 4.02e-05 6.35e-02 4.38e-06 -5.7 -6.8 1.00e+00 1 1h 22 2.0817504e+00 3.11e-05 1.01e-01 2.42e-06 -5.7 -7.3 2.79e-01 1 1h 23 2.0813695e+00 1.15e-04 1.15e-01 3.12e-04 -5.7 -7.8 1.00e+00 1 1h 24 2.0811416e+00 8.37e-05 4.05e-02 2.03e-04 -5.7 -8.3 2.41e-01 2 1h 25 2.0807025e+00 1.53e-05 3.53e-02 9.20e-05 -5.7 -8.7 8.64e-01 1 1h 26 2.0807114e+00 1.08e-05 2.26e-02 6.11e-05 -5.7 -6.5 2.98e-01 1 1h 27 2.0807012e+00 1.00e-05 2.58e-01 3.78e-05 -5.7 -7.0 9.38e-02 2 1h 28 2.0806699e+00 7.40e-06 7.58e-02 2.00e-05 -5.7 -7.5 3.05e-01 2 1h 29 2.3651214e+00 1.38e-06 4.85e+00 4.99e-06 -5.7 -7.9 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.3608746e+00 1.25e-06 4.82e+00 6.79e-06 -5.7 -4.8 5.40e-03 1 1h 31 2.3587821e+00 1.24e-06 4.80e+00 5.45e-06 -5.7 -4.4 3.48e-03 1 5h 32 2.3580623e+00 1.24e-06 4.80e+00 5.27e-06 -5.7 -4.9 9.71e-04 2 7h 33 2.3578566e+00 1.24e-06 4.80e+00 3.65e-06 -5.7 -4.4 3.38e-04 1 9h 34 2.3578230e+00 1.24e-06 4.80e+00 3.72e-06 -5.7 -4.9 3.99e-05 2 12h 35 2.2730512e+00 8.19e-04 4.06e+00 2.01e-06 -5.7 -4.5 1.47e-01 1 1h 36 2.1941729e+00 2.19e-02 6.65e+00 3.21e-06 -5.7 -5.0 1.33e-01 2 1h 37 2.1287962e+00 1.65e-02 2.19e+00 2.18e-06 -5.7 -4.5 3.24e-01 1 1h 38 2.0858684e+00 2.40e-03 1.74e+00 5.63e-04 -5.7 -5.0 7.29e-01 1 1h 39 2.0858672e+00 2.39e-03 4.93e+00 2.60e-06 -5.7 -5.5 2.19e-03 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0839883e+00 8.67e-04 1.44e+00 4.46e-06 -5.7 -5.1 1.00e+00 1 1h 41 2.0832393e+00 6.78e-04 1.32e+00 9.62e-06 -5.7 -5.5 7.34e-02 2 1h 42 2.0836711e+00 8.27e-04 1.05e+00 5.36e-04 -5.7 -6.0 2.96e-01 2 1H 43 2.0828171e+00 1.10e-02 7.09e-02 4.30e-05 -5.7 -6.5 9.81e-01 2 1h 44 2.0827352e+00 9.81e-03 9.36e-02 1.34e-05 -5.7 -7.0 1.09e-01 1 1h 45 2.0821857e+00 5.66e-03 1.46e-01 3.11e-06 -5.7 -7.4 4.20e-01 1 1h 46 2.0814477e+00 2.95e-03 1.71e-01 1.89e-06 -5.7 -7.9 4.73e-01 1 1h 47 2.0813671e+00 6.36e-06 4.59e-04 1.90e-05 -5.7 -6.6 1.00e+00 1 1h 48 2.0811430e+00 2.76e-07 3.95e-03 5.36e-06 -5.7 -7.1 1.00e+00 1 1h 49 2.0808523e+00 2.82e-06 1.15e-02 1.90e-06 -5.7 -7.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0806436e+00 1.11e-05 1.55e-02 2.07e-06 -5.7 -8.0 1.00e+00 1 1h 51 2.0807341e+00 4.02e-06 3.65e-03 1.80e-04 -5.7 -6.7 1.00e+00 1 1h 52 2.0806461e+00 4.66e-06 3.08e-03 2.23e-05 -5.7 -7.2 1.00e+00 1 1h 53 2.0806089e+00 6.04e-07 1.40e-02 1.85e-06 -5.7 -6.7 8.58e-01 1 1h 54 2.0806011e+00 6.98e-07 3.72e-04 1.85e-06 -5.7 -7.2 1.00e+00 1 1h 55 2.0805820e+00 2.87e-07 3.65e-04 1.84e-06 -5.7 -7.7 1.00e+00 1 1h 56 2.0805662e+00 1.07e-06 1.69e-03 1.85e-06 -5.7 -8.2 8.35e-01 1 1h 57 2.0805876e+00 4.31e-06 2.17e-03 4.78e-05 -5.7 -6.9 1.00e+00 1 1h 58 2.0805673e+00 5.40e-06 2.74e-02 2.27e-06 -5.7 -6.4 1.69e-01 1 2h 59 2.0805679e+00 1.66e-06 7.93e-02 8.35e-06 -5.7 -5.1 7.20e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805680e+00 2.08e-08 2.32e-04 3.08e-06 -5.7 -5.6 1.00e+00 1 1h 61 2.0805681e+00 2.52e-08 5.26e-05 1.97e-06 -5.7 -6.1 1.00e+00 2 1h 62 2.0805678e+00 1.28e-09 7.43e-06 1.84e-06 -5.7 -6.5 1.00e+00 1 1h 63 2.0805463e+00 3.74e-06 5.57e-04 4.85e-07 -8.6 -7.0 9.03e-01 2 1h 64 2.0805449e+00 2.03e-06 1.08e-03 2.27e-07 -8.6 -6.6 4.66e-01 1 1h 65 2.0805430e+00 8.72e-07 5.63e-03 4.48e-08 -8.6 -7.1 5.77e-01 2 1h 66 2.0805427e+00 3.52e-07 8.35e-03 1.95e-08 -8.6 -5.7 5.94e-01 1 1h 67 2.0805424e+00 9.89e-08 1.32e-03 7.36e-09 -8.6 -6.2 7.20e-01 2 1h 68 2.0805421e+00 1.57e-08 2.29e-04 3.07e-09 -8.6 -6.7 8.83e-01 2 1h 69 2.0805413e+00 1.83e-09 8.96e-06 5.54e-09 -8.6 -7.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805406e+00 9.04e-10 5.27e-04 2.53e-09 -8.6 -7.6 5.04e-01 2 1h 71 2.0805382e+00 8.47e-11 1.10e-04 2.67e-09 -8.6 -8.1 1.00e+00 1 1h 72 2.0805368e+00 1.52e-10 1.31e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 73 2.0805407e+00 4.44e-16 2.17e-04 9.25e-07 -8.6 -7.3 1.00e+00 1 1H 74 2.0805370e+00 4.38e-11 2.48e-02 2.56e-09 -8.6 -5.0 8.94e-01 1 1h 75 2.0805370e+00 3.73e-11 9.21e-02 2.91e-09 -8.6 -5.5 1.51e-01 2 1h 76 2.0805370e+00 1.27e-11 7.42e-06 8.88e-09 -8.6 -6.0 1.00e+00 1 1h 77 2.0805369e+00 4.99e-12 1.22e-07 2.78e-09 -8.6 -6.5 1.00e+00 2 1h 78 2.0805369e+00 1.14e-11 6.82e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 79 2.0805367e+00 6.63e-12 3.23e-06 2.51e-09 -8.6 -7.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805378e+00 8.88e-16 2.25e-03 2.51e-09 -8.6 -7.9 1.00e+00 2 1H 81 2.0805367e+00 2.18e-11 2.33e-02 2.57e-09 -8.6 -5.7 5.86e-01 1 1h 82 2.0805376e+00 8.88e-16 2.62e-05 1.90e-06 -8.6 -6.1 1.00e+00 1 1H 83 2.0805370e+00 1.27e-12 9.79e-06 3.10e-07 -8.6 -6.6 1.00e+00 2 1h 84 2.0805366e+00 2.56e-12 8.10e-06 4.44e-08 -8.6 -6.2 1.00e+00 1 1h 85 2.0805366e+00 2.35e-12 9.72e-07 1.13e-08 -8.6 -6.7 1.00e+00 1 1h 86 2.0805366e+00 5.16e-13 2.48e-07 4.01e-09 -8.6 -7.1 1.00e+00 1 1h 87 2.0805366e+00 1.45e-12 6.68e-07 2.51e-09 -8.6 -7.6 1.00e+00 2 1h 88 2.0805365e+00 4.23e-12 2.09e-06 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 89 2.0805365e+00 1.62e-12 4.33e-05 2.51e-09 -8.6 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805366e+00 8.88e-16 1.60e-04 7.14e-08 -8.6 -6.3 1.00e+00 1 1H 91 2.0805365e+00 6.66e-16 1.64e-03 2.51e-09 -8.6 -5.0 1.00e+00 1 1H 92 2.0805365e+00 4.01e-12 5.11e-06 2.64e-09 -8.6 -5.5 1.00e+00 2 1h 93 2.0805365e+00 1.20e-13 2.08e-07 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 94 2.0805365e+00 2.22e-14 5.60e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 95 2.0805365e+00 5.88e-15 2.30e-08 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 96 2.0805365e+00 5.42e-10 4.19e-08 9.64e-10 -9.0 -7.4 1.00e+00 2 1h 97 2.0805365e+00 1.18e-13 2.28e-07 9.09e-10 -9.0 -7.9 1.00e+00 2 1h 98 2.0805365e+00 2.42e-13 6.46e-07 9.09e-10 -9.0 -8.4 1.00e+00 1 1h 99 2.0805365e+00 1.61e-13 5.44e-07 9.09e-10 -9.0 -8.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 100 2.0805365e+00 1.95e-14 8.60e-08 9.09e-10 -9.0 -9.3 1.00e+00 1 1h Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595529197e+00 2.0805364595529197e+00 Dual infeasibility......: 8.6049725012138367e-08 8.6049725012138367e-08 Constraint violation....: 1.9539925233402755e-14 1.9539925233402755e-14 Complementarity.........: 9.0909090970936433e-10 9.0909090970936433e-10 Overall NLP error.......: 8.6049725012138367e-08 8.6049725012138367e-08 Number of objective function evaluations = 143 Number of objective gradient evaluations = 101 Number of constraint evaluations = 143 Number of constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Number of KKT factorizations = 245 Number of KKT backsolves = 154 Total wall secs in initialization = 23.146 s Total wall secs in linear solver = 0.132 s Total wall secs in NLP function evaluations = 23.385 s Total wall secs in solver (w/o init./fun./lin. alg.) = 55.875 s Total wall secs = 102.537 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 2.902s jacobian structure: 1680 nonzeros (2.97s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.73s 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 (11.791s) linear index maps built (0.0s) evaluator ready (total: 14.761s) evaluator created (14.788s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.092s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (5.173s) optimizer initialization complete (total: 20.053s) 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 1.8266209e+01 4.31e+00 4.35e+00 1.96e+00 -1.0 - 0.00e+00 1 0 1 4.5087747e+00 1.82e-01 4.97e+00 4.99e-01 -1.0 0.0 1.00e+00 1 1h 2 3.1673629e+00 8.28e-02 1.49e+01 4.08e-01 -1.0 0.4 7.70e-01 1 1h 3 3.8502124e+00 2.12e-01 1.43e+01 4.06e-01 -1.0 -0.1 1.38e-01 2 2h 4 2.9650485e+00 1.14e-01 7.88e+00 2.03e-01 -1.0 1.3 9.93e-01 1 1h 5 3.2404970e+00 1.59e-01 1.40e+01 3.66e-01 -1.0 0.8 1.00e+00 2 1h 6 2.7922845e+00 4.79e-02 2.00e+00 1.30e-01 -1.0 1.2 9.74e-01 1 1h 7 2.7900355e+00 6.21e-02 1.93e+00 5.44e-01 -1.0 0.7 1.00e+00 2 1h 8 2.7897949e+00 1.74e-02 1.62e+00 1.72e-01 -1.0 0.3 1.00e+00 2 1h 9 2.7103029e+00 1.47e-02 7.48e-01 1.46e-01 -1.0 -0.2 2.00e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.3396300e+00 2.58e-02 1.76e-01 4.61e-02 -1.7 -0.7 9.36e-01 2 1h 11 2.1527521e+00 5.72e-03 2.76e-02 1.19e-02 -2.5 -1.2 8.74e-01 2 1h 12 2.0921736e+00 3.49e-04 1.29e-02 5.41e-04 -3.8 -1.6 9.80e-01 2 1h 13 2.0913105e+00 7.61e-04 9.23e-04 1.51e-04 -3.8 -2.1 1.00e+00 2 1h 14 2.0899717e+00 1.24e-06 6.23e-05 2.47e-06 -5.7 -2.6 1.00e+00 2 1h 15 2.0899698e+00 8.94e-07 2.09e-05 1.86e-06 -5.7 -3.1 1.00e+00 2 1h 16 2.0899625e+00 8.16e-07 2.02e-05 1.84e-06 -5.7 -3.5 1.00e+00 2 1h 17 2.0899441e+00 4.99e-06 3.35e-05 1.84e-06 -5.7 -4.0 1.00e+00 2 1h 18 2.0899060e+00 1.66e-05 3.47e-04 1.85e-06 -5.7 -4.5 6.87e-01 2 1h 19 2.0897622e+00 8.07e-05 1.00e-03 5.55e-06 -5.7 -5.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0896767e+00 5.23e-05 7.26e-03 1.86e-06 -5.7 -4.5 3.66e-01 1 1h 21 2.0894838e+00 8.36e-06 1.41e-03 3.71e-06 -5.7 -5.0 1.00e+00 1 1h 22 2.0892698e+00 8.27e-06 1.45e-02 1.91e-06 -5.7 -5.5 3.55e-01 1 1h 23 2.0877669e+00 2.72e-05 3.62e-03 5.01e-06 -5.7 -6.0 1.00e+00 1 1h 24 2.0872537e+00 2.35e-05 1.13e-01 2.47e-06 -5.7 -6.5 1.45e-01 1 1h 25 2.0821449e+00 5.09e-05 7.94e-02 3.99e-06 -5.7 -6.9 1.00e+00 1 1h 26 2.0817769e+00 4.56e-05 9.72e-02 8.64e-06 -5.7 -7.4 1.09e-01 2 1h 27 2.0814686e+00 4.60e-05 1.54e-01 4.07e-05 -5.7 -7.9 4.00e-01 1 1h 28 2.0807113e+00 2.97e-05 7.56e-02 1.41e-05 -5.7 -8.4 1.00e+00 1 1h 29 2.0807196e+00 8.20e-07 1.78e-03 6.21e-05 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806549e+00 3.98e-06 3.31e-03 1.24e-05 -5.7 -7.5 1.00e+00 1 1h 31 2.0805937e+00 1.78e-06 7.71e-03 1.96e-06 -5.7 -8.0 1.00e+00 1 1h 32 2.0813071e+00 4.49e-07 4.42e-01 2.48e-05 -5.7 -6.7 1.49e-01 1 1h 33 2.0806191e+00 7.47e-07 3.42e-03 1.08e-04 -5.7 -7.1 1.00e+00 1 1h 34 2.0805817e+00 1.00e-07 4.68e-04 7.96e-06 -5.7 -7.6 1.00e+00 1 1h 35 2.0805692e+00 4.12e-07 5.23e-04 1.84e-06 -5.7 -8.1 1.00e+00 1 1h 36 2.0805618e+00 5.26e-07 6.30e-04 2.82e-06 -5.7 -8.6 1.00e+00 1 1h 37 2.0805605e+00 1.56e-07 1.64e-04 1.85e-06 -5.7 -9.0 1.00e+00 1 1h 38 2.0805604e+00 6.54e-08 8.66e-06 1.84e-06 -5.7 -9.5 1.00e+00 1 1h 39 2.0805367e+00 4.01e-06 3.47e-06 6.27e-08 -8.6 -10.0 9.93e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805365e+00 1.60e-09 4.71e-09 2.55e-09 -8.6 -10.5 1.00e+00 1 1h Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 2.0805364803822912e+00 2.0805364803822912e+00 Dual infeasibility......: 4.7144054216019526e-09 4.7144054216019526e-09 Constraint violation....: 1.5996886038038838e-09 1.5996886038038838e-09 Complementarity.........: 2.5491333532090725e-09 2.5491333532090725e-09 Overall NLP error.......: 4.7144054216019526e-09 4.7144054216019526e-09 Number of objective function evaluations = 44 Number of objective gradient evaluations = 41 Number of constraint evaluations = 44 Number of constraint Jacobian evaluations = 41 Number of Lagrangian Hessian evaluations = 40 Number of KKT factorizations = 92 Number of KKT backsolves = 61 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.049 s Total wall secs in NLP function evaluations = 25.781 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.798 s Total wall secs = 36.630 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.66s jacobian structure: 1600 nonzeros (2.732s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.29s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.344s) linear index maps built (0.0s) evaluator ready (total: 7.076s) evaluator created (7.102s) 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: 7.103s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5044525e+01 3.35e+00 5.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0726161e+01 1.22e-01 2.79e+00 -1.0 1.85e+00 -4.0 9.61e-01 1.00e+00f 1 2 1.0097427e+01 2.74e-02 2.98e-01 -0.8 5.01e-01 -4.5 8.06e-01 1.00e+00f 1 3 9.7296123e+00 4.81e-03 3.66e-02 -2.1 1.69e-01 -5.0 8.48e-01 1.00e+00h 1 4 9.5148054e+00 3.89e-03 3.68e-02 -2.8 1.22e-01 -5.4 9.20e-01 1.00e+00f 1 5 9.4411196e+00 8.79e-04 3.61e-03 -3.9 7.32e-02 -5.9 1.00e+00 1.00e+00h 1 6 9.4272270e+00 1.19e-04 6.24e-04 -4.0 2.48e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258643e+00 8.53e-06 3.83e-05 -4.0 4.72e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258088e+00 5.79e-08 2.01e-07 -4.0 3.64e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 2.92e-12 1.00e-09 -4.0 3.04e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225866275e+00 9.4258086225866275e+00 Dual infeasibility......: 1.0000000047862348e-09 1.0000000047862348e-09 Constraint violation....: 2.9184432648321490e-12 2.9184432648321490e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001432655954e-04 1.0000001432655954e-04 Overall NLP error.......: 1.0000000047862348e-09 1.0000000047862348e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 31.896 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.5044525e+01 3.35e+00 5.99e-01 9.89e-01 -1.0 - 0.00e+00 1 0 1 1.0725620e+01 1.36e-01 2.80e+00 1.67e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0047104e+01 1.19e-01 6.95e-01 1.22e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7076037e+00 9.68e-03 2.09e-02 3.77e-02 -1.7 -5.0 9.23e-01 2 1h 4 9.4950400e+00 3.77e-03 5.56e-02 9.48e-03 -3.8 -5.4 1.00e+00 2 1h 5 9.4378751e+00 9.79e-04 2.77e-03 2.13e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4274683e+00 1.72e-04 5.54e-04 4.65e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246387e+00 2.25e-05 1.50e-04 4.59e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245374e+00 4.66e-07 7.30e-07 2.59e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.12e-09 2.70e-09 4.87e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129860022505e+00 9.4245129860022505e+00 Dual infeasibility......: 2.7023119297808762e-09 2.7023119297808762e-09 Constraint violation....: 1.1193352911220700e-09 1.1193352911220700e-09 Complementarity.........: 4.8747187026201081e-09 4.8747187026201081e-09 Overall NLP error.......: 4.8747187026201081e-09 4.8747187026201081e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.152 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.006 s Total wall secs = 0.169 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.058s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) 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 (0.376s) optimizer initialization complete (total: 0.501s) 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 2.1178436e+00 2.76e+00 1.56e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3343180e+00 7.71e+00 1.61e+01 -1.1 1.01e+02 -4.0 9.56e-01 1.00e+00h 1 2 2.1500166e+00 1.73e-01 3.40e+00 -1.7 2.42e+01 -4.5 9.82e-01 1.00e+00h 1 3 2.1441622e+00 1.21e-03 2.84e-01 -2.2 5.25e+00 -5.0 9.97e-01 1.00e+00h 1 4 2.1018584e+00 3.06e-02 2.07e-02 -3.1 7.01e+00 -5.4 9.97e-01 1.00e+00h 1 5 2.0887558e+00 2.39e-02 1.75e-02 -4.0 1.68e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0841883e+00 1.90e-03 4.37e-03 -4.0 4.65e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0799915e+00 3.08e-04 1.84e-01 -4.0 1.06e+02 -6.9 1.00e+00 3.89e-01h 1 8 2.0792747e+00 6.56e-03 1.86e-01 -4.0 8.06e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0785462e+00 1.99e-02 3.66e-02 -3.7 1.23e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0767704e+00 1.99e-02 2.83e-02 -3.9 2.08e+02 -8.3 1.00e+00 9.98e-01h 1 11 2.0761232e+00 7.25e-03 2.29e-02 -4.0 3.56e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0769020e+00 2.73e-02 2.26e-02 -3.7 2.48e+02 -9.2 1.00e+00 1.00e+00h 1 13 2.0764970e+00 7.01e-03 3.08e-03 -3.9 1.16e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0757784e+00 1.95e-03 1.27e-04 -4.0 3.78e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757705e+00 9.57e-06 4.81e-06 -4.0 2.92e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0757704e+00 5.76e-09 1.15e-06 -4.0 1.31e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757704e+00 1.24e-10 5.61e-08 -4.0 3.38e+00 -11.6 1.00e+00 1.00e+00h 1 18 2.0757704e+00 1.29e-12 5.55e-10 -4.0 4.09e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0757703960869378e+00 2.0757703960869378e+00 Dual infeasibility......: 5.5459393379238796e-10 5.5459393379238796e-10 Constraint violation....: 1.2885443580190614e-12 1.2885443580190614e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 5.5459393379238796e-10 5.5459393379238796e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 29.148 EXIT: Optimal Solution Found. 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 (0.09s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.367s sub-objective 2 (QuadraticRegularizer): 0.095s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s objective hessian structure: 0.58s hessian structure: 375 nonzeros (0.632s) linear index maps built (0.0s) evaluator ready (total: 0.879s) evaluator created (0.879s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.129s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.084s) optimizer initialization complete (total: 4.106s) 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 1.9288616e+00 9.66e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8130528e+00 1.13e-01 1.80e+00 -1.0 6.84e-01 0.0 1.00e+00 1.00e+00h 1 2 1.7738868e+00 3.80e-02 3.64e-01 -0.8 4.04e-01 -0.5 1.00e+00 6.38e-01h 1 3 1.5830402e+00 2.70e-01 4.84e+00 -1.6 6.97e+00 - 8.19e-01 1.00e+00f 1 4 9.4170410e-01 1.06e-01 1.43e+00 -1.9 5.46e-01 -1.0 1.00e+00 9.53e-01h 1 5 1.2029187e+00 1.27e-02 2.01e+00 -2.4 3.40e-01 -1.4 1.00e+00 9.50e-01h 1 6 1.1328155e+00 7.33e-03 8.05e-01 -3.2 1.65e+00 -1.9 1.00e+00 3.83e-01h 1 7 1.0975318e+00 9.81e-06 3.04e-03 -3.7 7.17e-02 -1.5 1.00e+00 1.00e+00h 1 8 1.0964157e+00 1.30e-09 8.63e-04 -4.0 6.45e-02 -2.0 1.00e+00 1.00e+00h 1 9 1.0960772e+00 2.06e-12 6.00e-04 -4.0 1.64e-01 -2.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0952736e+00 1.80e-15 2.15e-03 -4.0 4.54e-01 -2.9 1.00e+00 1.00e+00f 1 11 1.0950380e+00 1.56e-15 2.60e-03 -4.0 1.09e+00 -3.4 1.36e-01 1.32e-01f 3 12 1.0948285e+00 1.11e-15 3.47e-02 -4.0 5.08e-01 -3.0 1.00e+00 2.91e-01f 2 13 1.0909446e+00 9.93e-18 2.73e-01 -4.0 5.21e+00 - 1.00e+00 1.00e+00f 1 14 1.0908870e+00 1.17e-22 5.07e-05 -4.0 5.22e-02 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 2.71e-27 1.24e-06 -4.0 3.04e-03 - 1.00e+00 1.00e+00f 1 16 1.0907198e+00 5.24e-26 4.66e-09 -4.1 9.33e-05 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 1.06e-26 4.66e-09 -4.0 2.92e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997336733710e+00 1.0908997336733710e+00 Dual infeasibility......: 4.6617953941563428e-09 4.6617953941563428e-09 Constraint violation....: 1.0558677288372897e-26 1.0558677288372897e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000238581446127e-04 1.0000238581446127e-04 Overall NLP error.......: 4.6617953941563428e-09 4.6617953941563428e-09 Number of objective function evaluations = 21 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 23.472 EXIT: Optimal Solution Found. ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##178"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/solve.jl:122 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.125s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.131s) optimizer initialization complete (total: 0.257s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.1450316e+00 2.06e+00 7.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7774713e+00 2.99e-02 3.86e-01 -1.0 1.98e+00 - 9.93e-01 1.00e+00f 1 2 2.3817950e+00 5.21e-03 1.78e-01 -1.7 9.68e-02 - 8.98e-01 1.00e+00h 1 3 2.1114857e+00 9.63e-04 1.45e-02 -2.7 3.63e-02 - 9.67e-01 9.78e-01h 1 4 2.0909882e+00 4.57e-05 4.85e-04 -4.0 3.37e-02 - 1.00e+00 1.00e+00h 1 5 2.0908946e+00 3.48e-06 7.14e-05 -4.0 3.59e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 8.14e-10 5.68e-09 -4.0 1.21e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.33e-12 1.49e-12 -4.0 2.38e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978577657e+00 2.0908971978577657e+00 Dual infeasibility......: 1.4938077630335250e-12 1.4938077630335250e-12 Constraint violation....: 1.3327615920599722e-12 1.3327615920599722e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000010525162923e-04 1.0000010525162923e-04 Overall NLP error.......: 1.0525162923017469e-10 1.0525162923017469e-10 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 = 31.185 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) 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 (0.129s) 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: 0.129s) 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: 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 1.1633915e+00 1.41e+00 5.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0180382e+00 7.43e-01 1.34e+00 -0.9 7.85e+00 -4.0 7.22e-01 8.12e-01f 1 2 2.2346055e+00 5.82e-01 1.75e+01 -2.2 3.11e+01 -3.6 2.60e-01 7.94e-01h 1 3 2.3140910e+00 4.84e-01 3.54e+00 -1.4 2.60e+01 -4.1 4.44e-01 7.30e-01f 1 4 2.3312110e+00 3.77e-02 3.69e-01 -1.4 2.00e+00 -2.7 1.00e+00 9.56e-01h 1 5 2.1962020e+00 6.89e-02 5.53e-01 -1.8 3.98e+00 -3.2 9.88e-01 9.90e-01f 1 6 2.1822882e+00 4.13e-02 8.03e-01 -1.9 4.62e+00 -3.7 9.92e-01 6.63e-01h 1 7 2.1444079e+00 2.23e-02 5.12e-01 -2.2 1.04e+00 -3.3 9.94e-01 7.03e-01h 1 8 2.1096709e+00 9.34e-03 2.12e-01 -2.7 1.13e+00 -3.7 1.00e+00 8.55e-01h 1 9 2.0940112e+00 9.19e-04 3.51e-02 -3.5 5.12e-01 -4.2 9.99e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909218e+00 6.01e-04 4.65e-03 -4.0 8.02e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0906454e+00 7.33e-05 4.21e-04 -4.0 2.58e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902829e+00 1.56e-05 3.62e-03 -4.0 4.82e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0900660e+00 1.95e-05 4.43e-03 -4.0 7.20e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0899283e+00 1.51e-05 2.99e-03 -4.0 1.11e+01 -6.6 1.00e+00 1.00e+00h 1 15 2.0898336e+00 1.51e-05 2.23e-03 -4.0 1.43e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898258e+00 1.92e-06 9.89e-04 -4.0 1.13e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898219e+00 7.65e-07 1.59e-04 -4.0 5.17e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898218e+00 3.26e-08 5.34e-06 -4.0 9.03e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898218e+00 1.65e-10 2.73e-08 -4.0 9.30e-02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898218e+00 1.36e-13 2.93e-11 -4.0 3.23e-03 -9.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0898218497768304e+00 2.0898218497768304e+00 Dual infeasibility......: 2.9290615207811302e-11 2.9290615207811302e-11 Constraint violation....: 1.3578027591165664e-13 1.3578027591165664e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 2.9290615207811302e-11 2.9290615207811302e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 30.660 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.127s) 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: 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: 0.128s) 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: 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 4.5447254e+00 2.82e+00 4.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2154657e+00 3.09e+00 1.76e+00 -0.1 5.66e+01 -2.0 8.47e-02 1.09e-01f 1 2 3.9584711e+00 2.92e+00 5.36e+00 -4.0 2.56e+00 -1.6 1.41e-01 5.52e-02h 1 3 3.9054789e+00 2.82e+00 9.89e+00 -0.7 1.45e+02 -2.1 3.81e-02 3.59e-02h 1 4 3.9731208e+00 2.73e+00 1.61e+02 -0.3 6.72e+01 -1.6 7.76e-02 3.10e-02f 1 5 4.0337788e+00 2.71e+00 6.57e+04 1.3 6.91e+02 -2.1 2.91e-01 2.50e-03h 1 6 4.0192898e+00 2.61e+00 1.33e+06 1.7 9.96e+03 -2.6 1.00e+00 3.65e-02h 1 7 3.9728274e+00 2.48e+00 1.27e+06 2.5 9.87e+03 -3.1 5.08e-02 5.12e-02f 1 8 3.9725810e+00 2.48e+00 1.43e+06 -4.0 4.94e+04 -3.5 1.01e-02 7.57e-04h 1 9 4.0261914e+00 2.46e+00 7.82e+06 2.5 1.49e+05 -4.0 4.82e-01 8.11e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.0255583e+00 2.46e+00 3.57e+07 2.5 5.23e+05 -4.5 5.99e-03 5.59e-04h 1 11 4.0252407e+00 2.46e+00 5.37e+07 2.5 6.12e+05 -5.0 7.31e-04 3.59e-04h 2 12r 4.0252407e+00 2.46e+00 9.98e+02 2.5 0.00e+00 -4.5 0.00e+00 2.85e-07R 12 13r 3.1035305e+00 7.98e-01 1.65e+03 1.0 7.45e+02 - 4.59e-01 1.39e-01f 1 14 3.0926631e+00 7.92e-01 4.36e+01 -2.6 1.85e+02 -5.0 3.44e-01 7.75e-03h 1 15 3.0945858e+00 7.91e-01 3.07e+04 0.0 7.71e+03 -5.5 1.00e+00 9.77e-04h 1 16 3.0950662e+00 7.91e-01 1.27e+05 -4.0 1.80e+05 -6.0 2.09e-03 1.47e-04h 3 17 3.1742693e+00 1.62e+02 1.25e+05 2.1 4.82e+06 -6.4 1.04e-03 1.07e-03f 2 18 3.1956537e+00 1.35e+02 6.19e+04 0.0 2.27e+06 -6.9 4.35e-04 7.35e-04h 1 19 3.1995502e+00 1.35e+02 5.92e+04 0.0 1.11e+06 -7.4 1.15e-04 5.75e-05f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.2055826e+00 1.35e+02 4.59e+04 0.0 4.69e+05 -7.9 3.90e-04 9.10e-05f 3 21 3.2190365e+00 1.35e+02 5.59e+04 0.0 1.70e+05 -8.4 3.12e-03 2.14e-04f 3 22 3.4389951e+00 8.03e+01 1.18e+05 0.0 9.52e+05 -8.8 1.14e-05 1.70e-03f 1 23 3.5287555e+00 7.99e+01 1.09e+05 0.0 3.12e+03 -1.0 3.60e-03 5.11e-03h 1 24 3.5309687e+00 7.99e+01 2.39e+05 0.0 3.90e+03 -1.5 1.40e-02 7.53e-05h 1 25 3.4828133e+00 7.95e+01 1.65e+05 0.0 2.09e+04 -1.9 2.33e-03 6.06e-03h 1 26 3.4822660e+00 7.95e+01 6.03e+05 0.0 8.62e+03 -1.5 4.01e-02 1.33e-04h 1 27 3.4823602e+00 7.95e+01 1.67e+09 0.0 1.48e+03 -0.2 1.21e-01 1.72e-05h 1 28 3.4837249e+00 7.90e+01 1.73e+10 0.0 2.52e+06 -0.7 1.26e-03 1.20e-04h 1 29 3.4978641e+00 3.70e+01 1.97e+10 0.0 3.27e+06 -1.1 1.76e-03 8.51e-04h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.5539907e+00 7.24e+01 1.25e+09 0.0 5.92e+05 -1.6 1.52e-02 3.25e-03f 4 31 3.7247154e+00 1.21e+01 1.63e+09 0.0 1.38e+05 -1.2 1.49e-03 5.58e-03f 3 32 3.7985756e+00 1.21e+01 1.78e+09 0.0 5.59e+02 -0.8 1.42e-02 5.14e-03h 1 33 4.0153866e+00 1.19e+01 1.57e+10 0.0 2.04e+02 -1.2 9.70e-01 1.60e-02h 1 34 4.0175048e+00 1.19e+01 1.55e+10 0.0 2.17e+01 -1.7 3.97e-02 1.91e-04h 1 35r 4.0175048e+00 1.19e+01 1.00e+03 1.1 0.00e+00 -2.2 0.00e+00 4.80e-07R 3 36r 4.1343589e+00 2.53e+00 9.98e+02 2.8 1.78e+04 - 1.05e-01 1.32e-03f 1 37 4.1285583e+00 2.53e+00 2.28e+02 -0.7 2.85e+00 -2.7 3.83e-01 3.03e-03h 1 38 4.1274787e+00 2.52e+00 3.81e+04 -0.7 1.60e+01 -3.2 3.90e-01 2.52e-03h 1 39 4.1275047e+00 2.52e+00 2.38e+07 -0.7 3.55e+01 -3.6 1.16e-01 1.81e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.1275047e+00 2.52e+00 1.00e+03 0.4 0.00e+00 -4.1 0.00e+00 3.13e-07R 5 41r 4.0874943e+00 6.42e-01 1.40e+03 2.2 1.50e+03 - 5.10e-01 2.77e-03f 1 42 4.0838298e+00 6.40e-01 1.38e+02 -4.0 1.19e+01 -4.6 3.85e-01 2.75e-03h 1 43 4.0835977e+00 6.40e-01 1.75e+05 -0.4 8.20e+01 -5.1 1.00e+00 8.74e-04h 1 44 4.0837345e+00 6.40e-01 1.99e+09 0.3 1.60e+02 -5.5 1.00e+00 8.66e-05h 1 45r 4.0837345e+00 6.40e-01 1.00e+03 0.9 0.00e+00 -6.0 0.00e+00 3.15e-07R 3 46r 3.7976287e+00 4.87e-01 8.76e+02 2.1 6.13e+01 - 5.16e-01 3.54e-02f 1 47 3.7861359e+00 4.75e-01 1.82e+01 -4.0 5.32e+01 -6.5 4.75e-01 2.46e-02h 1 48 3.7893119e+00 4.73e-01 2.32e+03 -0.8 2.76e+03 -7.0 3.61e-01 5.18e-03h 1 49 3.7893582e+00 4.72e-01 1.55e+05 -0.2 1.02e+05 -7.4 7.58e-02 1.09e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.7892330e+00 4.72e-01 2.11e+09 0.1 1.21e+05 -7.9 1.00e+00 5.67e-05h 1 51 3.7894267e+00 4.72e-01 2.14e+14 2.5 4.13e+05 -8.4 1.00e+00 8.42e-06h 1 52 3.9596130e+00 2.29e+02 2.14e+12 2.5 1.03e+04 -8.9 9.90e-01 1.78e-01f 2 53r 3.9596130e+00 2.29e+02 9.99e+02 2.5 0.00e+00 -9.4 0.00e+00 2.69e-07R 4 54r 3.9484885e+00 1.69e+01 3.61e+03 -3.6 1.05e+06 - 5.10e-02 1.45e-03f 1 55 3.9484884e+00 1.69e+01 4.22e+07 1.8 8.04e+04 -9.8 2.00e-02 8.56e-09f 2 56r 3.9484884e+00 1.69e+01 1.00e+03 1.8 0.00e+00 -10.3 0.00e+00 3.17e-07R 3 57r 3.8731928e+00 2.18e+00 9.16e+02 1.9 1.59e+04 - 2.47e-01 3.85e-03f 1 58 3.8723278e+00 2.18e+00 5.27e+04 1.1 2.66e+04 -10.8 1.00e+00 9.46e-05f 1 59 3.8756646e+00 2.18e+00 6.83e+06 1.1 6.83e+02 -11.3 2.36e-01 1.89e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8757247e+00 2.18e+00 1.59e+09 1.1 6.85e+02 -11.7 1.46e-02 6.13e-05h 1 61r 3.8757247e+00 2.18e+00 9.99e+02 1.1 0.00e+00 -12.2 0.00e+00 4.36e-07R 3 62r 3.8589577e+00 7.79e-01 1.77e+03 2.1 2.90e+03 - 5.32e-01 6.26e-03f 1 63 3.8568985e+00 7.78e-01 3.85e+03 0.4 6.53e+03 -12.7 1.00e+00 1.10e-03f 1 64 3.8646929e+00 7.74e-01 2.24e+05 0.4 7.00e+02 -13.2 2.29e-01 4.40e-03h 1 65 3.8690136e+00 7.73e-01 7.83e+08 2.2 3.25e+04 -13.6 1.00e+00 2.78e-04h 1 66 3.8690454e+00 7.73e-01 2.39e+13 2.5 1.19e+03 -14.1 7.35e-01 1.97e-05h 1 67 3.8955922e+00 7.03e-01 2.39e+11 2.5 7.23e+02 -14.6 9.90e-01 5.75e-02h 3 68r 3.8955922e+00 7.03e-01 8.13e+02 2.5 0.00e+00 -15.1 0.00e+00 4.85e-07R 3 69r 3.8243223e+00 1.16e+00 5.70e+02 -3.6 8.60e+01 - 5.79e-01 4.08e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.8676134e+00 2.13e-01 2.23e+02 0.5 6.49e+01 - 4.95e-01 5.82e-01f 1 71 3.8566060e+00 1.99e-01 8.84e+00 -2.6 1.35e+00 -15.6 6.38e-01 6.55e-02h 1 72 3.8518046e+00 1.99e-01 6.90e+03 -0.5 4.85e+01 -16.0 4.27e-01 7.30e-04h 1 73 3.8553147e+00 1.99e-01 7.47e+07 0.4 1.60e+02 -16.5 1.00e+00 9.12e-05h 1 74r 3.8553147e+00 1.99e-01 9.98e+02 2.2 0.00e+00 -17.0 0.00e+00 2.79e-07R 3 75r 4.1674182e+00 2.00e-01 3.09e+02 0.1 5.88e-01 - 9.83e-01 6.08e-01f 1 76r 4.0066428e+00 2.01e-01 3.13e+01 0.1 1.43e+00 - 9.73e-01 9.26e-01f 1 77r 4.5671521e+00 6.86e-01 2.10e+00 -0.5 2.34e+00 - 9.80e-01 1.00e+00f 1 78r 4.4731216e+00 1.99e-01 9.98e+01 -1.1 1.76e+00 - 5.13e-01 9.97e-01f 1 79r 4.5449145e+00 1.99e-01 1.33e-01 -1.1 9.35e-02 0.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 4.5186520e+00 1.99e-01 1.47e+01 -4.0 2.63e-01 - 7.02e-01 9.26e-01f 1 81r 4.5178075e+00 1.99e-01 7.82e-03 -3.1 9.51e-03 -0.5 1.00e+00 1.00e+00f 1 82r 4.3137194e+00 2.23e-01 8.35e-02 -3.4 9.21e-01 - 5.23e-01 1.00e+00f 1 83r 4.2869141e+00 1.99e-01 7.03e-03 -3.4 8.11e-01 - 9.99e-01 1.00e+00h 1 84r 4.2941263e+00 1.99e-01 3.74e-03 -4.0 6.69e-02 - 1.00e+00 1.00e+00h 1 85r 4.2979481e+00 1.99e-01 2.30e-05 -4.0 1.40e-02 - 1.00e+00 1.00e+00h 1 86r 4.2968575e+00 1.99e-01 1.03e-07 -4.0 1.26e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 86 (scaled) (unscaled) Objective...............: 4.2968573217548318e+00 4.2968573217548318e+00 Dual infeasibility......: 1.9009529197690478e+00 1.9009529197690478e+00 Constraint violation....: 1.9875045039324213e-01 1.9875045039324213e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000256303033e-04 1.0000000256303033e-04 Overall NLP error.......: 1.9009529197690478e+00 1.9009529197690478e+00 Number of objective function evaluations = 163 Number of objective gradient evaluations = 75 Number of equality constraint evaluations = 163 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 97 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 87 Total seconds in IPOPT = 31.086 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: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.06s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.061s) 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: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.131s) 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.............: 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 2.8607026e+00 2.85e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4673895e+00 1.43e-01 2.01e+00 -0.9 2.07e+00 0.0 6.59e-01 1.00e+00f 1 2 2.7131138e+00 6.78e-02 2.24e+00 -0.8 3.63e-01 0.4 8.48e-01 5.62e-01f 1 3 2.5018257e+00 5.32e-02 6.68e+00 -0.6 1.20e+00 -0.1 1.00e+00 2.13e-01f 1 4 2.4148840e+00 3.52e-02 1.63e+00 -1.4 4.08e-01 -0.5 8.63e-01 3.63e-01h 1 5 2.2681056e+00 2.00e-02 1.19e+00 -1.6 3.18e-01 -0.1 9.75e-01 5.35e-01f 1 6 2.2553913e+00 1.06e-03 9.29e-01 -3.3 3.12e-01 -0.6 8.41e-01 1.00e+00h 1 7 2.2032052e+00 9.64e-04 7.29e-01 -3.0 6.13e-02 0.7 1.00e+00 2.77e-01f 1 8 2.1818608e+00 8.37e-04 6.47e-01 -4.0 9.20e-02 0.3 1.00e+00 1.60e-01h 1 9 2.1428686e+00 6.91e-04 5.54e-01 -4.0 2.58e-01 -0.2 1.00e+00 1.75e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1138591e+00 6.27e-04 4.07e-01 -4.0 3.98e-01 -0.7 1.00e+00 9.18e-02f 1 11 2.0986277e+00 5.46e-04 4.53e-01 -4.0 2.00e-01 -1.2 1.00e+00 2.30e-01h 1 12 2.0909167e+00 5.41e-05 9.71e-02 -4.0 1.92e-02 -1.6 1.00e+00 9.01e-01h 1 13 2.0908976e+00 3.47e-07 1.97e-03 -4.0 7.84e-03 -2.1 1.00e+00 1.00e+00h 1 14 2.0908992e+00 4.69e-08 2.62e-05 -4.0 1.02e-02 -2.6 1.00e+00 1.00e+00h 1 15 2.0908968e+00 2.34e-10 2.06e-05 -4.0 2.40e-02 -3.1 1.00e+00 1.00e+00h 1 16 2.0908897e+00 1.97e-09 2.06e-05 -4.0 7.21e-02 -3.5 1.00e+00 1.00e+00h 1 17 2.0908685e+00 1.77e-08 2.06e-05 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 18 2.0908047e+00 1.60e-07 2.06e-05 -4.0 6.49e-01 -4.5 1.00e+00 1.00e+00h 1 19 2.0906135e+00 1.44e-06 2.05e-05 -4.0 1.94e+00 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0900419e+00 1.31e-05 5.79e-05 -4.0 5.81e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0883454e+00 1.20e-04 5.16e-04 -4.0 1.72e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0834302e+00 1.15e-03 4.81e-03 -4.0 4.99e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0796386e+00 1.73e-03 2.67e-01 -4.0 1.14e+02 -6.9 1.00e+00 3.29e-01h 1 24 2.0790967e+00 7.91e-03 1.94e-01 -4.1 6.40e+01 -7.4 1.00e+00 7.42e-01h 1 25 2.0779478e+00 1.77e-02 4.93e-02 -3.8 1.27e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0764548e+00 1.89e-02 2.75e-02 -4.0 2.19e+02 -8.3 1.00e+00 1.00e+00h 1 27 2.0760123e+00 1.37e-03 2.50e-02 -4.0 3.62e+02 -8.8 1.00e+00 1.00e+00h 1 28 2.0755106e+00 1.34e-03 3.01e-02 -4.0 3.56e+02 -9.3 1.00e+00 6.63e-01h 1 29 2.0757208e+00 1.20e-03 6.72e-03 -4.0 1.16e+02 -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 30 2.0756727e+00 4.76e-05 7.34e-05 -4.0 2.39e+01 -10.2 1.00e+00 1.00e+00h 1 31 2.0756713e+00 2.70e-07 3.40e-06 -4.0 2.09e+01 -10.7 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.56e-08 6.77e-07 -4.0 1.04e+01 -11.2 1.00e+00 1.00e+00h 1 33 2.0756712e+00 8.87e-10 3.51e-08 -4.0 2.80e+00 -11.7 1.00e+00 1.00e+00h 1 34 2.0756712e+00 8.05e-12 3.24e-10 -4.0 3.19e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0756712120955685e+00 2.0756712120955685e+00 Dual infeasibility......: 3.2408403505311892e-10 3.2408403505311892e-10 Constraint violation....: 8.0548900882604357e-12 8.0548900882604357e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 3.2408403505311892e-10 3.2408403505311892e-10 Number of objective function evaluations = 35 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 35 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 32.733 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.065s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.866s jacobian structure: 1600 nonzeros (2.931s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.483s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.54s) linear index maps built (0.0s) evaluator ready (total: 7.472s) evaluator created (7.498s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.499s) 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 2.2120320e+00 4.74e+00 6.46e-01 9.79e-01 -1.0 - 0.00e+00 1 0 1 2.3082286e+00 1.25e+00 4.24e-01 4.53e-01 -1.0 -2.0 7.36e-01 1 1h 2 2.6905934e+00 6.83e-02 4.00e-01 1.29e-01 -1.0 -2.5 1.00e+00 1 1h 3 2.3799000e+00 2.09e-02 4.63e-02 3.63e-02 -1.7 -3.0 1.00e+00 1 1h 4 2.1224734e+00 2.76e-02 1.60e-02 4.16e-03 -2.5 -3.4 1.00e+00 1 1h 5 2.0913604e+00 6.87e-04 2.24e-03 3.04e-04 -3.8 -3.9 1.00e+00 1 1h 6 2.0912638e+00 3.88e-04 3.69e-04 1.50e-04 -3.8 -4.4 1.00e+00 1 1h 7 2.0898487e+00 1.51e-04 5.55e-04 3.24e-05 -5.7 -4.9 1.00e+00 1 1h 8 2.0897806e+00 4.14e-05 1.27e-03 2.96e-06 -5.7 -4.4 7.28e-01 1 1h 9 2.0896262e+00 6.96e-07 3.27e-04 1.86e-06 -5.7 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0894404e+00 6.69e-07 1.02e-02 1.89e-06 -5.7 -5.4 4.08e-01 1 1h 11 2.0882301e+00 1.60e-06 2.59e-03 6.00e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0878074e+00 1.41e-06 1.05e-01 2.39e-06 -5.7 -6.3 1.30e-01 1 1h 13 2.0829031e+00 4.00e-05 6.32e-02 4.53e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0818661e+00 3.13e-05 1.06e-01 2.45e-06 -5.7 -7.3 2.70e-01 1 1h 15 2.0817354e+00 3.01e-05 8.90e-02 8.03e-06 -5.7 -7.8 3.85e-02 1 1h 16 2.0813215e+00 3.37e-05 1.44e-01 5.90e-06 -5.7 -8.3 3.44e-01 1 1h 17 2.0816882e+00 6.14e-05 2.06e-01 5.36e-04 -5.7 -6.9 5.70e-01 1 1h 18 2.0815628e+00 4.76e-05 3.25e-01 3.88e-04 -5.7 -6.5 2.29e-01 1 1h 19 2.0812581e+00 4.05e-07 1.18e-03 7.52e-05 -5.7 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811777e+00 1.23e-07 4.25e-04 1.49e-05 -5.7 -6.5 1.00e+00 1 1h 21 2.0810805e+00 1.73e-07 3.30e-04 2.32e-06 -5.7 -7.0 1.00e+00 1 1h 22 2.0809077e+00 8.77e-07 1.22e-03 1.86e-06 -5.7 -7.5 1.00e+00 1 1h 23 2.0806891e+00 1.63e-06 4.98e-03 1.84e-06 -5.7 -8.0 1.00e+00 1 1h 24 2.0806025e+00 2.71e-06 2.91e-03 4.88e-06 -5.7 -8.5 6.83e-01 1 1h 25 2.0807167e+00 2.01e-09 5.11e-02 1.17e-04 -5.7 -7.1 1.00e+00 1 1H 26 2.0806463e+00 2.03e-07 2.19e-04 2.99e-05 -5.7 -5.8 1.00e+00 1 1h 27 2.0806247e+00 1.30e-07 1.95e-04 8.28e-06 -5.7 -6.3 1.00e+00 1 1h 28 2.0806092e+00 3.47e-08 1.78e-04 2.03e-06 -5.7 -6.8 1.00e+00 1 1h 29 2.0806046e+00 1.53e-08 1.96e-05 1.90e-06 -5.7 -6.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805951e+00 2.03e-07 9.26e-03 1.91e-06 -5.7 -6.8 1.00e+00 1 1h 31 2.0805937e+00 7.58e-10 2.37e-05 1.84e-06 -5.7 -5.5 1.00e+00 1 1h 32 2.0805943e+00 4.69e-08 3.30e-05 2.29e-06 -5.7 -6.0 1.00e+00 1 1h 33 2.0805933e+00 1.07e-07 5.84e-05 1.84e-06 -5.7 -6.4 1.00e+00 1 1h 34 2.0805935e+00 1.37e-07 1.61e-04 1.84e-06 -5.7 -6.0 1.00e+00 1 1h 35 2.0805923e+00 1.67e-07 3.99e-04 1.84e-06 -5.7 -6.5 1.00e+00 1 1h 36 2.0805920e+00 2.34e-08 5.21e-05 1.87e-06 -5.7 -5.2 1.00e+00 1 1h 37 2.0805915e+00 2.08e-08 1.54e-05 1.84e-06 -5.7 -5.6 1.00e+00 1 1h 38 2.0805716e+00 1.35e-06 7.84e-04 5.18e-07 -8.6 -6.1 8.78e-01 1 1h 39 2.0805692e+00 1.51e-07 1.24e-03 5.41e-08 -8.6 -5.7 9.21e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805688e+00 2.38e-09 3.70e-06 4.67e-09 -8.6 -5.3 1.00e+00 1 1h 41 2.0805686e+00 1.60e-09 6.80e-03 3.02e-09 -8.6 -5.7 3.27e-01 1 1h 42 2.0805668e+00 2.76e-11 2.50e-06 6.58e-09 -8.6 -6.2 1.00e+00 1 1h 43 2.0805661e+00 2.76e-11 6.38e-03 5.49e-09 -8.6 -6.7 1.12e-01 1 1h 44 2.0805644e+00 2.79e-11 3.64e-03 1.00e-08 -8.6 -7.2 1.33e-01 1 1h 45 2.0805627e+00 2.71e-11 7.38e-03 2.78e-09 -8.6 -7.6 8.40e-02 1 1h 46 2.0805467e+00 1.28e-09 1.17e-03 1.49e-08 -8.6 -8.1 1.00e+00 1 1h 47 2.0805381e+00 6.66e-10 6.00e-04 3.80e-09 -8.6 -8.6 1.00e+00 1 1h 48 2.0805365e+00 3.68e-10 4.33e-03 2.57e-09 -8.6 -9.1 1.00e+00 1 1h 49 2.0805374e+00 8.58e-11 1.73e-04 1.04e-06 -8.6 -6.8 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 3.06e-11 7.61e-05 9.16e-09 -8.6 -5.5 1.00e+00 1 1h 51 2.0805366e+00 1.61e-11 2.86e-02 2.58e-09 -8.6 -6.0 5.00e-01 1 1h 52 2.0805366e+00 7.37e-12 2.85e-06 2.65e-09 -8.6 -6.5 1.00e+00 1 1h 53 2.0805366e+00 1.66e-11 1.06e-07 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 54 2.0805365e+00 9.65e-12 4.68e-05 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 55 2.0805365e+00 9.78e-12 7.70e-02 3.14e-08 -8.6 -7.0 2.46e-02 1 4h 56 2.0805366e+00 7.49e-12 4.37e-02 7.56e-09 -8.6 -6.6 1.00e+00 1 1h 57 2.0805365e+00 1.27e-12 6.00e-06 2.61e-09 -8.6 -5.2 1.00e+00 1 1h 58 2.0805365e+00 1.22e-14 6.03e-07 2.52e-09 -8.6 -4.8 1.00e+00 1 1h 59 2.0805365e+00 2.35e-13 1.09e-06 2.51e-09 -8.6 -5.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 1.61e-13 6.33e-07 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 61 2.0805366e+00 4.44e-16 1.99e-04 2.51e-09 -8.6 -6.2 1.00e+00 1 1H 62 2.0805365e+00 6.66e-16 1.46e-06 2.52e-09 -8.6 -4.9 1.00e+00 1 1H 63 2.0805365e+00 2.50e-12 3.72e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 64 2.0805365e+00 6.50e-13 4.10e-07 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 65 2.0805365e+00 7.73e-14 5.10e-08 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 66 2.0805365e+00 1.42e-14 1.46e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 67 2.0805365e+00 5.23e-10 4.17e-08 9.15e-10 -9.0 -7.3 1.00e+00 1 1h 68 2.0805365e+00 1.56e-13 2.49e-07 9.09e-10 -9.0 -7.8 1.00e+00 1 1h 69 2.0805365e+00 4.17e-13 7.54e-07 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 70 2.0805365e+00 5.59e-13 8.28e-07 9.09e-10 -9.0 -8.7 1.00e+00 1 1h 71 2.0805365e+00 1.51e-13 1.85e-07 9.09e-10 -9.0 -9.2 1.00e+00 1 1h 72 2.0805365e+00 6.33e-15 6.15e-09 9.09e-10 -9.0 -9.7 1.00e+00 1 1h Number of Iterations....: 72 (scaled) (unscaled) Objective...............: 2.0805364595437710e+00 2.0805364595437710e+00 Dual infeasibility......: 6.1476966850548820e-09 6.1476966850548820e-09 Constraint violation....: 6.3282712403633923e-15 6.3282712403633923e-15 Complementarity.........: 9.0909090982347824e-10 9.0909090982347824e-10 Overall NLP error.......: 6.1476966850548820e-09 6.1476966850548820e-09 Number of objective function evaluations = 80 Number of objective gradient evaluations = 73 Number of constraint evaluations = 80 Number of constraint Jacobian evaluations = 73 Number of Lagrangian Hessian evaluations = 72 Number of KKT factorizations = 175 Number of KKT backsolves = 77 Total wall secs in initialization = 6.300 s Total wall secs in linear solver = 0.157 s Total wall secs in NLP function evaluations = 21.824 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.061 s Total wall secs = 59.343 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 2.4274772e+00 2.78e+00 4.29e-01 9.65e-01 -1.0 - 0.00e+00 1 0 1 2.7660960e+00 4.54e-02 6.12e-01 1.51e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.3407007e+00 8.49e-02 1.59e-01 3.33e-02 -1.7 -2.5 1.00e+00 2 1h 3 2.1453271e+00 3.44e-02 7.16e-02 8.22e-03 -2.5 -3.0 8.64e-01 2 1h 4 2.1161218e+00 4.55e-04 2.37e-02 3.12e-03 -2.5 -3.4 1.00e+00 2 1h 5 2.0913355e+00 3.35e-04 2.15e-03 1.75e-04 -3.8 -3.9 1.00e+00 2 1h 6 2.0913085e+00 8.39e-05 8.74e-05 1.50e-04 -3.8 -4.4 1.00e+00 2 1h 7 2.0898931e+00 1.52e-04 6.35e-04 2.38e-05 -5.7 -4.9 1.00e+00 2 1h 8 2.0898364e+00 7.46e-05 2.52e-03 3.15e-06 -5.7 -4.4 5.10e-01 1 1h 9 2.0896810e+00 1.66e-05 2.44e-04 1.87e-06 -5.7 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0895089e+00 1.41e-05 1.08e-02 1.89e-06 -5.7 -5.4 3.75e-01 1 1h 11 2.0882911e+00 2.56e-05 2.67e-03 6.01e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0878819e+00 2.26e-05 1.09e-01 2.40e-06 -5.7 -6.3 1.22e-01 1 1h 13 2.0829339e+00 4.06e-05 6.39e-02 4.58e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0819092e+00 3.19e-05 1.08e-01 2.48e-06 -5.7 -7.3 2.64e-01 1 1h 15 2.0817300e+00 3.03e-05 9.78e-02 7.92e-06 -5.7 -7.8 4.94e-02 2 1h 16 2.0813497e+00 3.33e-05 1.51e-01 5.98e-06 -5.7 -8.3 3.13e-01 1 1h 17 2.0817494e+00 5.88e-05 2.01e-01 4.90e-04 -5.7 -6.9 5.28e-01 1 1h 18 2.0816789e+00 5.32e-05 4.56e-01 5.38e-04 -5.7 -6.5 9.91e-02 1 1h 19 2.0813188e+00 7.59e-07 1.69e-03 1.17e-04 -5.7 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0812133e+00 3.87e-07 2.13e-04 2.43e-05 -5.7 -6.5 1.00e+00 1 1h 21 2.0811054e+00 1.93e-07 4.30e-04 3.52e-06 -5.7 -7.0 1.00e+00 2 1h 22 2.0809241e+00 8.99e-07 1.30e-03 1.93e-06 -5.7 -7.5 1.00e+00 2 1h 23 2.0806958e+00 1.69e-06 5.23e-03 1.84e-06 -5.7 -8.0 1.00e+00 1 1h 24 2.0806009e+00 2.88e-06 3.64e-03 2.57e-06 -5.7 -8.5 6.99e-01 2 1h 25 2.0807362e+00 2.16e-09 5.75e-02 1.19e-04 -5.7 -7.1 1.00e+00 1 1H 26 2.0806474e+00 1.47e-07 2.16e-04 2.80e-05 -5.7 -5.8 1.00e+00 1 1h 27 2.0806262e+00 1.10e-07 1.87e-04 7.85e-06 -5.7 -6.3 1.00e+00 2 1h 28 2.0806122e+00 5.01e-08 1.69e-04 2.23e-06 -5.7 -6.8 1.00e+00 1 1h 29 2.0805979e+00 6.80e-07 1.75e-02 2.04e-06 -5.7 -7.2 3.94e-01 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805941e+00 3.35e-07 1.33e-02 1.94e-06 -5.7 -5.9 5.35e-01 1 1h 31 2.0805969e+00 2.64e-07 2.44e-04 6.69e-06 -5.7 -6.4 1.00e+00 1 1h 32 2.0805977e+00 9.81e-07 1.36e-02 1.88e-06 -5.7 -6.9 1.25e-01 1 4h 33 2.0805968e+00 1.54e-08 8.74e-06 1.87e-06 -5.7 -4.6 1.00e+00 1 1h 34 2.0805777e+00 2.98e-07 3.31e-03 4.03e-07 -8.6 -5.1 9.08e-01 2 1h 35 2.0805747e+00 6.43e-08 2.55e-04 6.89e-08 -8.6 -5.6 9.87e-01 2 1h 36 2.0805738e+00 1.06e-08 2.16e-02 4.17e-08 -8.6 -6.1 8.52e-01 2 1h 37 2.0805726e+00 3.17e-09 3.98e-02 3.08e-09 -8.6 -4.7 7.01e-01 1 1h 38 2.0805740e+00 1.62e-11 2.19e-04 2.78e-06 -8.6 -5.2 1.00e+00 2 1h 39 2.0805728e+00 2.52e-13 5.44e-05 6.96e-07 -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 40 2.0805723e+00 1.37e-12 1.62e-05 1.54e-07 -8.6 -5.3 1.00e+00 2 1h 41 2.0805715e+00 4.75e-12 1.67e-06 2.33e-08 -8.6 -5.7 1.00e+00 2 1h 42 2.0805701e+00 1.64e-11 8.20e-05 2.54e-09 -8.6 -6.2 7.70e-01 2 1h 43 2.0805688e+00 1.82e-11 1.08e-03 3.51e-09 -8.6 -6.7 2.42e-01 2 1h 44 2.0805638e+00 7.68e-11 4.54e-03 3.33e-08 -8.6 -7.2 4.96e-01 2 1h 45 2.0805556e+00 6.75e-10 3.48e-04 6.89e-07 -8.6 -7.6 1.00e+00 2 1h 46 2.0805444e+00 5.08e-10 4.29e-04 1.11e-07 -8.6 -8.1 1.00e+00 1 1h 47 2.0805378e+00 6.81e-10 8.05e-04 9.45e-09 -8.6 -8.6 1.00e+00 1 1h 48 2.0805538e+00 8.88e-16 5.62e-04 4.30e-06 -8.6 -7.3 1.00e+00 1 1H 49 2.0805387e+00 1.64e-10 1.06e-01 2.79e-09 -8.6 -5.0 9.10e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805386e+00 1.04e-10 1.26e-01 3.09e-09 -8.6 -5.5 3.85e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805386237890264e+00 2.0805386237890264e+00 Dual infeasibility......: 1.2607291920976693e-01 1.2607291920976693e-01 Constraint violation....: 1.0445511122725293e-10 1.0445511122725293e-10 Complementarity.........: 3.0929444713843043e-09 3.0929444713843043e-09 Overall NLP error.......: 1.2607291920976693e-01 1.2607291920976693e-01 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of constraint evaluations = 59 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 124 Number of KKT backsolves = 77 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.059 s Total wall secs in NLP function evaluations = 24.113 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.116 s Total wall secs = 34.290 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.3050325e+00 3.47e+00 4.78e-01 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.7503560e+00 4.09e-02 3.12e+00 3.50e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.6408100e+00 1.91e-02 3.66e-01 1.03e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.4113478e+00 1.46e-03 1.01e-01 3.55e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1393973e+00 1.09e-02 1.30e-01 6.33e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1106359e+00 1.24e-03 2.52e-02 2.84e-03 -2.5 - 9.48e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1106358889421668e+00 2.1106358889421668e+00 Dual infeasibility......: 2.5236251377590252e-02 2.5236251377590252e-02 Constraint violation....: 1.2399174112738276e-03 1.2399174112738276e-03 Complementarity.........: 2.8437828790475951e-03 2.8437828790475951e-03 Overall NLP error.......: 2.5236251377590252e-02 2.5236251377590252e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.624 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.155 s Total wall secs in solver (w/o init./fun./lin. alg.) = 40.663 s Total wall secs = 41.446 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 1.2556279e+00 3.64e+00 5.90e-01 9.67e-01 -1.0 - 0.00e+00 1 0 1 2.7394559e+00 4.88e-02 1.35e+00 1.73e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7426393e+00 3.42e-02 2.23e-01 1.01e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.4000445e+00 9.71e-03 1.48e-01 3.61e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1142041e+00 6.89e-03 7.07e-02 4.63e-03 -2.5 - 9.94e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1153771e+00 9.08e-04 1.60e-02 2.96e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1153771225077533e+00 2.1153771225077533e+00 Dual infeasibility......: 1.6031376558804801e-02 1.6031376558804801e-02 Constraint violation....: 9.0835941515954310e-04 9.0835941515954310e-04 Complementarity.........: 2.9572455253545444e-03 2.9572455253545444e-03 Overall NLP error.......: 1.6031376558804801e-02 1.6031376558804801e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.155 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.182 s Total wall secs = 10.343 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 2.0353460e+00 3.77e+00 5.68e-01 9.80e-01 -1.0 - 0.00e+00 1 0 1 2.8627170e+00 5.84e-02 3.31e+00 3.09e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 2 2.7178055e+00 1.75e-02 2.11e-01 1.03e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 3 2.4043687e+00 4.22e-03 1.22e-01 3.57e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 4 2.1305876e+00 1.10e-02 9.00e-02 5.65e-03 -2.5 - 9.14e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 5 2.1156835e+00 1.24e-03 2.09e-02 3.11e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 6 2.0914457e+00 4.05e-05 6.57e-03 1.84e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 7 2.0913396e+00 1.64e-07 1.17e-04 1.51e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 8 2.0899874e+00 1.43e-05 8.08e-04 3.22e-05 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 9 2.0899076e+00 1.34e-04 1.89e-03 7.56e-06 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0896659e+00 8.26e-05 1.38e-03 1.90e-06 -5.7 - 4.13e-01 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0896659329101839e+00 2.0896659329101839e+00 Dual infeasibility......: 1.3754822405237423e-03 1.3754822405237423e-03 Constraint violation....: 8.2623615983212773e-05 8.2623615983212773e-05 Complementarity.........: 1.9031578943367153e-06 1.9031578943367153e-06 Overall NLP error.......: 1.3754822405237423e-03 1.3754822405237423e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.165 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.799 s Total wall secs = 9.974 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 1.0757141e+01 3.10e+00 2.96e+00 1.97e+00 -1.0 - 0.00e+00 1 0 1 3.2914589e+00 9.57e-01 1.25e+00 6.49e-01 -1.0 -2.0 6.90e-01 1 1h 2 2.5202231e+00 1.49e-01 2.67e+00 3.63e-01 -1.0 -2.5 1.00e+00 2 1h 3 2.8127936e+00 2.14e-01 6.16e-01 1.08e-01 -1.0 -3.0 1.00e+00 2 1h 4 2.3460479e+00 2.93e-01 1.06e-01 4.20e-02 -1.7 -3.4 8.51e-01 2 1h 5 2.2629459e+00 3.77e-01 4.78e-01 2.62e-02 -1.7 -3.9 6.68e-01 2 1h 6 2.2816706e+00 1.43e+00 1.08e+00 2.07e-02 -1.7 -4.4 1.00e+00 2 1h 7 2.2272758e+00 5.59e-01 1.78e-01 2.63e-02 -1.7 -4.9 8.54e-02 2 1h 8 2.2481199e+00 9.08e-01 5.90e-01 2.30e-02 -1.7 -5.3 5.00e-01 2 2h 9 2.2385568e+00 7.94e-01 2.19e-01 2.65e-02 -1.7 -5.8 2.54e-01 2 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.2396341e+00 7.99e-01 1.70e+00 3.00e-02 -1.7 -6.3 1.29e-01 2 3h 11 2.2937729e+00 3.01e-01 2.53e-01 5.87e-02 -1.7 -5.0 1.00e+00 1 1h 12 2.2716378e+00 6.44e-01 3.03e-01 4.14e-02 -1.7 -5.4 4.69e-01 2 2h 13 2.2628822e+00 2.00e-01 3.21e-01 2.12e-02 -1.7 -5.9 1.00e+00 2 1h 14 2.2579084e+00 3.51e-02 1.29e-02 2.01e-02 -1.7 -6.4 1.00e+00 2 1h 15 2.1182497e+00 2.22e-01 3.71e-03 3.73e-03 -2.5 -6.9 1.00e+00 1 1h 16 2.1112947e+00 3.57e-02 1.17e-02 2.91e-03 -2.5 -7.4 1.00e+00 2 1h 17 2.1110829e+00 4.06e-04 8.27e-03 2.83e-03 -2.5 -7.8 1.00e+00 1 1h 18 2.0852273e+00 2.55e-01 8.84e-03 8.12e-04 -3.8 -8.3 1.00e+00 1 1h 19 2.0829072e+00 1.01e-02 8.44e-03 2.64e-04 -3.8 -8.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0825074e+00 3.54e-04 3.39e-03 1.62e-04 -3.8 -9.3 1.00e+00 1 1h 21 2.0824936e+00 5.49e-06 5.05e-05 1.51e-04 -3.8 -9.7 1.00e+00 1 1h 22 2.0806066e+00 9.90e-03 8.45e-04 3.71e-05 -5.7 -10.2 1.00e+00 2 1h 23 2.0805683e+00 9.08e-05 2.56e-05 6.57e-06 -5.7 -10.7 1.00e+00 2 1h 24 2.0805610e+00 1.32e-07 7.04e-07 2.11e-06 -5.7 -11.2 1.00e+00 1 1h 25 2.0805368e+00 4.78e-06 4.70e-06 8.31e-08 -8.6 -11.6 9.92e-01 2 1h 26 2.0805365e+00 2.64e-09 9.59e-10 2.65e-09 -8.6 -12.1 1.00e+00 1 1h Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0805364805809554e+00 2.0805364805809554e+00 Dual infeasibility......: 9.5949120783501912e-10 9.5949120783501912e-10 Constraint violation....: 2.6363093930115156e-09 2.6363093930115156e-09 Complementarity.........: 2.6451565276739524e-09 2.6451565276739524e-09 Overall NLP error.......: 2.6451565276739524e-09 2.6451565276739524e-09 Number of objective function evaluations = 35 Number of objective gradient evaluations = 27 Number of constraint evaluations = 35 Number of constraint Jacobian evaluations = 27 Number of Lagrangian Hessian evaluations = 26 Number of KKT factorizations = 56 Number of KKT backsolves = 49 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.033 s Total wall secs in NLP function evaluations = 28.132 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.814 s Total wall secs = 39.981 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 5.4268590e+00 3.45e+00 5.21e-01 9.58e-01 -1.0 - 0.00e+00 1 0 1 2.5560077e+00 2.68e-01 4.52e+00 6.35e-01 -1.0 0.0 9.26e-01 1 1h 2 2.5329886e+00 1.07e-01 2.21e+00 1.30e-01 -1.0 -0.5 5.94e-01 2 1h 3 2.6564729e+00 1.23e-02 3.05e-01 1.44e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.3448525e+00 7.19e-02 4.36e-01 4.51e-02 -1.7 -1.4 7.27e-01 2 1h 5 2.2792215e+00 1.29e-03 1.75e-01 2.29e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1146356e+00 2.71e-03 1.52e-02 4.27e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0912170e+00 1.78e-03 1.98e-03 1.75e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0914930e+00 6.01e-06 1.10e-04 1.51e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0901296e+00 2.37e-05 8.07e-05 2.51e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900748e+00 1.03e-05 1.08e-04 2.19e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0900573e+00 4.96e-06 8.53e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0900139e+00 1.50e-04 2.62e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899975e+00 3.43e-05 7.73e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 14 2.0899498e+00 1.35e-04 6.52e-05 1.85e-06 -5.7 -4.4 9.77e-01 2 1h 15 2.0898165e+00 8.96e-05 2.56e-04 3.88e-06 -5.7 -4.9 1.00e+00 1 1h 16 2.0897346e+00 8.40e-05 2.28e-02 1.93e-06 -5.7 -5.4 7.10e-02 2 1h 17 2.0885813e+00 6.79e-05 3.84e-03 2.72e-06 -5.7 -5.8 1.00e+00 2 1h 18 2.0882599e+00 6.09e-05 1.02e-01 2.36e-06 -5.7 -6.3 1.05e-01 1 1h 19 2.0833104e+00 3.71e-05 5.91e-02 4.90e-06 -5.7 -6.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0823889e+00 3.06e-05 1.23e-01 2.63e-06 -5.7 -7.3 2.17e-01 1 1h 21 2.0817020e+00 2.68e-05 1.25e-01 5.21e-06 -5.7 -7.7 1.51e-01 2 1h 22 2.0814511e+00 2.87e-05 1.99e-01 1.13e-05 -5.7 -8.2 2.12e-01 2 1h 23 2.0806374e+00 4.30e-05 1.55e-01 6.87e-06 -5.7 -8.7 8.53e-01 1 1h 24 2.0806384e+00 3.19e-05 1.23e-01 3.51e-05 -5.7 -6.5 2.61e-01 1 1h 25 2.0806351e+00 1.60e-06 9.44e-04 1.04e-05 -5.7 -6.9 1.00e+00 2 1h 26 2.0806091e+00 1.63e-07 4.74e-04 3.53e-06 -5.7 -7.4 1.00e+00 1 1h 27 2.0805833e+00 5.68e-07 3.21e-04 1.91e-06 -5.7 -7.9 9.22e-01 1 1h 28 2.1053243e+00 1.49e-09 4.69e-01 2.04e-06 -5.7 -8.4 1.00e+00 1 1H 29 2.1041915e+00 1.85e-07 4.59e-01 1.91e-06 -5.7 -4.3 2.10e-02 1 5h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.1005928e+00 1.75e-07 1.77e+00 2.50e-05 -5.7 -1.2 6.32e-02 1 1h 31 2.0975597e+00 1.67e-07 3.25e+00 1.09e-05 -5.7 -1.7 7.59e-02 2 1h 32 2.0873030e+00 2.61e-07 4.48e+00 4.00e-06 -5.7 -2.1 3.63e-01 2 1h 33 2.0809094e+00 1.98e-07 2.18e-01 2.58e-06 -5.7 -2.6 7.88e-01 1 1H 34 2.0817516e+00 5.06e-10 1.87e+00 9.09e-04 -5.7 -3.1 1.00e+00 1 1H 35 2.0815834e+00 3.15e-07 1.85e+00 8.40e-04 -5.7 -3.6 1.21e-01 2 1h 36 2.0810090e+00 5.44e-08 9.86e-02 1.70e-04 -5.7 -4.1 9.47e-01 1 1H 37 2.0808387e+00 3.84e-10 5.61e-02 3.29e-05 -5.7 -4.5 1.00e+00 2 1H 38 2.0808128e+00 3.75e-13 1.16e-04 5.81e-06 -5.7 -5.0 1.00e+00 2 1H 39 2.0808058e+00 8.43e-08 1.15e-05 2.00e-06 -5.7 -5.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0807801e+00 2.38e-06 3.44e-03 6.00e-07 -8.6 -6.0 7.69e-01 2 1h 41 2.0807530e+00 2.20e-06 8.77e-04 1.31e-07 -8.6 -6.4 8.48e-01 2 1h 42 2.0807247e+00 1.27e-06 1.22e-02 4.83e-08 -8.6 -6.9 5.39e-01 2 1h 43 2.0806313e+00 9.43e-07 2.68e-03 1.33e-08 -8.6 -7.4 1.00e+00 2 1h 44 2.0805569e+00 4.02e-08 3.96e-03 2.61e-09 -8.6 -7.9 1.00e+00 2 1h 45 2.0805569e+00 4.02e-08 3.99e-02 2.61e-09 -8.6 -6.5 2.91e-04 1 1h 46 2.0805518e+00 2.56e-10 7.00e-05 3.11e-09 -8.6 -7.0 1.00e+00 1 1h 47 2.0805440e+00 4.57e-10 2.77e-04 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805384e+00 7.73e-10 9.87e-04 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 49 2.0805429e+00 3.78e-10 1.87e-04 1.03e-05 -8.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805382e+00 3.33e-10 1.56e-03 2.51e-09 -8.6 -7.1 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805381848824638e+00 2.0805381848824638e+00 Dual infeasibility......: 1.5640562911199973e-03 1.5640562911199973e-03 Constraint violation....: 3.3307934188542276e-10 3.3307934188542276e-10 Complementarity.........: 2.5095079251084435e-09 2.5095079251084435e-09 Overall NLP error.......: 1.5640562911199973e-03 1.5640562911199973e-03 Number of objective function evaluations = 62 Number of objective gradient evaluations = 51 Number of constraint evaluations = 62 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 86 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.059 s Total wall secs in NLP function evaluations = 22.834 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.057 s Total wall secs = 32.951 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 2.2711094e+00 4.40e+00 2.83e-01 9.70e-01 -1.0 - 0.00e+00 1 0 1 1.9256536e+00 1.30e+00 1.42e+00 1.63e-01 -1.0 -2.0 7.05e-01 1 1h 2 2.6365913e+00 1.69e-01 6.84e-01 1.05e-01 -1.0 -2.5 1.00e+00 1 1h 3 2.3693737e+00 3.69e-02 1.25e-01 3.73e-02 -1.7 -3.0 1.00e+00 1 1h 4 2.1291976e+00 4.29e-02 7.87e-02 5.27e-03 -2.5 -3.4 1.00e+00 1 1h 5 2.1153230e+00 9.83e-04 7.03e-03 2.89e-03 -2.5 -3.9 1.00e+00 1 1h 6 2.0913579e+00 1.03e-03 4.30e-04 1.80e-04 -3.8 -4.4 1.00e+00 1 1h 7 2.0898055e+00 1.72e-04 5.51e-04 4.57e-05 -5.7 -4.9 1.00e+00 1 1h 8 2.0897273e+00 3.97e-05 1.06e-03 3.08e-06 -5.7 -4.4 7.69e-01 1 1h 9 2.0895734e+00 4.74e-06 4.14e-04 1.86e-06 -5.7 -4.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0893389e+00 4.71e-06 8.20e-03 1.88e-06 -5.7 -5.4 5.21e-01 1 1h 11 2.0881413e+00 9.19e-06 2.56e-03 6.51e-06 -5.7 -5.9 1.00e+00 1 1h 12 2.0876923e+00 7.98e-06 1.02e-01 2.38e-06 -5.7 -6.3 1.41e-01 1 1h 13 2.0828553e+00 3.94e-05 6.22e-02 4.47e-06 -5.7 -6.8 1.00e+00 1 1h 14 2.0817950e+00 3.05e-05 1.03e-01 2.42e-06 -5.7 -7.3 2.81e-01 1 1h 15 2.0817355e+00 2.98e-05 6.25e-02 7.42e-06 -5.7 -7.8 2.16e-02 1 1h 16 2.0812623e+00 3.41e-05 1.31e-01 5.24e-06 -5.7 -8.3 4.03e-01 1 1h 17 2.0813883e+00 1.50e-05 3.09e-01 7.66e-04 -5.7 -6.9 8.54e-01 1 1H 18 2.0821353e+00 1.38e-10 5.16e-02 1.01e-05 -5.7 -7.4 1.00e+00 1 1H 19 2.0812054e+00 2.95e-05 7.83e-01 9.41e-06 -5.7 -5.2 5.41e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0812168e+00 2.93e-05 2.09e+00 2.71e-04 -5.7 -5.6 3.72e-02 1 1h 21 2.0811724e+00 4.16e-06 9.44e-03 2.16e-05 -5.7 -6.1 1.00e+00 1 1h 22 2.0810547e+00 4.22e-06 8.23e-04 4.88e-06 -5.7 -6.6 9.85e-01 1 1h 23 2.0809312e+00 9.59e-07 1.20e-02 7.63e-06 -5.7 -7.1 1.00e+00 1 1h 24 2.0812579e+00 1.13e-06 4.85e-02 3.64e-05 -5.7 -6.7 7.08e-01 1 1H 25 2.0809247e+00 1.69e-06 8.30e-01 1.43e-05 -5.7 -4.4 5.63e-01 1 1h 26 2.0808729e+00 7.01e-08 7.66e-02 1.89e-06 -5.7 -4.9 9.27e-01 1 1h 27 2.0808761e+00 1.24e-07 1.13e-04 2.88e-06 -5.7 -5.4 1.00e+00 1 1h 28 2.0808711e+00 7.02e-08 2.53e-05 1.87e-06 -5.7 -5.9 1.00e+00 1 1h 29 2.0808584e+00 1.80e-08 5.54e-05 1.84e-06 -5.7 -6.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0808256e+00 7.28e-08 9.69e-05 1.84e-06 -5.7 -6.8 1.00e+00 1 1h 31 2.0807554e+00 3.38e-07 5.29e-04 1.84e-06 -5.7 -7.3 1.00e+00 1 1h 32 2.0806545e+00 8.90e-07 1.42e-03 1.88e-06 -5.7 -7.8 1.00e+00 1 1h 33 2.0805990e+00 8.10e-07 3.29e-03 5.80e-06 -5.7 -8.2 7.34e-01 1 1h 34 2.0806015e+00 5.94e-06 2.05e-02 3.17e-06 -5.7 -8.7 1.00e+00 1 1h 35 2.0805830e+00 3.77e-06 1.33e-01 2.17e-06 -5.7 -6.5 3.04e-01 1 1h 36 2.0805746e+00 3.76e-06 1.01e-02 1.70e-05 -5.7 -7.0 9.38e-01 1 1h 37 2.0805595e+00 2.23e-06 1.04e-02 1.86e-06 -5.7 -7.4 1.00e+00 1 1h 38 2.0806223e+00 1.08e-06 3.30e-01 4.79e-05 -5.7 -6.1 2.66e-01 1 1h 39 2.0805669e+00 2.29e-07 1.42e-03 1.22e-05 -5.7 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805619e+00 1.48e-08 1.45e-04 3.33e-06 -5.7 -7.1 1.00e+00 1 1h 41 2.0805612e+00 1.78e-08 2.09e-05 1.92e-06 -5.7 -7.5 1.00e+00 1 1h 42 2.0805609e+00 8.35e-09 1.19e-05 2.31e-06 -5.7 -8.0 1.00e+00 1 1h 43 2.0805370e+00 1.47e-05 3.61e-05 1.09e-07 -8.6 -8.5 9.87e-01 1 1h 44 2.0805365e+00 1.66e-07 1.36e-05 2.94e-09 -8.6 -9.0 1.00e+00 1 1h 45 2.0805365e+00 3.05e-11 1.36e-06 2.52e-09 -8.6 -9.4 1.00e+00 1 1h 46 2.0805365e+00 2.30e-14 1.66e-08 2.51e-09 -8.6 -9.9 1.00e+00 1 1h 47 2.0805365e+00 1.22e-11 2.11e-11 9.09e-10 -9.0 -10.4 1.00e+00 1 1h Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 2.0805364595436848e+00 2.0805364595436848e+00 Dual infeasibility......: 2.1119328508234503e-11 2.1119328508234503e-11 Constraint violation....: 1.2226442080986999e-11 1.2226442080986999e-11 Complementarity.........: 9.0913009015723838e-10 9.0913009015723838e-10 Overall NLP error.......: 9.0913009015723838e-10 9.0913009015723838e-10 Number of objective function evaluations = 51 Number of objective gradient evaluations = 48 Number of constraint evaluations = 51 Number of constraint Jacobian evaluations = 48 Number of Lagrangian Hessian evaluations = 47 Number of KKT factorizations = 111 Number of KKT backsolves = 51 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.102 s Total wall secs in NLP function evaluations = 22.557 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.256 s Total wall secs = 32.916 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 This is MadNLP version v0.9.1, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.3392277e+00 3.09e+00 3.81e-01 9.60e-01 -1.0 - 0.00e+00 1 0 1 3.0450930e+00 1.40e-01 6.24e+00 5.28e+00 -0.7 0.0 1.00e+00 1 1h 2 2.8487784e+00 1.57e-02 1.84e+01 2.76e+00 -1.6 0.4 1.00e+00 1 1h 3 2.7841839e+00 3.85e-03 6.06e-01 2.28e-01 -0.9 -0.1 1.00e+00 2 1h 4 2.4696974e+00 2.10e-02 6.05e-01 5.28e-02 -1.6 -0.5 1.00e+00 2 1h 5 2.3223299e+00 1.26e-03 3.01e-02 3.00e-02 -1.6 -1.0 1.00e+00 2 1h 6 2.1166593e+00 3.68e-03 1.77e-02 4.66e-03 -3.5 -1.5 1.00e+00 2 1h 7 2.0921205e+00 1.22e-03 2.02e-03 3.35e-04 -3.5 -2.0 1.00e+00 2 1h 8 2.0901389e+00 2.33e-06 2.62e-05 1.43e-05 -5.3 -2.4 1.00e+00 2 1h 9 2.0900797e+00 1.11e-07 5.19e-05 2.07e-06 -7.9 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900706e+00 2.27e-07 1.15e-04 4.73e-07 -7.9 -3.4 1.00e+00 2 1h 11 2.0900540e+00 2.74e-06 5.94e-05 1.03e-07 -7.9 -3.9 1.00e+00 2 1h 12 2.0900070e+00 1.11e-04 1.02e-03 1.31e-08 -7.9 -4.3 1.00e+00 2 1h 13 2.0899922e+00 6.26e-05 1.01e-04 1.31e-08 -7.9 -3.9 1.00e+00 1 1h 14 2.0899770e+00 8.95e-05 1.25e-03 1.31e-08 -7.9 -4.4 2.47e-01 2 1h 15 2.0898390e+00 3.08e-04 2.04e-04 1.24e-06 -7.9 -4.9 1.00e+00 1 1h 16 2.0897803e+00 2.96e-04 1.79e-02 1.36e-08 -7.9 -5.4 4.23e-02 2 1h 17 2.0886098e+00 6.88e-05 3.48e-03 4.07e-08 -7.9 -5.8 1.00e+00 2 1h 18 2.0884121e+00 6.40e-05 9.83e-02 1.67e-08 -7.9 -6.3 7.02e-02 2 1h 19 2.0833398e+00 6.90e-06 5.96e-02 2.85e-08 -7.9 -6.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0824918e+00 5.55e-06 1.27e-01 1.91e-08 -7.9 -7.3 1.98e-01 2 1h 21 2.0816739e+00 4.64e-06 1.42e-01 3.58e-08 -7.9 -7.7 1.66e-01 1 1h 22 2.0815071e+00 4.03e-06 2.42e-01 9.93e-06 -7.9 -8.2 1.32e-01 1 1h 23 2.0806565e+00 9.60e-07 1.75e-01 5.19e-06 -7.9 -8.7 8.36e-01 1 1h 24 2.0806565e+00 9.59e-07 1.40e-01 1.38e-06 -7.9 -6.5 3.26e-04 1 1h 25 2.0806565e+00 9.59e-07 4.27e-02 4.87e-06 -7.9 -6.9 2.15e-04 1 11f 26 2.0806490e+00 8.09e-07 3.12e-02 4.43e-06 -7.9 -7.4 1.57e-01 2 1h 27 2.0805941e+00 1.25e-07 4.15e-03 1.18e-06 -7.9 -7.9 8.52e-01 1 1h 28 2.0805579e+00 4.91e-08 6.54e-03 3.63e-06 -7.9 -8.4 8.96e-01 1 1h 29 2.0805583e+00 4.06e-08 1.89e-02 5.82e-05 -7.9 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805496e+00 4.48e-09 2.66e-02 2.66e-07 -7.9 -7.5 7.30e-01 2 1h 31 2.0805531e+00 2.95e-09 4.43e-02 2.73e-06 -7.9 -6.2 3.75e-01 1 1h 32 2.0805518e+00 8.87e-10 2.83e-02 1.31e-08 -7.9 -4.9 7.00e-01 2 1h 33 2.0805521e+00 4.15e-10 8.18e-02 1.78e-06 -7.9 -5.3 5.32e-01 2 1h 34 2.0805513e+00 2.20e-10 3.73e-05 1.39e-08 -7.9 -5.8 1.00e+00 2 1h 35 2.0805510e+00 1.48e-11 1.67e-05 1.31e-08 -7.9 -5.4 1.00e+00 1 1h 36 2.0805506e+00 1.17e-11 4.37e-06 1.31e-08 -7.9 -5.9 1.00e+00 2 1h 37 2.0805517e+00 2.22e-16 3.25e-03 1.33e-08 -7.9 -6.3 1.00e+00 2 1H 38 2.0805497e+00 1.45e-11 1.62e-04 1.31e-08 -7.9 -4.1 1.00e+00 1 1h 39 2.0805493e+00 9.85e-12 4.74e-04 1.31e-08 -7.9 -4.6 9.88e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805495e+00 8.49e-12 2.74e-05 3.92e-07 -7.9 -5.1 1.00e+00 2 1h 41 2.0805491e+00 9.28e-13 7.99e-06 8.69e-08 -7.9 -5.5 1.00e+00 2 1h 42 2.0805486e+00 3.15e-11 1.36e-06 1.55e-08 -7.9 -6.0 1.00e+00 2 1h 43 2.0805485e+00 3.06e-11 3.23e-03 2.30e-08 -7.9 -6.5 9.50e-02 2 2h 44 2.0805478e+00 1.90e-10 5.37e-03 1.97e-08 -7.9 -7.0 4.67e-01 2 1h 45 2.0805460e+00 5.39e-10 2.04e-03 1.37e-08 -7.9 -7.4 6.39e-01 2 1h 46 2.0805416e+00 6.85e-10 1.80e-04 2.54e-08 -7.9 -7.9 1.00e+00 2 1h 47 2.0805379e+00 1.07e-09 1.97e-04 1.31e-08 -7.9 -8.4 1.00e+00 1 1h 48 2.0805367e+00 1.18e-09 2.59e-03 1.33e-08 -7.9 -8.9 1.00e+00 1 1h 49 2.0805374e+00 3.57e-10 1.53e-02 1.42e-06 -7.9 -6.6 5.00e-01 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805370e+00 1.04e-10 1.79e-02 7.71e-08 -7.9 -5.3 7.90e-01 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805369664401225e+00 2.0805369664401225e+00 Dual infeasibility......: 1.7856497143934169e-02 1.7856497143934169e-02 Constraint violation....: 1.0392309235385255e-10 1.0392309235385255e-10 Complementarity.........: 7.7117560626810729e-08 7.7117560626810729e-08 Overall NLP error.......: 1.7856497143934169e-02 1.7856497143934169e-02 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of constraint evaluations = 65 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 123 Number of KKT backsolves = 85 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.057 s Total wall secs in NLP function evaluations = 24.409 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.575 s Total wall secs = 36.043 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 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 1.9053238e+00 3.30e+00 7.43e-01 9.71e-01 -1.0 - 0.00e+00 1 0 1 1.9094907e+00 3.03e+00 4.13e+01 1.48e+00 -0.2 0.0 8.28e-02 1 1h 2 3.0048720e+00 4.14e-01 1.18e+02 9.04e-01 -0.0 -0.5 8.61e-01 2 1h 3 2.7494345e+00 1.43e-01 5.77e+01 2.69e+01 0.1 1.8 7.20e-01 1 1h 4 3.0099061e+00 2.83e-02 4.53e+00 7.30e+00 0.1 1.3 1.00e+00 1 1h 5 2.9248737e+00 1.27e-03 1.07e+01 5.24e-01 -5.9 0.8 1.00e+00 2 1h 6 2.8797914e+00 5.17e-03 5.18e-01 3.49e-01 -0.9 0.3 1.00e+00 2 1h 7 2.6094212e+00 6.58e-03 2.09e-01 8.32e-02 -1.6 -0.2 1.00e+00 2 1h 8 2.2991089e+00 9.57e-03 9.80e-02 3.57e-02 -2.3 -0.6 6.79e-01 2 1h 9 2.1935800e+00 7.91e-03 3.25e-01 2.15e-02 -2.3 -1.1 4.47e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1350733e+00 2.09e-03 1.20e-02 5.53e-03 -2.3 -1.6 1.00e+00 2 1h 11 2.0932567e+00 5.59e-05 9.61e-04 4.50e-04 -3.5 -2.1 1.00e+00 2 1h 12 2.0900126e+00 2.23e-06 4.31e-05 1.18e-05 -5.2 -2.5 1.00e+00 2 1h 13 2.0899556e+00 1.08e-07 4.42e-05 1.83e-06 -7.9 -3.0 1.00e+00 2 1h 14 2.0899458e+00 1.29e-06 1.16e-04 4.62e-07 -7.9 -3.5 1.00e+00 1 1h 15 2.0899287e+00 6.74e-06 1.99e-04 1.35e-08 -7.9 -4.0 8.07e-01 1 1h 16 2.0898743e+00 3.87e-05 4.20e-05 2.99e-08 -7.9 -4.4 1.00e+00 2 1h 17 2.0898275e+00 3.61e-05 4.34e-03 1.36e-08 -7.9 -4.9 2.89e-01 2 1h 18 2.0893586e+00 1.34e-04 2.87e-04 4.58e-08 -7.9 -5.4 1.00e+00 2 1h 19 2.0892317e+00 1.21e-04 4.39e-02 1.50e-08 -7.9 -5.9 9.83e-02 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0861937e+00 5.25e-05 1.54e-02 3.77e-08 -7.9 -6.4 1.00e+00 2 1h 21 2.0857098e+00 4.73e-05 1.62e-01 2.22e-08 -7.9 -6.8 9.98e-02 2 1h 22 2.0816958e+00 1.86e-05 1.48e-01 1.48e-08 -7.9 -7.3 6.44e-01 2 1h 23 2.0818467e+00 1.53e-06 1.53e-01 9.37e-04 -7.9 -7.8 1.00e+00 1 1h 24 2.0810995e+00 4.69e-07 3.61e-02 4.22e-04 -7.9 -8.3 5.48e-01 1 1h 25 2.0807459e+00 1.22e-07 4.14e-02 2.13e-04 -7.9 -8.7 7.10e-01 1 1h 26 2.0808085e+00 3.81e-08 7.27e-02 1.36e-04 -7.9 -6.5 1.00e+00 1 1h 27 2.0806946e+00 2.16e-08 5.94e-02 8.43e-05 -7.9 -7.0 3.79e-01 1 1h 28 2.0806651e+00 1.46e-08 4.57e-02 3.83e-05 -7.9 -7.5 2.69e-01 2 1h 29 2.0806018e+00 1.51e-08 3.95e-03 1.03e-05 -7.9 -7.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805555e+00 7.64e-09 2.33e-03 4.53e-06 -7.9 -8.4 5.85e-01 2 1h 31 2.0805546e+00 7.44e-09 1.15e-01 4.41e-06 -7.9 -7.1 2.65e-02 1 1h 32 2.0805480e+00 1.14e-09 1.25e-03 1.15e-06 -7.9 -7.6 8.63e-01 1 1h 33 2.0805413e+00 1.95e-09 3.55e-04 9.35e-08 -7.9 -8.0 9.30e-01 1 1h 34 2.0805375e+00 3.11e-09 3.00e-03 1.37e-08 -7.9 -8.5 1.00e+00 1 1h 35 2.0805375e+00 2.97e-09 1.64e-02 1.66e-08 -7.9 -7.2 4.42e-02 1 1h 36 2.0805372e+00 3.47e-11 3.22e-06 1.91e-08 -7.9 -7.7 1.00e+00 2 1h 37 2.0805369e+00 1.39e-10 1.57e-05 1.35e-08 -7.9 -8.1 1.00e+00 1 1h 38 2.0805378e+00 6.66e-16 1.18e-03 1.36e-08 -7.9 -8.6 1.00e+00 1 1H 39 2.0805368e+00 4.09e-11 1.43e-02 1.36e-08 -7.9 -5.5 6.24e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805377e+00 2.22e-16 1.90e-05 1.57e-06 -7.9 -6.0 1.00e+00 1 1H 41 2.0805371e+00 8.88e-16 6.23e-06 3.89e-07 -7.9 -6.4 1.00e+00 1 1H 42 2.0805368e+00 5.22e-11 5.28e-06 9.60e-08 -7.9 -6.9 1.00e+00 2 1h 43 2.0805366e+00 6.84e-11 9.04e-04 1.35e-08 -7.9 -7.4 1.00e+00 1 1h 44 2.0805367e+00 1.89e-11 1.25e-06 2.67e-08 -7.9 -6.1 1.00e+00 1 1h 45 2.0805366e+00 1.40e-11 8.19e-04 1.37e-08 -7.9 -6.5 1.00e+00 1 1h 46 2.0805366e+00 4.05e-12 2.35e-07 1.43e-08 -7.9 -5.2 1.00e+00 1 1h 47 2.0805366e+00 1.90e-13 3.42e-06 1.35e-08 -7.9 -5.7 1.00e+00 1 1h 48 2.0805366e+00 3.85e-12 1.54e-05 1.35e-08 -7.9 -6.2 1.00e+00 1 1h 49 2.0805366e+00 4.44e-16 4.02e-05 1.35e-08 -7.9 -6.6 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805275e+00 5.96e-05 3.20e-04 1.77e-08 -7.9 -7.1 1.00e+00 2 1H Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805275433444765e+00 2.0805275433444765e+00 Dual infeasibility......: 3.1965426224489502e-04 3.1965426224489502e-04 Constraint violation....: 5.9619616593800662e-05 5.9619616593800662e-05 Complementarity.........: 1.7714888477226268e-08 1.7714888477226268e-08 Overall NLP error.......: 3.1965426224489502e-04 3.1965426224489502e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of constraint evaluations = 57 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 79 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.057 s Total wall secs in NLP function evaluations = 22.595 s Total wall secs in solver (w/o init./fun./lin. alg.) = 12.959 s Total wall secs = 35.613 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:420 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.053s jacobian structure: 1600 nonzeros (3.123s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.833s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.886s) linear index maps built (0.0s) evaluator ready (total: 8.009s) evaluator created (8.032s) 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: 8.048s) 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 2.6860250e+00 3.20e+00 3.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4939959e+00 2.17e-01 1.25e+00 -1.0 2.91e+00 -2.0 9.71e-01 9.57e-01h 1 Hello, world! 2 2.3244061e+00 1.77e-01 4.79e-01 -1.5 2.44e+00 -2.5 9.03e-01 1.00e+00h 1 Hello, world! 3 2.1793607e+00 2.08e-02 1.46e-01 -2.2 1.30e+00 -3.0 9.96e-01 1.00e+00h 1 Hello, world! 4 2.0980071e+00 5.66e-03 2.07e-02 -3.2 5.23e-01 -3.4 1.00e+00 9.73e-01h 1 Hello, world! 5 2.0908984e+00 2.01e-04 5.37e-04 -4.0 1.29e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908182e+00 7.86e-06 1.77e-04 -4.0 3.72e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907398e+00 3.32e-07 2.49e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905048e+00 3.32e-06 3.61e-04 -4.0 3.08e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904081e+00 5.30e-07 3.84e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902494e+00 1.30e-06 1.11e-02 -4.0 4.63e+00 -5.4 1.00e+00 3.41e-01h 2 Hello, world! 11 2.0892251e+00 4.48e-05 2.36e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0873569e+00 3.36e-04 3.31e-02 -4.0 3.11e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861559e+00 2.73e-04 9.01e-02 -4.0 2.53e+01 -5.9 1.00e+00 3.27e-01h 1 Hello, world! 14 2.0846444e+00 2.17e-04 2.22e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827548e+00 1.69e-04 2.44e-02 -4.0 3.44e+01 -6.9 1.00e+00 9.31e-01h 1 Hello, world! 16 2.0830793e+00 1.27e-03 3.71e-02 -4.0 5.97e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821345e+00 1.32e-03 8.71e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 1.1544168e+01 1.95e-04 9.46e+01 -4.0 1.88e+03 -8.3 1.85e-02 1.00e+00H 1 Hello, world! 19 2.1149462e+00 5.80e-05 5.98e+00 -4.1 3.82e+00 -0.5 1.10e-01 7.04e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1148620e+00 5.73e-05 4.78e+00 -4.1 2.00e-02 -0.9 1.00e+00 1.18e-02h 1 Hello, world! 21 2.1146132e+00 2.38e-07 2.88e-03 -4.1 7.47e-02 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 22 2.1141426e+00 2.32e-07 2.85e-03 -4.0 2.22e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.1123047e+00 4.58e-07 4.18e-03 -4.0 6.48e-01 -2.4 1.00e+00 1.00e+00f 1 Hello, world! 24 2.1074367e+00 2.22e-06 3.20e-02 -4.0 1.79e+00 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 25 2.1063689e+00 1.72e-06 1.40e+00 -4.1 3.14e+00 -3.3 1.00e+00 1.28e-01f 1 Hello, world! 26 2.1064058e+00 1.36e-05 5.50e-04 -4.1 1.62e-01 -3.8 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1055842e+00 5.50e-05 2.31e-02 -6.2 5.11e-01 -4.3 8.31e-01 1.00e+00h 1 Hello, world! 28 2.1052960e+00 3.33e-05 1.75e-04 -6.2 1.51e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.1046640e+00 7.72e-07 3.52e-04 -6.2 4.47e+00 -5.2 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 2.1045390e+00 3.67e-04 1.21e-01 -4.0 1.18e+01 -5.7 1.00e+00 4.60e-01f 1 Hello, world! 31 2.1031577e+00 4.32e-04 2.97e-02 -4.2 3.12e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0996399e+00 3.76e-04 1.47e-01 -4.2 8.50e+01 -6.7 1.00e+00 8.36e-01h 1 Hello, world! 33 2.0929787e+00 2.17e-03 2.29e-01 -4.2 2.09e+02 -7.1 7.03e-01 1.00e+00f 1 Hello, world! 34 2.0877420e+00 3.05e-03 7.65e-01 -4.2 3.85e+02 -7.6 1.00e+00 6.50e-01h 1 Hello, world! 35 2.0823326e+00 1.16e-02 1.75e-01 -4.2 5.70e+02 -8.1 6.17e-01 1.00e+00f 1 Hello, world! 36 2.0838905e+00 3.78e-03 1.48e-01 -4.2 9.80e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0817287e+00 3.52e-03 9.56e-02 -4.2 1.71e+02 -7.2 8.09e-01 1.00e+00h 1 Hello, world! 38 2.0817559e+00 1.81e-03 7.56e-01 -4.0 7.18e+00 -5.9 9.52e-01 4.70e-01h 1 Hello, world! 39 2.0823448e+00 6.27e-04 3.42e-03 -4.0 9.06e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821573e+00 8.73e-05 8.07e-04 -4.0 2.61e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820884e+00 3.26e-05 2.05e-04 -4.0 8.11e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820124e+00 2.96e-05 1.04e-03 -4.0 2.75e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0819879e+00 4.27e-05 8.90e-04 -4.0 1.26e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819377e+00 1.40e-04 2.19e-02 -4.0 3.75e+03 -7.0 4.18e-03 3.65e-03h 4 Hello, world! 45 2.0819613e+00 1.33e-04 1.38e+00 -4.0 3.50e+00 -4.7 4.38e-01 1.32e-01h 2 Hello, world! 46 2.0817440e+00 4.56e-05 5.49e-02 -4.1 2.01e+00 -5.2 1.00e+00 6.56e-01H 1 Hello, world! 47 2.0819773e+00 2.03e-04 1.49e-03 -4.0 1.80e+00 -5.7 1.00e+00 1.00e+00f 1 Hello, world! 48 2.0817796e+00 7.42e-05 4.32e-04 -4.1 3.29e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0808120e+00 9.93e-04 7.95e-03 -6.1 1.02e+01 -6.6 9.83e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0808218e+00 1.55e-04 1.76e-03 -5.0 1.21e+01 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0808218161333696e+00 2.0808218161333696e+00 Dual infeasibility......: 1.7611412326337557e-03 1.7611412326337557e-03 Constraint violation....: 1.5484183394187667e-04 1.5484183394187667e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2061692633504223e-05 1.2061692633504223e-05 Overall NLP error.......: 1.7611412326337557e-03 1.7611412326337557e-03 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 33.080 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 (0.002s) 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: 0.003s) 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 2.6860250e+00 3.20e+00 3.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4939959e+00 2.17e-01 1.25e+00 -1.0 2.91e+00 -2.0 9.71e-01 9.57e-01h 1 Hello, world! 2 2.3244061e+00 1.77e-01 4.79e-01 -1.5 2.44e+00 -2.5 9.03e-01 1.00e+00h 1 Hello, world! 3 2.1793607e+00 2.08e-02 1.46e-01 -2.2 1.30e+00 -3.0 9.96e-01 1.00e+00h 1 Hello, world! 4 2.0980071e+00 5.66e-03 2.07e-02 -3.2 5.23e-01 -3.4 1.00e+00 9.73e-01h 1 Hello, world! 5 2.0908984e+00 2.01e-04 5.37e-04 -4.0 1.29e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908182e+00 7.86e-06 1.77e-04 -4.0 3.72e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907398e+00 3.32e-07 2.49e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0905048e+00 3.32e-06 3.61e-04 -4.0 3.08e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904081e+00 5.30e-07 3.84e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902494e+00 1.30e-06 1.11e-02 -4.0 4.63e+00 -5.4 1.00e+00 3.41e-01h 2 Hello, world! 11 2.0892251e+00 4.48e-05 2.36e-03 -4.0 1.15e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0873569e+00 3.36e-04 3.31e-02 -4.0 3.11e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861559e+00 2.73e-04 9.01e-02 -4.0 2.53e+01 -5.9 1.00e+00 3.27e-01h 1 Hello, world! 14 2.0846444e+00 2.17e-04 2.22e-02 -4.0 2.54e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827548e+00 1.69e-04 2.44e-02 -4.0 3.44e+01 -6.9 1.00e+00 9.31e-01h 1 Hello, world! 16 2.0830793e+00 1.27e-03 3.71e-02 -4.0 5.97e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821345e+00 1.32e-03 8.71e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 1.1544168e+01 1.95e-04 9.46e+01 -4.0 1.88e+03 -8.3 1.85e-02 1.00e+00H 1 Hello, world! 19 2.1149462e+00 5.80e-05 5.98e+00 -4.1 3.82e+00 -0.5 1.10e-01 7.04e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1148620e+00 5.73e-05 4.78e+00 -4.1 2.00e-02 -0.9 1.00e+00 1.18e-02h 1 Hello, world! 21 2.1146132e+00 2.38e-07 2.88e-03 -4.1 7.47e-02 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 22 2.1141426e+00 2.32e-07 2.85e-03 -4.0 2.22e-01 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 23 2.1123047e+00 4.58e-07 4.18e-03 -4.0 6.48e-01 -2.4 1.00e+00 1.00e+00f 1 Hello, world! 24 2.1074367e+00 2.22e-06 3.20e-02 -4.0 1.79e+00 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 25 2.1063689e+00 1.72e-06 1.40e+00 -4.1 3.14e+00 -3.3 1.00e+00 1.28e-01f 1 Hello, world! 26 2.1064058e+00 1.36e-05 5.50e-04 -4.1 1.62e-01 -3.8 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1055842e+00 5.50e-05 2.31e-02 -6.2 5.11e-01 -4.3 8.31e-01 1.00e+00h 1 Hello, world! 28 2.1052960e+00 3.33e-05 1.75e-04 -6.2 1.51e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.1046640e+00 7.72e-07 3.52e-04 -6.2 4.47e+00 -5.2 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 2.1045390e+00 3.67e-04 1.21e-01 -4.0 1.18e+01 -5.7 1.00e+00 4.60e-01f 1 Hello, world! 31 2.1031577e+00 4.32e-04 2.97e-02 -4.2 3.12e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0996399e+00 3.76e-04 1.47e-01 -4.2 8.50e+01 -6.7 1.00e+00 8.36e-01h 1 Hello, world! 33 2.0929787e+00 2.17e-03 2.29e-01 -4.2 2.09e+02 -7.1 7.03e-01 1.00e+00f 1 Hello, world! 34 2.0877420e+00 3.05e-03 7.65e-01 -4.2 3.85e+02 -7.6 1.00e+00 6.50e-01h 1 Hello, world! 35 2.0823326e+00 1.16e-02 1.75e-01 -4.2 5.70e+02 -8.1 6.17e-01 1.00e+00f 1 Hello, world! 36 2.0838905e+00 3.78e-03 1.48e-01 -4.2 9.80e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0817287e+00 3.52e-03 9.56e-02 -4.2 1.71e+02 -7.2 8.09e-01 1.00e+00h 1 Hello, world! 38 2.0817559e+00 1.81e-03 7.56e-01 -4.0 7.18e+00 -5.9 9.52e-01 4.70e-01h 1 Hello, world! 39 2.0823448e+00 6.27e-04 3.42e-03 -4.0 9.06e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821573e+00 8.73e-05 8.07e-04 -4.0 2.61e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820884e+00 3.26e-05 2.05e-04 -4.0 8.11e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820124e+00 2.96e-05 1.04e-03 -4.0 2.75e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0819879e+00 4.27e-05 8.90e-04 -4.0 1.26e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819377e+00 1.40e-04 2.19e-02 -4.0 3.75e+03 -7.0 4.18e-03 3.65e-03h 4 Hello, world! 45 2.0819613e+00 1.33e-04 1.38e+00 -4.0 3.50e+00 -4.7 4.38e-01 1.32e-01h 2 Hello, world! 46 2.0817440e+00 4.56e-05 5.49e-02 -4.1 2.01e+00 -5.2 1.00e+00 6.56e-01H 1 Hello, world! 47 2.0819773e+00 2.03e-04 1.49e-03 -4.0 1.80e+00 -5.7 1.00e+00 1.00e+00f 1 Hello, world! 48 2.0817796e+00 7.42e-05 4.32e-04 -4.1 3.29e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0808120e+00 9.93e-04 7.95e-03 -6.1 1.02e+01 -6.6 9.83e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0808218e+00 1.55e-04 1.76e-03 -5.0 1.21e+01 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0808218161333696e+00 2.0808218161333696e+00 Dual infeasibility......: 1.7611412326337557e-03 1.7611412326337557e-03 Constraint violation....: 1.5484183394187667e-04 1.5484183394187667e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2061692633504223e-05 1.2061692633504223e-05 Overall NLP error.......: 1.7611412326337557e-03 1.7611412326337557e-03 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.925 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.253s jacobian structure: 1600 nonzeros (3.324s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.389s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.442s) linear index maps built (0.0s) evaluator ready (total: 7.766s) evaluator created (7.79s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.791s) 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 5.7402155e+00 3.50e+00 6.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8436461e+00 6.89e-02 7.01e+00 -0.9 2.14e+00 0.0 9.35e-01 1.00e+00f 1 2 2.6473742e+00 5.69e-02 6.70e+00 -1.1 1.82e+00 -0.5 9.98e-01 4.01e-01f 1 3 2.7569809e+00 1.57e-02 7.62e-01 -0.9 2.84e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.4664239e+00 5.10e-03 4.13e-01 -1.7 1.35e-01 -0.5 9.71e-01 1.00e+00h 1 5 2.1796634e+00 5.14e-03 6.52e-02 -2.3 1.23e-01 -1.0 9.88e-01 9.07e-01h 1 6 2.0990021e+00 8.22e-04 2.49e-02 -3.2 3.92e-02 -1.5 9.91e-01 9.06e-01h 1 7 2.0908800e+00 1.90e-05 5.30e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909203e+00 5.80e-08 4.77e-05 -4.0 1.29e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909180e+00 8.64e-10 2.10e-05 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909123e+00 1.14e-09 4.88e-05 -4.0 5.05e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908977e+00 8.57e-09 8.22e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908646e+00 5.39e-08 1.47e-03 -4.0 3.77e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907901e+00 3.00e-07 5.43e-04 -4.0 9.74e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905868e+00 3.00e-06 7.45e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900881e+00 1.07e-05 1.10e-02 -4.0 8.47e+00 -5.8 1.00e+00 6.73e-01h 1 16 2.0900961e+00 2.56e-04 5.89e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0873415e+00 1.67e-04 1.74e-01 -4.1 1.07e+01 -4.9 1.00e+00 4.71e-01h 1 18 2.0874093e+00 2.14e-05 1.29e-02 -4.0 3.56e+00 -5.4 1.00e+00 1.00e+00f 1 19 2.0863460e+00 3.92e-05 7.33e-03 -4.0 1.07e+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 2.0848112e+00 1.94e-04 1.02e-02 -4.0 2.43e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827734e+00 3.04e-04 2.65e-02 -4.0 3.61e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831969e+00 1.43e-03 4.13e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822174e+00 8.72e-04 7.17e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1355353e+00 1.30e-05 1.76e+00 -4.0 5.93e+02 -8.3 8.28e-02 1.00e+00H 1 25 2.1017692e+00 1.53e-04 8.17e+00 -4.1 3.15e+02 -2.4 4.07e-04 4.53e-03f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1017692060860802e+00 2.1017692060860802e+00 Dual infeasibility......: 8.1661980547682944e+00 8.1661980547682944e+00 Constraint violation....: 1.5288556077041465e-04 1.5288556077041465e-04 Variable bound violation: 1.3760585223371313e-09 1.3760585223371313e-09 Complementarity.........: 1.6517418946232482e-04 1.6517418946232482e-04 Overall NLP error.......: 8.1661980547682944e+00 8.1661980547682944e+00 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 29.173 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7402155e+00 3.50e+00 6.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8436461e+00 6.89e-02 7.01e+00 -0.9 2.14e+00 0.0 9.35e-01 1.00e+00f 1 2 2.6473742e+00 5.69e-02 6.70e+00 -1.1 1.82e+00 -0.5 9.98e-01 4.01e-01f 1 3 2.7569809e+00 1.57e-02 7.62e-01 -0.9 2.84e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.4664239e+00 5.10e-03 4.13e-01 -1.7 1.35e-01 -0.5 9.71e-01 1.00e+00h 1 5 2.1796634e+00 5.14e-03 6.52e-02 -2.3 1.23e-01 -1.0 9.88e-01 9.07e-01h 1 6 2.0990021e+00 8.22e-04 2.49e-02 -3.2 3.92e-02 -1.5 9.91e-01 9.06e-01h 1 7 2.0908800e+00 1.90e-05 5.30e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909203e+00 5.80e-08 4.77e-05 -4.0 1.29e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909180e+00 8.64e-10 2.10e-05 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909123e+00 1.14e-09 4.88e-05 -4.0 5.05e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908977e+00 8.57e-09 8.22e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908646e+00 5.39e-08 1.47e-03 -4.0 3.77e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907901e+00 3.00e-07 5.43e-04 -4.0 9.74e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905868e+00 3.00e-06 7.45e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900881e+00 1.07e-05 1.10e-02 -4.0 8.47e+00 -5.8 1.00e+00 6.73e-01h 1 16 2.0900961e+00 2.56e-04 5.89e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0873415e+00 1.67e-04 1.74e-01 -4.1 1.07e+01 -4.9 1.00e+00 4.71e-01h 1 18 2.0874093e+00 2.14e-05 1.29e-02 -4.0 3.56e+00 -5.4 1.00e+00 1.00e+00f 1 19 2.0863460e+00 3.92e-05 7.33e-03 -4.0 1.07e+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 2.0848112e+00 1.94e-04 1.02e-02 -4.0 2.43e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827734e+00 3.04e-04 2.65e-02 -4.0 3.61e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831969e+00 1.43e-03 4.13e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822174e+00 8.72e-04 7.17e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1355353e+00 1.30e-05 1.76e+00 -4.0 5.93e+02 -8.3 8.28e-02 1.00e+00H 1 25 2.1017692e+00 1.53e-04 8.17e+00 -4.1 3.15e+02 -2.4 4.07e-04 4.53e-03f 1 26 2.0861299e+00 6.62e-05 3.65e+00 -4.1 5.65e-01 -2.0 1.00e+00 5.55e-01f 1 27 2.0868034e+00 6.26e-05 3.46e+00 -4.0 1.44e+00 -2.5 1.00e+00 6.25e-02f 5 28 2.0845152e+00 1.16e-04 2.71e-02 -4.0 1.40e+00 -2.9 1.00e+00 1.00e+00h 1 29 2.0839064e+00 9.63e-05 4.68e-01 -4.0 1.62e+00 -3.4 1.00e+00 2.28e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0836810e+00 2.56e-05 2.78e-01 -4.0 1.05e-01 -3.9 1.00e+00 7.32e-01h 1 31 2.0837404e+00 3.83e-06 1.08e-04 -4.0 1.82e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0837040e+00 5.14e-07 1.70e-05 -4.0 5.37e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0836199e+00 2.39e-06 1.15e-04 -4.0 1.54e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0834614e+00 1.11e-05 4.93e-04 -4.0 4.19e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0832523e+00 1.98e-05 1.08e-03 -4.0 1.10e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0829107e+00 7.94e-05 3.05e-03 -4.0 2.78e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0823835e+00 4.21e-04 1.24e-02 -4.0 6.48e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0819067e+00 1.20e-03 1.92e-02 -4.0 1.20e+02 -7.7 9.26e-01 1.00e+00h 1 39 2.0817167e+00 1.43e-03 2.72e-01 -4.0 2.39e+03 -7.3 4.18e-03 3.74e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818415e+00 1.54e-03 7.88e-01 -4.0 6.94e+01 -6.0 2.22e-01 1.10e-01h 3 41 2.0816442e+00 6.01e-04 3.45e-02 -4.1 8.18e-02 -1.9 1.00e+00 6.09e-01h 1 42 2.0819760e+00 1.94e-06 7.11e-04 -4.0 5.05e-02 -2.4 1.00e+00 1.00e+00f 1 43 2.0818762e+00 6.30e-07 1.53e-04 -4.0 2.92e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0818513e+00 3.19e-07 1.28e-05 -4.0 2.91e-02 -3.4 1.00e+00 1.00e+00h 1 45 2.0818461e+00 4.73e-08 1.26e-05 -4.0 8.64e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0818328e+00 2.66e-07 3.06e-05 -4.0 2.52e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0817998e+00 2.58e-06 1.32e-04 -4.0 6.30e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0817698e+00 1.15e-05 4.65e-04 -4.0 1.03e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0817821e+00 1.89e-05 4.63e-04 -4.0 1.61e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816163e+00 3.95e-05 3.28e-04 -4.1 1.69e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0818180e+00 1.17e-04 4.06e-04 -4.0 5.47e+00 -6.7 1.00e+00 1.00e+00h 1 52 2.0815819e+00 1.56e-04 5.58e-04 -4.1 6.87e+00 -7.2 1.00e+00 1.00e+00h 1 53 2.0818232e+00 3.18e-04 2.91e-04 -4.0 1.33e+01 -7.7 1.00e+00 1.00e+00h 1 54 2.0815800e+00 2.68e-04 2.69e-04 -4.1 1.13e+01 -8.1 1.00e+00 1.00e+00h 1 55 2.0818419e+00 3.59e-04 9.44e-05 -4.0 1.50e+01 -8.6 1.00e+00 1.00e+00h 1 56 2.0815843e+00 1.67e-04 5.84e-05 -4.1 7.77e+00 -9.1 1.00e+00 1.00e+00h 1 57 2.0818443e+00 2.00e-04 2.60e-05 -4.0 9.18e+00 -9.6 1.00e+00 1.00e+00h 1 58 2.0815838e+00 2.11e-04 1.58e-05 -4.1 9.61e+00 -10.0 1.00e+00 1.00e+00h 1 59 2.0805953e+00 3.32e-03 1.60e-04 -6.1 4.09e+01 -10.5 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818908e+00 6.59e-03 3.23e-04 -4.0 6.16e+01 -11.0 1.00e+00 1.00e+00f 1 61 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -11.5 1.00e+00 1.00e+00h 1 62 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.9 9.76e-01 9.58e-01h 1 63 2.0805507e+00 9.69e-05 2.32e-06 -6.1 1.71e+01 -12.4 1.00e+00 1.00e+00h 1 64 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.9 1.00e+00 1.00e+00f 1 65 2.0816804e+00 9.65e-04 4.94e-05 -4.1 4.57e+01 -13.4 1.00e+00 1.00e+00h 1 66 2.0816444e+00 4.72e-07 7.72e-07 -4.1 8.40e+00 -13.9 1.00e+00 1.00e+00h 1 67 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.3 1.00e+00 1.00e+00h 1 68 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.8 1.00e+00 1.00e+00h 1 69 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.3 9.77e-01 9.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.8 1.00e+00 1.00e+00h 1 71 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.2 1.00e+00 1.00e+00f 1 72 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.7 1.00e+00 1.00e+00h 1 73 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -17.2 1.00e+00 1.00e+00h 1 74 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.7 9.76e-01 9.67e-01h 1 75 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -18.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0805509020193012e+00 2.0805509020193012e+00 Dual infeasibility......: 1.9776587781037326e-06 1.9776587781037326e-06 Constraint violation....: 8.0133473445598291e-05 8.0133473445598291e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.9206940989969830e-06 2.9206940989969830e-06 Overall NLP error.......: 9.9219259398518873e-05 9.9219259398518873e-05 Number of objective function evaluations = 92 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 92 Number of inequality constraint evaluations = 92 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.211 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: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.7402155e+00 3.50e+00 6.06e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8436461e+00 6.89e-02 7.01e+00 -0.9 2.14e+00 0.0 9.35e-01 1.00e+00f 1 2 2.6473742e+00 5.69e-02 6.70e+00 -1.1 1.82e+00 -0.5 9.98e-01 4.01e-01f 1 3 2.7569809e+00 1.57e-02 7.62e-01 -0.9 2.84e-01 -0.1 1.00e+00 1.00e+00f 1 4 2.4664239e+00 5.10e-03 4.13e-01 -1.7 1.35e-01 -0.5 9.71e-01 1.00e+00h 1 5 2.1796634e+00 5.14e-03 6.52e-02 -2.3 1.23e-01 -1.0 9.88e-01 9.07e-01h 1 6 2.0990021e+00 8.22e-04 2.49e-02 -3.2 3.92e-02 -1.5 9.91e-01 9.06e-01h 1 7 2.0908800e+00 1.90e-05 5.30e-03 -4.0 1.11e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909203e+00 5.80e-08 4.77e-05 -4.0 1.29e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909180e+00 8.64e-10 2.10e-05 -4.0 1.72e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909123e+00 1.14e-09 4.88e-05 -4.0 5.05e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908977e+00 8.57e-09 8.22e-04 -4.0 1.43e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908646e+00 5.39e-08 1.47e-03 -4.0 3.77e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907901e+00 3.00e-07 5.43e-04 -4.0 9.74e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905868e+00 3.00e-06 7.45e-04 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900881e+00 1.07e-05 1.10e-02 -4.0 8.47e+00 -5.8 1.00e+00 6.73e-01h 1 16 2.0900961e+00 2.56e-04 5.89e-02 -4.0 2.81e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0873415e+00 1.67e-04 1.74e-01 -4.1 1.07e+01 -4.9 1.00e+00 4.71e-01h 1 18 2.0874093e+00 2.14e-05 1.29e-02 -4.0 3.56e+00 -5.4 1.00e+00 1.00e+00f 1 19 2.0863460e+00 3.92e-05 7.33e-03 -4.0 1.07e+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 2.0848112e+00 1.94e-04 1.02e-02 -4.0 2.43e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827734e+00 3.04e-04 2.65e-02 -4.0 3.61e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831969e+00 1.43e-03 4.13e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822174e+00 8.72e-04 7.17e-03 -4.1 1.36e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1355353e+00 1.30e-05 1.76e+00 -4.0 5.93e+02 -8.3 8.28e-02 1.00e+00H 1 25 2.1017692e+00 1.53e-04 8.17e+00 -4.1 3.15e+02 -2.4 4.07e-04 4.53e-03f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.1017692060860802e+00 2.1017692060860802e+00 Dual infeasibility......: 8.1661980547682944e+00 8.1661980547682944e+00 Constraint violation....: 1.5288556077041465e-04 1.5288556077041465e-04 Variable bound violation: 1.3760585223371313e-09 1.3760585223371313e-09 Complementarity.........: 1.6517418946232482e-04 1.6517418946232482e-04 Overall NLP error.......: 8.1661980547682944e+00 8.1661980547682944e+00 Number of objective function evaluations = 27 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 27 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.377 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.188s jacobian structure: 1600 nonzeros (3.258s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.028s 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 (5.081s) linear index maps built (0.0s) evaluator ready (total: 8.339s) evaluator created (8.366s) 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: 8.367s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3921792e+00 3.23e+00 9.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4781595e+00 5.19e-01 3.27e+00 -0.9 3.01e+00 0.0 9.82e-01 8.40e-01f 1 Hello, world! 2 2.3037063e+00 3.51e-01 2.58e+00 -4.0 1.03e+00 -0.5 4.38e-01 3.07e-01h 1 Hello, world! 3 2.1561502e+00 1.77e-01 2.44e+00 -1.6 3.22e-01 -0.1 7.85e-01 4.97e-01h 1 Hello, world! 4 2.1777508e+00 3.19e-03 8.92e-01 -1.8 3.95e-01 -0.5 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1270422e+00 3.96e-04 1.65e-01 -3.1 5.73e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0918622e+00 9.80e-05 2.69e-02 -4.0 2.40e-02 -1.5 1.00e+00 9.03e-01h 1 Hello, world! 7 2.0908783e+00 1.27e-06 2.82e-03 -4.0 5.07e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908793e+00 5.46e-09 2.48e-05 -4.0 6.76e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908772e+00 1.40e-10 2.39e-05 -4.0 1.96e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908703e+00 1.48e-09 2.34e-05 -4.0 5.77e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908511e+00 1.20e-08 2.46e-05 -4.0 1.63e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908097e+00 7.20e-08 1.56e-04 -4.0 4.16e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907325e+00 2.88e-07 8.17e-04 -4.0 9.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905326e+00 2.97e-06 1.06e-03 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0899291e+00 2.62e-05 9.46e-04 -4.0 8.74e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0896765e+00 4.87e-06 1.74e-03 -4.0 3.40e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895415e+00 1.24e-06 2.93e-04 -4.0 1.39e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0891726e+00 6.61e-06 4.15e-04 -4.0 4.17e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0881016e+00 5.49e-05 2.84e-03 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862441e+00 3.05e-04 2.20e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0853101e+00 1.18e-04 1.03e-02 -4.0 1.15e+01 -5.9 1.00e+00 7.29e-01h 1 Hello, world! 22 2.0840938e+00 1.31e-04 1.19e-02 -4.0 2.24e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827273e+00 6.58e-05 1.41e-02 -4.0 2.68e+01 -6.9 1.00e+00 8.62e-01h 1 Hello, world! 24 2.0828906e+00 8.42e-04 2.70e-02 -4.0 6.11e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820434e+00 1.96e-03 9.53e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.1507960e+00 3.30e-04 1.38e+00 -4.0 2.95e+02 -7.4 7.16e-02 1.00e+00H 1 Hello, world! 27 2.0853476e+00 2.28e-04 7.43e+00 -4.1 3.12e+00 -1.6 3.32e-02 3.38e-01f 1 Hello, world! 28 2.0857040e+00 2.27e-04 7.43e+00 -4.1 3.92e+00 -2.0 7.62e-01 4.42e-03f 7 Hello, world! 29 2.0843977e+00 7.63e-05 2.43e-01 -4.1 6.44e-01 -2.5 1.00e+00 9.67e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834874e+00 6.27e-05 2.87e-01 -4.0 1.42e+00 -3.0 1.00e+00 3.59e-01f 1 Hello, world! 31 2.0837113e+00 1.43e-05 2.45e-01 -4.0 1.98e-01 -3.5 1.00e+00 7.88e-01h 1 Hello, world! 32 2.0836378e+00 7.28e-06 4.55e-04 -4.0 1.17e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0836197e+00 1.74e-07 8.70e-06 -4.0 2.34e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0835753e+00 3.34e-07 2.31e-05 -4.0 6.85e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0834604e+00 2.54e-06 1.70e-04 -4.0 1.90e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0832375e+00 1.28e-05 8.26e-04 -4.0 4.94e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0829777e+00 2.17e-05 1.77e-03 -4.0 1.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826072e+00 9.35e-05 3.35e-03 -4.0 3.09e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821288e+00 3.55e-04 1.02e-02 -4.0 6.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0831754e+00 1.33e-07 9.33e-02 -4.0 1.86e+02 -7.8 2.01e-01 1.00e+00H 1 Hello, world! 41 2.0819125e+00 1.28e-04 2.72e-01 -4.0 6.72e+00 -5.5 1.00e+00 5.64e-01f 1 Hello, world! 42 2.0827368e+00 4.65e-08 1.24e-02 -4.0 8.08e+00 -6.0 1.00e+00 1.00e+00H 1 Hello, world! 43 2.0824031e+00 8.41e-04 8.51e-03 -4.0 1.63e+01 -6.5 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0819245e+00 1.26e-03 5.62e-03 -4.1 3.44e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818323e+00 6.38e-05 9.33e-04 -4.1 8.94e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820513e+00 1.48e-03 3.07e-02 -4.0 4.36e+01 -7.0 6.81e-01 1.00e+00h 1 Hello, world! 47 2.0819253e+00 1.60e-03 3.49e+00 -4.1 4.01e+01 -5.7 1.00e+00 8.92e-02h 2 Hello, world! 48 2.0816547e+00 6.30e-04 1.03e-01 -4.1 3.47e+00 -6.2 1.00e+00 6.10e-01h 1 Hello, world! 49 2.0820251e+00 3.60e-04 1.42e-02 -4.0 5.86e+00 -6.6 1.00e+00 6.07e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816845e+00 1.15e-04 2.55e-03 -4.1 9.53e+00 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816844620553523e+00 2.0816844620553523e+00 Dual infeasibility......: 2.5475531734168192e-03 2.5475531734168192e-03 Constraint violation....: 1.1492023413595120e-04 1.1492023413595120e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0395389909604328e-04 1.0395389909604328e-04 Overall NLP error.......: 2.5475531734168192e-03 2.5475531734168192e-03 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 33.599 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 (0.002s) 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) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3921792e+00 3.23e+00 9.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4781595e+00 5.19e-01 3.27e+00 -0.9 3.01e+00 0.0 9.82e-01 8.40e-01f 1 Hello, world! 2 2.3037063e+00 3.51e-01 2.58e+00 -4.0 1.03e+00 -0.5 4.38e-01 3.07e-01h 1 Hello, world! 3 2.1561502e+00 1.77e-01 2.44e+00 -1.6 3.22e-01 -0.1 7.85e-01 4.97e-01h 1 Hello, world! 4 2.1777508e+00 3.19e-03 8.92e-01 -1.8 3.95e-01 -0.5 9.98e-01 1.00e+00h 1 Hello, world! 5 2.1270422e+00 3.96e-04 1.65e-01 -3.1 5.73e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0918622e+00 9.80e-05 2.69e-02 -4.0 2.40e-02 -1.5 1.00e+00 9.03e-01h 1 Hello, world! 7 2.0908783e+00 1.27e-06 2.82e-03 -4.0 5.07e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908793e+00 5.46e-09 2.48e-05 -4.0 6.76e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908772e+00 1.40e-10 2.39e-05 -4.0 1.96e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908703e+00 1.48e-09 2.34e-05 -4.0 5.77e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908511e+00 1.20e-08 2.46e-05 -4.0 1.63e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908097e+00 7.20e-08 1.56e-04 -4.0 4.16e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907325e+00 2.88e-07 8.17e-04 -4.0 9.92e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905326e+00 2.97e-06 1.06e-03 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0899291e+00 2.62e-05 9.46e-04 -4.0 8.74e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0896765e+00 4.87e-06 1.74e-03 -4.0 3.40e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0895415e+00 1.24e-06 2.93e-04 -4.0 1.39e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0891726e+00 6.61e-06 4.15e-04 -4.0 4.17e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0881016e+00 5.49e-05 2.84e-03 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0862441e+00 3.05e-04 2.20e-02 -4.0 2.91e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0853101e+00 1.18e-04 1.03e-02 -4.0 1.15e+01 -5.9 1.00e+00 7.29e-01h 1 Hello, world! 22 2.0840938e+00 1.31e-04 1.19e-02 -4.0 2.24e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827273e+00 6.58e-05 1.41e-02 -4.0 2.68e+01 -6.9 1.00e+00 8.62e-01h 1 Hello, world! 24 2.0828906e+00 8.42e-04 2.70e-02 -4.0 6.11e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0820434e+00 1.96e-03 9.53e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.1507960e+00 3.30e-04 1.38e+00 -4.0 2.95e+02 -7.4 7.16e-02 1.00e+00H 1 Hello, world! 27 2.0853476e+00 2.28e-04 7.43e+00 -4.1 3.12e+00 -1.6 3.32e-02 3.38e-01f 1 Hello, world! 28 2.0857040e+00 2.27e-04 7.43e+00 -4.1 3.92e+00 -2.0 7.62e-01 4.42e-03f 7 Hello, world! 29 2.0843977e+00 7.63e-05 2.43e-01 -4.1 6.44e-01 -2.5 1.00e+00 9.67e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0834874e+00 6.27e-05 2.87e-01 -4.0 1.42e+00 -3.0 1.00e+00 3.59e-01f 1 Hello, world! 31 2.0837113e+00 1.43e-05 2.45e-01 -4.0 1.98e-01 -3.5 1.00e+00 7.88e-01h 1 Hello, world! 32 2.0836378e+00 7.28e-06 4.55e-04 -4.0 1.17e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0836197e+00 1.74e-07 8.70e-06 -4.0 2.34e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0835753e+00 3.34e-07 2.31e-05 -4.0 6.85e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0834604e+00 2.54e-06 1.70e-04 -4.0 1.90e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0832375e+00 1.28e-05 8.26e-04 -4.0 4.94e+00 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0829777e+00 2.17e-05 1.77e-03 -4.0 1.25e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0826072e+00 9.35e-05 3.35e-03 -4.0 3.09e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821288e+00 3.55e-04 1.02e-02 -4.0 6.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0831754e+00 1.33e-07 9.33e-02 -4.0 1.86e+02 -7.8 2.01e-01 1.00e+00H 1 Hello, world! 41 2.0819125e+00 1.28e-04 2.72e-01 -4.0 6.72e+00 -5.5 1.00e+00 5.64e-01f 1 Hello, world! 42 2.0827368e+00 4.65e-08 1.24e-02 -4.0 8.08e+00 -6.0 1.00e+00 1.00e+00H 1 Hello, world! 43 2.0824031e+00 8.41e-04 8.51e-03 -4.0 1.63e+01 -6.5 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0819245e+00 1.26e-03 5.62e-03 -4.1 3.44e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818323e+00 6.38e-05 9.33e-04 -4.1 8.94e+00 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820513e+00 1.48e-03 3.07e-02 -4.0 4.36e+01 -7.0 6.81e-01 1.00e+00h 1 Hello, world! 47 2.0819253e+00 1.60e-03 3.49e+00 -4.1 4.01e+01 -5.7 1.00e+00 8.92e-02h 2 Hello, world! 48 2.0816547e+00 6.30e-04 1.03e-01 -4.1 3.47e+00 -6.2 1.00e+00 6.10e-01h 1 Hello, world! 49 2.0820251e+00 3.60e-04 1.42e-02 -4.0 5.86e+00 -6.6 1.00e+00 6.07e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816845e+00 1.15e-04 2.55e-03 -4.1 9.53e+00 -7.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816844620553523e+00 2.0816844620553523e+00 Dual infeasibility......: 2.5475531734168192e-03 2.5475531734168192e-03 Constraint violation....: 1.1492023413595120e-04 1.1492023413595120e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0395389909604328e-04 1.0395389909604328e-04 Overall NLP error.......: 2.5475531734168192e-03 2.5475531734168192e-03 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.739 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.159s jacobian structure: 1600 nonzeros (3.229s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.414s 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 (5.474s) linear index maps built (0.0s) evaluator ready (total: 8.703s) evaluator created (8.73s) 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: 8.732s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3757743e+00 2.22e+00 3.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2335457e+00 1.22e+00 1.97e+00 -0.8 1.70e+00 0.0 8.83e-01 4.51e-01h 1 2 2.6623022e+00 3.62e-02 1.09e+00 -0.8 9.44e-01 -0.5 8.09e-01 1.00e+00h 1 3 2.4727970e+00 6.93e-02 5.38e-01 -1.2 4.64e-01 -1.0 9.07e-01 1.00e+00h 1 4 2.3469445e+00 1.49e-02 2.33e-01 -1.7 4.06e-01 -1.4 8.91e-01 1.00e+00h 1 5 2.1444963e+00 9.12e-03 4.76e-02 -2.2 2.95e-01 -1.9 9.93e-01 1.00e+00h 1 6 2.0932769e+00 1.78e-04 6.00e-03 -3.5 2.97e-02 -2.4 9.36e-01 1.00e+00h 1 7 2.0909178e+00 7.06e-06 6.61e-05 -4.0 1.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908904e+00 1.23e-07 4.61e-05 -4.0 3.78e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908797e+00 5.47e-09 1.69e-05 -4.0 1.11e-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 2.0908528e+00 4.15e-08 4.59e-05 -4.0 3.12e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907854e+00 2.57e-07 1.98e-04 -4.0 8.57e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905883e+00 2.06e-06 3.07e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905103e+00 3.08e-07 2.52e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901519e+00 9.51e-10 1.37e-03 -4.0 3.51e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896229e+00 3.99e-05 1.00e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889015e+00 4.17e-05 8.88e-02 -4.0 1.74e+01 -5.4 1.00e+00 2.52e-01h 1 17 2.0880701e+00 4.40e-05 1.30e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866467e+00 1.08e-04 3.44e-02 -4.0 2.76e+01 -6.3 1.00e+00 6.17e-01h 1 19 2.0838111e+00 8.29e-04 4.10e-02 -4.0 5.00e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827425e+00 2.89e-04 8.76e-03 -4.0 5.45e+01 -7.3 1.00e+00 6.09e-01h 1 21 2.0825181e+00 8.42e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0986267e+00 2.07e-04 4.75e-01 -4.0 2.52e+02 -7.3 1.15e-01 1.00e+00H 1 23 2.0846161e+00 2.76e-03 5.56e+00 -4.1 6.62e+00 -4.2 3.87e-02 3.00e-01f 1 24 2.0834150e+00 2.92e-03 5.55e+00 -4.1 2.56e+02 -3.7 2.10e-05 2.71e-03f 1 25 2.0836222e+00 2.95e-03 5.58e+00 -4.1 7.23e+02 -4.2 4.50e-07 2.19e-04f 2 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0836221814100768e+00 2.0836221814100768e+00 Dual infeasibility......: 5.5757221445562353e+00 5.5757221445562353e+00 Constraint violation....: 2.9542362913366205e-03 2.9542362913366205e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.5434762207296967e-04 2.5434762207296967e-04 Overall NLP error.......: 5.5757221445562353e+00 5.5757221445562353e+00 Number of objective function evaluations = 30 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 30 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 33.598 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: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3757743e+00 2.22e+00 3.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2335457e+00 1.22e+00 1.97e+00 -0.8 1.70e+00 0.0 8.83e-01 4.51e-01h 1 2 2.6623022e+00 3.62e-02 1.09e+00 -0.8 9.44e-01 -0.5 8.09e-01 1.00e+00h 1 3 2.4727970e+00 6.93e-02 5.38e-01 -1.2 4.64e-01 -1.0 9.07e-01 1.00e+00h 1 4 2.3469445e+00 1.49e-02 2.33e-01 -1.7 4.06e-01 -1.4 8.91e-01 1.00e+00h 1 5 2.1444963e+00 9.12e-03 4.76e-02 -2.2 2.95e-01 -1.9 9.93e-01 1.00e+00h 1 6 2.0932769e+00 1.78e-04 6.00e-03 -3.5 2.97e-02 -2.4 9.36e-01 1.00e+00h 1 7 2.0909178e+00 7.06e-06 6.61e-05 -4.0 1.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908904e+00 1.23e-07 4.61e-05 -4.0 3.78e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908797e+00 5.47e-09 1.69e-05 -4.0 1.11e-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 2.0908528e+00 4.15e-08 4.59e-05 -4.0 3.12e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907854e+00 2.57e-07 1.98e-04 -4.0 8.57e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905883e+00 2.06e-06 3.07e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905103e+00 3.08e-07 2.52e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901519e+00 9.51e-10 1.37e-03 -4.0 3.51e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896229e+00 3.99e-05 1.00e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889015e+00 4.17e-05 8.88e-02 -4.0 1.74e+01 -5.4 1.00e+00 2.52e-01h 1 17 2.0880701e+00 4.40e-05 1.30e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866467e+00 1.08e-04 3.44e-02 -4.0 2.76e+01 -6.3 1.00e+00 6.17e-01h 1 19 2.0838111e+00 8.29e-04 4.10e-02 -4.0 5.00e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827425e+00 2.89e-04 8.76e-03 -4.0 5.45e+01 -7.3 1.00e+00 6.09e-01h 1 21 2.0825181e+00 8.42e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0986267e+00 2.07e-04 4.75e-01 -4.0 2.52e+02 -7.3 1.15e-01 1.00e+00H 1 23 2.0846161e+00 2.76e-03 5.56e+00 -4.1 6.62e+00 -4.2 3.87e-02 3.00e-01f 1 24 2.0834150e+00 2.92e-03 5.55e+00 -4.1 2.56e+02 -3.7 2.10e-05 2.71e-03f 1 25 2.0836222e+00 2.95e-03 5.58e+00 -4.1 7.23e+02 -4.2 4.50e-07 2.19e-04f 2 26 2.0833512e+00 2.63e-03 5.19e+00 -4.1 1.49e+00 -2.9 1.00e+00 1.09e-01h 1 27 2.0834611e+00 2.49e-04 5.56e-01 -4.1 9.14e-02 -3.4 1.00e+00 9.05e-01f 1 28 2.0835728e+00 5.77e-06 2.78e-04 -4.0 9.93e-02 -3.9 1.00e+00 1.00e+00f 1 29 2.0835581e+00 1.30e-07 9.25e-06 -4.0 1.97e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835187e+00 1.72e-07 1.47e-05 -4.0 5.81e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0834101e+00 1.35e-06 1.15e-04 -4.0 1.66e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831612e+00 8.32e-06 7.27e-04 -4.0 4.30e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0828329e+00 3.21e-05 2.29e-03 -4.0 9.72e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825570e+00 3.24e-05 3.00e-03 -4.0 2.35e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0821351e+00 2.32e-04 6.23e-03 -4.0 5.24e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819189e+00 7.92e-04 9.17e-03 -4.0 3.79e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819835e+00 3.17e-04 1.16e-02 -4.0 1.23e+01 -7.2 9.94e-01 1.00e+00h 1 38 2.0841167e+00 1.99e-04 3.25e-02 -4.0 4.13e+01 -7.7 1.00e+00 3.66e-01h 1 39 2.0817675e+00 1.09e-03 6.63e-03 -4.1 5.65e+01 -8.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818515e+00 1.25e-03 2.67e-03 -4.0 5.49e+01 -8.7 1.00e+00 1.00e+00h 1 41 2.0818440e+00 2.42e-05 3.34e-04 -4.0 2.39e+01 -9.2 1.00e+00 1.00e+00h 1 42 2.0818434e+00 3.42e-07 2.02e-05 -4.0 4.23e+00 -9.6 1.00e+00 1.00e+00h 1 43 2.0818434e+00 1.49e-09 5.02e-06 -4.0 2.75e-01 -10.1 1.00e+00 1.00e+00h 1 44 2.0818434e+00 9.72e-13 1.52e-09 -4.0 6.60e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818434105235313e+00 2.0818434105235313e+00 Dual infeasibility......: 1.5159166746859208e-09 1.5159166746859208e-09 Constraint violation....: 9.7166719115193700e-13 9.7166719115193700e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.5159166746859208e-09 1.5159166746859208e-09 Number of objective function evaluations = 49 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 49 Number of inequality constraint evaluations = 49 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 0.604 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: 0.001s 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: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3757743e+00 2.22e+00 3.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2335457e+00 1.22e+00 1.97e+00 -0.8 1.70e+00 0.0 8.83e-01 4.51e-01h 1 2 2.6623022e+00 3.62e-02 1.09e+00 -0.8 9.44e-01 -0.5 8.09e-01 1.00e+00h 1 3 2.4727970e+00 6.93e-02 5.38e-01 -1.2 4.64e-01 -1.0 9.07e-01 1.00e+00h 1 4 2.3469445e+00 1.49e-02 2.33e-01 -1.7 4.06e-01 -1.4 8.91e-01 1.00e+00h 1 5 2.1444963e+00 9.12e-03 4.76e-02 -2.2 2.95e-01 -1.9 9.93e-01 1.00e+00h 1 6 2.0932769e+00 1.78e-04 6.00e-03 -3.5 2.97e-02 -2.4 9.36e-01 1.00e+00h 1 7 2.0909178e+00 7.06e-06 6.61e-05 -4.0 1.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908904e+00 1.23e-07 4.61e-05 -4.0 3.78e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908797e+00 5.47e-09 1.69e-05 -4.0 1.11e-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 2.0908528e+00 4.15e-08 4.59e-05 -4.0 3.12e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907854e+00 2.57e-07 1.98e-04 -4.0 8.57e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905883e+00 2.06e-06 3.07e-04 -4.0 2.49e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905103e+00 3.08e-07 2.52e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0901519e+00 9.51e-10 1.37e-03 -4.0 3.51e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0896229e+00 3.99e-05 1.00e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0889015e+00 4.17e-05 8.88e-02 -4.0 1.74e+01 -5.4 1.00e+00 2.52e-01h 1 17 2.0880701e+00 4.40e-05 1.30e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0866467e+00 1.08e-04 3.44e-02 -4.0 2.76e+01 -6.3 1.00e+00 6.17e-01h 1 19 2.0838111e+00 8.29e-04 4.10e-02 -4.0 5.00e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827425e+00 2.89e-04 8.76e-03 -4.0 5.45e+01 -7.3 1.00e+00 6.09e-01h 1 21 2.0825181e+00 8.42e-04 2.70e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0986267e+00 2.07e-04 4.75e-01 -4.0 2.52e+02 -7.3 1.15e-01 1.00e+00H 1 23 2.0846161e+00 2.76e-03 5.56e+00 -4.1 6.62e+00 -4.2 3.87e-02 3.00e-01f 1 24 2.0834150e+00 2.92e-03 5.55e+00 -4.1 2.56e+02 -3.7 2.10e-05 2.71e-03f 1 25 2.0836222e+00 2.95e-03 5.58e+00 -4.1 7.23e+02 -4.2 4.50e-07 2.19e-04f 2 26 2.0833512e+00 2.63e-03 5.19e+00 -4.1 1.49e+00 -2.9 1.00e+00 1.09e-01h 1 27 2.0834611e+00 2.49e-04 5.56e-01 -4.1 9.14e-02 -3.4 1.00e+00 9.05e-01f 1 28 2.0835728e+00 5.77e-06 2.78e-04 -4.0 9.93e-02 -3.9 1.00e+00 1.00e+00f 1 29 2.0835581e+00 1.30e-07 9.25e-06 -4.0 1.97e-01 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835187e+00 1.72e-07 1.47e-05 -4.0 5.81e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0834101e+00 1.35e-06 1.15e-04 -4.0 1.66e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831612e+00 8.32e-06 7.27e-04 -4.0 4.30e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0828329e+00 3.21e-05 2.29e-03 -4.0 9.72e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825570e+00 3.24e-05 3.00e-03 -4.0 2.35e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0821351e+00 2.32e-04 6.23e-03 -4.0 5.24e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0819189e+00 7.92e-04 9.17e-03 -4.0 3.79e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0819835e+00 3.17e-04 1.16e-02 -4.0 1.23e+01 -7.2 9.94e-01 1.00e+00h 1 38 2.0841167e+00 1.99e-04 3.25e-02 -4.0 4.13e+01 -7.7 1.00e+00 3.66e-01h 1 39 2.0817675e+00 1.09e-03 6.63e-03 -4.1 5.65e+01 -8.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818515e+00 1.25e-03 2.67e-03 -4.0 5.49e+01 -8.7 1.00e+00 1.00e+00h 1 41 2.0818440e+00 2.42e-05 3.34e-04 -4.0 2.39e+01 -9.2 1.00e+00 1.00e+00h 1 42 2.0818434e+00 3.42e-07 2.02e-05 -4.0 4.23e+00 -9.6 1.00e+00 1.00e+00h 1 43 2.0818434e+00 1.49e-09 5.02e-06 -4.0 2.75e-01 -10.1 1.00e+00 1.00e+00h 1 44 2.0818434e+00 9.72e-13 1.52e-09 -4.0 6.60e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818434105235313e+00 2.0818434105235313e+00 Dual infeasibility......: 1.5159166746859208e-09 1.5159166746859208e-09 Constraint violation....: 9.7166719115193700e-13 9.7166719115193700e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.5159166746859208e-09 1.5159166746859208e-09 Number of objective function evaluations = 49 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 49 Number of inequality constraint evaluations = 49 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 45 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 0.603 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.994s jacobian structure: 1600 nonzeros (3.06s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.036s 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 (5.087s) linear index maps built (0.0s) evaluator ready (total: 8.148s) evaluator created (8.173s) 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: 8.174s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6304149e+00 2.38e+00 4.24e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1058493e+00 9.22e-01 8.68e+00 -0.7 1.91e+00 0.0 5.67e-01 6.24e-01f 1 2 2.2006385e+00 5.98e-01 1.22e+01 -0.7 8.45e-01 0.4 9.03e-01 3.50e-01h 1 3 2.8093994e+00 2.23e-02 3.61e+00 -0.8 7.20e-01 -0.1 8.90e-01 1.00e+00f 1 4 2.5568951e+00 3.24e-02 1.02e+00 -1.3 3.23e-01 -0.5 7.20e-01 7.84e-01h 1 5 2.3435766e+00 8.21e-02 7.83e-01 -1.9 7.13e-01 -1.0 8.14e-01 5.28e-01h 1 6 2.3094002e+00 7.45e-02 4.20e-01 -1.8 2.62e-01 -0.6 9.94e-01 9.36e-02h 1 7 2.1476629e+00 2.42e-02 2.84e-01 -2.5 3.24e-01 -1.1 1.00e+00 6.75e-01h 1 8 2.0943415e+00 2.47e-03 1.45e-01 -3.7 6.53e-02 -1.5 9.99e-01 8.99e-01h 1 9 2.0909385e+00 2.04e-05 2.14e-02 -4.0 2.67e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909362e+00 1.07e-07 4.06e-05 -4.0 1.25e-02 -2.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909361649989333e+00 2.0909361649989333e+00 Dual infeasibility......: 4.0584002094696896e-05 4.0584002094696896e-05 Constraint violation....: 1.0685654759645669e-07 1.0685654759645669e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0026277699362159e-04 1.0026277699362159e-04 Overall NLP error.......: 4.0584002094696896e-05 4.0584002094696896e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 30.339 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: 0.071s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.18s jacobian structure: 1600 nonzeros (3.252s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.115s 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 (5.167s) linear index maps built (0.0s) evaluator ready (total: 8.419s) evaluator created (8.444s) 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: 8.445s) Fidelity: 0.51 Fidelity: 0.52 Fidelity: 0.53 Fidelity: 0.54 Fidelity: 0.55 Fidelity: 0.56 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.297s jacobian structure: 1600 nonzeros (3.368s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.969s 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 (5.025s) linear index maps built (0.0s) evaluator ready (total: 8.393s) evaluator created (8.421s) 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: 8.422s) Fidelity: 0.1 Best fidelities: 0: 0.1 Fidelity: 0.2 Best fidelities: 1: 0.2 0: 0.1 Fidelity: 0.30000000000000004 Best fidelities: 2: 0.30000000000000004 1: 0.2 0: 0.1 Fidelity: 0.4 Best fidelities: 3: 0.4 2: 0.30000000000000004 1: 0.2 Fidelity: 0.5 Best fidelities: 3: 0.4 2: 0.30000000000000004 4: 0.5 Fidelity: 0.6000000000000001 Best fidelities: 3: 0.4 4: 0.5 5: 0.6000000000000001 Fidelity: 0.7000000000000001 Best fidelities: 6: 0.7000000000000001 4: 0.5 5: 0.6000000000000001 Fidelity: 0.8 Best fidelities: 6: 0.7000000000000001 5: 0.6000000000000001 7: 0.8 Fidelity: 0.9 Best fidelities: 6: 0.7000000000000001 8: 0.9 7: 0.8 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.081s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.455s jacobian structure: 1600 nonzeros (3.537s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.409s 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 (5.46s) linear index maps built (0.0s) evaluator ready (total: 8.997s) evaluator created (9.022s) 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: 9.022s) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.068s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.121s) evaluator created (0.121s) 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: 0.121s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.8607609e+00 1.95e+00 6.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6208213e+00 2.29e-01 1.40e+00 -0.9 1.41e+00 0.0 1.00e+00 8.83e-01f 1 2 2.6975948e+00 1.73e-02 1.23e+00 -1.0 3.89e-01 -0.5 7.49e-01 1.00e+00f 1 3 2.4474987e+00 4.06e-02 2.05e-01 -1.3 2.77e-01 -1.0 9.58e-01 9.91e-01h 1 4 2.2232786e+00 6.54e-03 8.38e-02 -2.1 2.63e-01 -1.4 8.71e-01 1.00e+00h 1 5 2.1105404e+00 2.08e-03 1.14e-01 -3.3 2.70e-01 -1.9 1.00e+00 7.35e-01h 1 6 2.0916906e+00 3.59e-05 1.56e-03 -4.0 1.17e-02 -2.4 1.00e+00 9.96e-01h 1 7 2.0908379e+00 3.44e-06 4.13e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908320e+00 1.50e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908188e+00 6.88e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907789e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906595e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903021e+00 5.05e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892370e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861063e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796197e+00 2.48e-03 8.79e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.53e-01h 1 16 2.0811892e+00 1.20e-04 1.77e-01 -4.0 7.02e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778129e+00 5.59e-03 2.37e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782488e+00 1.80e-02 5.07e-02 -3.7 1.82e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768885e+00 8.59e-03 2.77e-02 -3.8 3.17e+02 -8.6 1.00e+00 9.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760801e+00 9.19e-03 2.55e-02 -3.9 4.64e+02 -9.1 1.00e+00 9.75e-01f 1 21 2.0757482e+00 9.72e-03 1.13e-02 -4.0 1.44e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756798e+00 5.55e-04 4.60e-04 -4.0 6.31e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.90e-06 8.91e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.39e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.61e-09 1.53e-07 -4.0 5.34e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.05e-11 3.13e-09 -4.0 9.49e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122122378e+00 2.0756712122122378e+00 Dual infeasibility......: 3.1317615269209169e-09 3.1317615269209169e-09 Constraint violation....: 8.0478179675935735e-11 8.0478179675935735e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000032e-04 1.0000000000000032e-04 Overall NLP error.......: 3.1317615269209169e-09 3.1317615269209169e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 34.943 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.07s) integrator 1 hessian structure: 0.052s 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: 0.124s) 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: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.157s) optimizer initialization complete (total: 0.281s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2819139e+00 2.33e+00 7.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7291185e+00 6.63e-02 1.82e+00 -1.0 1.84e+00 0.0 9.97e-01 1.00e+00h 1 2 2.7333639e+00 4.35e-02 1.71e+00 -0.8 6.98e-01 -0.5 1.00e+00 5.09e-01f 1 3 2.6201657e+00 3.29e-02 8.38e-01 -1.2 1.89e-01 -0.1 9.75e-01 1.00e+00f 1 4 2.3514808e+00 1.11e-02 2.61e-01 -1.6 1.75e-01 -0.5 9.09e-01 1.00e+00h 1 5 2.1637885e+00 1.23e-02 8.86e-02 -2.4 1.74e-01 -1.0 9.96e-01 1.00e+00h 1 6 2.1127219e+00 5.02e-03 7.71e-02 -3.6 2.47e-01 -1.5 1.00e+00 9.06e-01h 1 7 2.0963639e+00 4.53e-03 3.88e-02 -4.0 3.89e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0909620e+00 2.90e-03 4.26e-01 -4.0 1.38e+00 -2.4 1.00e+00 3.26e-01h 1 9 2.0916346e+00 1.22e-03 3.28e-01 -3.6 2.62e-01 -2.9 1.00e+00 5.55e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907962e+00 5.62e-05 3.04e-02 -4.0 1.37e-01 -3.4 1.00e+00 1.00e+00h 1 11 2.0908358e+00 6.24e-06 5.79e-04 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907918e+00 5.07e-07 3.35e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906575e+00 7.13e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902555e+00 6.44e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890586e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855505e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796405e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0807151e+00 1.58e-04 1.80e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775370e+00 7.41e-03 2.44e-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 2.0769356e+00 1.13e-03 4.88e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759917e+00 9.48e-04 2.36e-02 -4.0 3.10e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754448e+00 5.01e-04 2.87e-02 -4.0 4.58e+02 -9.1 1.00e+00 7.26e-01H 1 23 2.0757730e+00 2.07e-03 1.08e-02 -4.0 1.37e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753811e+00 1.42e-03 4.83e-04 -4.1 7.65e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.95e-04 6.99e-06 -4.0 1.80e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.31e-04 7.63e-07 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722581736e-02 1.4164404722581736e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728802e-04 2.3095644031728802e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 34.172 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: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.071s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.128s) evaluator created (0.128s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.128s) 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 1.9131341e+00 5.27e+00 4.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7503795e+00 2.25e-01 1.40e+00 -1.1 3.03e+00 -2.0 8.96e-01 1.00e+00h 1 2 2.2938099e+00 1.50e-01 8.90e-01 -1.8 1.84e+00 -2.5 8.01e-01 7.70e-01h 1 3 2.1998448e+00 1.05e-01 2.68e-01 -1.8 3.03e+00 -3.0 9.15e-01 1.00e+00h 1 4 2.1131747e+00 5.05e-03 1.21e-02 -2.7 4.19e-01 -3.4 9.94e-01 1.00e+00h 1 5 2.0909093e+00 8.05e-04 2.54e-03 -4.0 2.43e-01 -3.9 9.94e-01 9.96e-01h 1 6 2.0907085e+00 3.31e-05 1.53e-04 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905613e+00 1.42e-06 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901206e+00 7.81e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888091e+00 7.15e-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 2.0849757e+00 6.77e-04 2.81e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796430e+00 2.06e-03 1.78e-01 -4.0 1.01e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0802352e+00 1.44e-04 1.65e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774202e+00 7.96e-03 2.36e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.64e-01h 1 14 2.0769926e+00 1.70e-03 4.79e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761945e+00 2.13e-03 1.97e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.17e-01h 1 16 2.0755154e+00 2.20e-03 2.87e-02 -4.0 5.31e+02 -9.2 1.00e+00 7.04e-01h 1 17 2.0757564e+00 2.68e-03 1.24e-02 -4.0 1.47e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756816e+00 3.10e-04 4.31e-04 -4.0 6.69e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 7.13e-06 7.04e-06 -4.0 2.20e+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 4.21e-08 1.04e-06 -4.0 1.27e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.89e-09 7.79e-08 -4.0 3.93e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.77e-11 1.10e-09 -4.0 5.66e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121364140e+00 2.0756712121364140e+00 Dual infeasibility......: 1.1042206117300914e-09 1.1042206117300914e-09 Constraint violation....: 2.7711721806156220e-11 2.7711721806156220e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.1042206117300914e-09 1.1042206117300914e-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 = 29.265 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.081s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.082s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.137s) evaluator created (0.137s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.137s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2134785e+00 3.08e+00 3.55e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2143444e+00 2.96e+00 7.51e+00 -0.4 2.10e+01 0.0 3.46e-02 3.85e-02h 1 2 2.1264104e+00 2.83e+00 6.66e+01 0.1 1.60e+01 -0.5 3.75e-01 3.98e-02f 1 3 2.1572113e+00 2.06e+00 1.16e+02 0.4 1.81e+01 -1.0 7.68e-01 2.75e-01f 1 4 2.1998409e+00 1.98e+00 7.44e+02 1.5 7.87e+00 1.3 1.74e-01 4.02e-02h 1 5 2.3433814e+00 1.91e+00 7.06e+02 -4.0 1.51e+01 0.8 3.71e-02 3.38e-02h 1 6 2.1776624e+00 1.66e+00 1.33e+03 1.7 2.04e+01 0.3 7.55e-01 1.67e-01f 1 7 2.1734665e+00 1.18e+00 1.22e+03 1.6 1.97e+01 -0.2 9.46e-01 4.14e-01f 1 8 2.8313510e+00 6.23e-01 1.10e+03 1.3 3.24e+01 -0.6 9.99e-01 7.18e-01h 1 9 3.3166316e+00 1.10e+00 1.04e+03 1.1 1.31e+01 -0.2 8.36e-01 3.81e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.4985413e+00 8.32e-02 1.67e+03 0.2 8.80e+00 -0.7 9.98e-01 1.00e+00h 1 11 3.4409457e+00 1.56e-03 4.20e+01 -0.3 8.45e-01 -1.2 9.97e-01 1.00e+00f 1 12 2.9127957e+00 4.53e-01 1.77e+00 -1.0 1.37e+00 -1.6 9.97e-01 1.00e+00f 1 13 2.7097034e+00 3.72e-02 4.06e+00 -1.8 1.38e+00 -2.1 8.08e-01 1.00e+00h 1 14 2.6558313e+00 8.47e-02 4.56e-01 -2.0 2.72e+00 -2.6 1.00e+00 1.00e+00h 1 15 2.5447298e+00 1.31e-01 1.65e-01 -2.2 4.42e+00 -3.1 9.56e-01 1.00e+00h 1 16 2.4426587e+00 1.69e-01 1.62e-01 -2.3 6.71e+00 -3.5 9.44e-01 1.00e+00h 1 17 2.3409289e+00 2.09e-01 1.46e-01 -2.5 1.04e+01 -4.0 9.93e-01 1.00e+00h 1 18 2.2352376e+00 2.83e-01 2.23e-01 -2.7 1.64e+01 -4.5 9.91e-01 1.00e+00h 1 19 2.2539187e+00 2.60e-01 5.78e-01 -2.2 2.92e+02 -5.0 2.94e-02 3.13e-02h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1936272e+00 2.93e-01 3.09e-01 -3.1 4.61e+01 -5.5 7.40e-01 4.62e-01h 1 21 2.2210766e+00 1.83e-02 5.44e-01 -2.7 5.84e+00 -4.1 5.76e-01 1.00e+00h 1 22 2.2145994e+00 2.98e-02 6.75e-01 -4.0 2.31e+01 -4.6 1.29e-01 1.09e-01h 1 23 2.2105144e+00 7.53e-04 5.32e-02 -3.8 1.83e-01 -1.5 1.00e+00 9.75e-01h 1 24 2.2102140e+00 2.04e-04 1.69e-02 -4.0 9.26e-02 -1.9 1.00e+00 1.00e+00h 1 25 2.2095864e+00 3.49e-04 2.54e-03 -4.0 7.55e-02 -1.5 1.00e+00 1.00e+00h 1 26 2.2088256e+00 4.19e-05 9.32e-04 -4.0 9.19e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.2079259e+00 8.25e-05 4.06e-02 -4.0 2.71e-01 -2.5 1.00e+00 6.94e-01h 1 28 2.2059950e+00 4.39e-04 1.21e-03 -4.0 8.17e-01 -2.9 1.00e+00 1.00e+00f 1 29 2.1999178e+00 1.85e-03 3.99e-03 -4.0 2.51e+00 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1932751e+00 3.49e-03 1.58e-02 -4.0 8.73e+00 -3.9 4.34e-01 3.93e-01h 1 31 2.1926225e+00 3.44e-03 1.74e-02 -4.0 6.67e+02 -4.4 1.11e-03 1.05e-03h 1 32 2.1926115e+00 3.44e-03 1.73e-02 -4.0 1.78e+01 -4.0 3.89e-04 4.04e-04h 1 33 2.1926071e+00 3.44e-03 1.73e-02 -4.0 4.94e+00 -3.5 4.82e-04 5.17e-04h 1 34 2.1925960e+00 3.44e-03 1.72e-02 -4.0 3.15e+01 -4.0 2.12e-04 2.55e-04h 1 35 2.1925937e+00 3.44e-03 1.71e-02 -4.0 1.60e+01 -3.6 6.55e-05 1.07e-04h 1 36 2.1925864e+00 3.44e-03 1.67e-02 -4.0 3.15e+02 -4.1 7.63e-06 2.04e-05h 1 37 2.1925857e+00 3.44e-03 1.67e-02 -4.0 7.51e+02 -3.6 1.80e-07 7.54e-07f 2 38 2.1925859e+00 3.44e-03 5.21e-01 -4.0 4.18e+00 -1.4 2.20e-02 2.25e-05h 1 39 2.1922816e+00 6.48e-06 1.34e-03 -4.1 5.71e-02 -1.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1920706e+00 3.97e-06 6.91e-02 -4.0 1.14e-01 -2.4 1.00e+00 6.82e-01H 1 41 2.1915669e+00 5.11e-05 2.11e-03 -4.0 3.08e-01 -2.8 1.00e+00 1.00e+00f 1 42 2.1903343e+00 2.63e-04 8.21e-04 -4.0 8.54e-01 -3.3 1.00e+00 1.00e+00h 1 43 2.1869430e+00 2.19e-03 1.13e-03 -4.0 2.41e+00 -3.8 1.00e+00 1.00e+00h 1 44 2.1784478e+00 1.39e-02 6.52e-03 -4.0 6.17e+00 -4.3 1.00e+00 1.00e+00h 1 45 2.1616164e+00 5.83e-02 2.54e-02 -4.0 1.33e+01 -4.7 1.00e+00 1.00e+00h 1 46 2.1378826e+00 1.47e-01 5.61e-02 -4.0 2.35e+01 -5.2 1.00e+00 1.00e+00h 1 47 2.1133386e+00 2.49e-01 8.14e-02 -4.0 3.69e+01 -5.7 1.00e+00 1.00e+00h 1 48 2.0979344e+00 2.82e-01 1.20e-01 -3.1 5.39e+01 -6.2 1.00e+00 1.00e+00h 1 49 2.0864355e+00 2.70e-01 7.38e-02 -3.3 7.48e+01 -6.6 1.00e+00 9.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822564e+00 1.41e-01 2.14e-01 -3.5 1.13e+02 -7.1 1.00e+00 9.99e-01h 1 51 2.0901199e+00 1.22e-01 1.61e-01 -3.0 1.43e+02 -7.6 1.00e+00 1.00e+00h 1 52 2.0871704e+00 3.04e-02 2.79e-02 -3.1 1.15e+02 -8.1 1.00e+00 1.00e+00h 1 53 2.0784835e+00 1.59e-01 4.21e-03 -3.9 2.46e+02 -8.6 9.99e-01 1.00e+00h 1 54 2.0764267e+00 5.62e-02 1.20e-02 -4.0 6.08e+02 -9.0 1.00e+00 1.00e+00h 1 55 2.0775130e+00 6.64e-03 8.58e-03 -3.7 7.73e+01 -9.5 1.00e+00 1.00e+00h 1 56 2.0763758e+00 9.03e-03 5.43e-04 -4.0 1.03e+02 -10.0 1.00e+00 1.00e+00h 1 57 2.0764112e+00 4.38e-05 2.33e-05 -4.0 3.86e+01 -10.5 1.00e+00 1.00e+00h 1 58 2.0764084e+00 2.41e-07 4.39e-06 -4.0 2.43e+01 -10.9 1.00e+00 1.00e+00h 1 59 2.0764085e+00 1.07e-08 2.68e-07 -4.0 6.05e+00 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0764085e+00 8.10e-11 2.04e-09 -4.0 5.31e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 60 (scaled) (unscaled) Objective...............: 2.0764084885034988e+00 2.0764084885034988e+00 Dual infeasibility......: 2.0370734704914985e-09 2.0370734704914985e-09 Constraint violation....: 8.1045836708426577e-11 8.1045836708426577e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 2.0370734704914985e-09 2.0370734704914985e-09 Number of objective function evaluations = 67 Number of objective gradient evaluations = 61 Number of equality constraint evaluations = 67 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 61 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 60 Total seconds in IPOPT = 34.961 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 (0.072s) 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: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.056s) optimizer initialization complete (total: 0.183s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5943400e+00 2.74e+00 1.52e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.5352638e+00 1.25e+00 9.81e+00 -0.7 9.88e+00 - 9.57e-01 5.46e-01h 1 2 3.5765950e+00 1.25e+00 3.67e+02 0.5 2.22e+02 -2.0 7.81e-02 3.14e-03h 1 3 2.9464207e+01 4.14e+00 2.14e+02 1.3 2.06e+03 - 4.75e-01 7.56e-02f 1 4 2.4347642e+01 3.64e+00 5.62e+02 1.0 2.24e+03 - 5.10e-01 9.23e-02f 4 5 1.0804614e+02 7.96e+00 1.35e+03 1.0 2.35e+02 - 4.94e-01 1.00e+00h 1 6 2.7222313e+01 5.13e-01 4.27e+01 1.0 8.77e+00 -1.6 1.00e+00 1.00e+00f 1 7 3.1704206e+01 1.03e-01 6.97e+01 -0.0 1.84e+01 -2.1 9.94e-01 1.00e+00h 1 8 2.3284452e+01 2.06e-01 2.01e+01 -0.5 4.88e+01 -2.5 9.97e-01 1.00e+00f 1 9 7.6870458e+00 2.78e+00 4.37e+01 -4.0 5.01e+03 - 3.25e-02 2.72e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3005580e+01 1.42e+00 2.16e+02 -0.1 3.38e+01 - 1.00e+00 6.48e-01H 1 11 5.9236457e+00 5.45e-01 4.50e+01 -0.6 4.46e+00 - 1.00e+00 1.00e+00f 1 12 5.1897651e+00 4.31e-01 3.03e+00 -1.3 4.08e+00 - 1.00e+00 7.38e-01f 1 13 5.2065020e+00 4.32e-01 2.44e+03 -1.4 1.65e+03 - 7.75e-01 2.15e-03h 2 14 1.3156409e+02 1.56e-01 2.51e+04 -1.9 1.30e+03 - 9.13e-01 7.89e-01H 1 15 1.2519702e+02 7.54e-01 1.93e+04 -1.5 2.78e+02 - 8.40e-02 1.00e+00h 1 16 4.9778047e+01 2.09e+00 5.15e+03 -1.5 4.86e+02 - 5.42e-01 1.00e+00f 1 17 2.6627405e+01 1.23e+00 1.46e+03 -1.5 1.58e+02 - 8.80e-01 1.00e+00f 1 18 1.5007295e+01 4.24e+00 2.78e+02 -1.5 1.16e+01 -2.1 7.98e-01 8.79e-01h 1 19 2.1027993e+01 1.90e+00 2.57e+02 -1.5 1.43e+02 -2.6 1.00e+00 2.39e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.9127466e+01 9.11e-02 6.47e+01 -1.5 2.78e+00 -1.3 6.57e-01 1.00e+00h 1 21 2.8213946e+01 6.63e-03 1.01e+01 -1.6 7.97e+00 -1.7 1.00e+00 1.00e+00f 1 22 2.4590645e+01 5.98e-02 6.47e+00 -2.5 2.33e+01 -2.2 1.00e+00 1.00e+00f 1 23 2.2646869e+01 6.32e+00 5.94e+02 -1.7 1.22e+04 - 1.00e+00 1.75e-02f 2 24 8.0922954e+00 2.88e+00 1.12e+02 -1.8 1.20e+02 -1.8 3.60e-01 2.72e-01f 1 25 9.1996578e+00 3.01e+00 8.81e+02 -1.8 2.23e+03 -2.3 2.64e-04 5.60e-03h 1 26 6.2381242e+00 2.42e+00 4.38e+02 -1.8 8.13e+01 -2.7 4.62e-01 1.49e-01f 1 27 6.2309738e+00 2.42e+00 4.70e+02 -1.8 1.54e+03 -2.3 1.21e-02 2.46e-04h 1 28 6.2115633e+00 2.41e+00 2.92e+04 -1.8 1.56e+03 - 1.00e+00 2.33e-03h 1 29 2.8041508e+01 1.66e+00 2.67e+04 -1.8 1.56e+03 - 3.35e-01 3.11e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.0220121e+01 1.62e+00 2.37e+03 -1.8 1.09e+03 -2.8 1.45e-01 2.35e-02h 1 31 2.0203011e+02 1.49e+00 1.37e+06 -1.8 1.03e+03 -2.4 6.44e-04 1.00e+00h 1 32 2.0635547e+02 3.12e-02 4.52e+04 -1.8 6.54e+01 - 1.00e+00 1.00e+00h 1 33 1.5845027e+02 1.42e+00 3.47e+04 -1.8 7.62e+02 - 1.29e-01 2.50e-01f 3 34 7.2886540e+01 2.30e+00 8.85e+03 -1.8 6.79e+02 - 1.00e+00 1.00e+00f 1 35 3.1672383e+01 7.84e-01 2.77e+03 -1.8 2.57e+02 - 3.62e-01 1.00e+00F 1 36 1.7930104e+01 1.18e+00 7.69e+02 -1.8 1.31e+02 - 1.00e+00 1.00e+00f 1 37 1.1172642e+01 6.75e-01 2.17e+02 -1.8 4.47e+01 - 9.71e-01 1.00e+00f 1 38 6.2037284e+00 8.97e-01 6.48e+01 -2.1 2.59e+01 - 1.00e+00 1.00e+00f 1 39 6.6610292e+00 2.00e-01 1.64e+01 -2.2 5.69e+00 - 9.30e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.4980022e+00 1.08e+00 1.22e+01 -1.6 1.40e+01 -1.9 1.00e+00 3.06e-01f 1 41 6.1983649e+00 4.76e-01 5.09e+01 -1.7 1.46e+02 - 4.98e-01 1.63e-01h 3 42 5.2207177e+00 8.01e-01 6.85e+01 -1.4 2.07e+01 -2.4 3.65e-01 4.68e-01F 1 43 8.2483503e+00 1.06e+00 5.85e+01 -1.7 1.56e+01 - 1.00e+00 1.00e+00h 1 44 6.5394462e+00 8.53e-02 2.55e+02 -1.7 2.71e+00 -0.2 7.88e-01 1.00e+00f 1 45 6.7019950e+00 2.72e-02 6.27e+01 -1.8 7.92e-01 -0.7 1.00e+00 1.00e+00h 1 46 6.4983376e+00 5.15e-02 9.15e+00 -2.5 1.16e+00 -1.1 1.00e+00 1.00e+00h 1 47 5.7383939e+00 1.19e+00 4.72e+01 -1.9 2.71e+02 - 7.20e-02 1.08e-01F 1 48 5.2938324e+00 8.32e-01 3.29e+01 -2.6 1.37e+01 -1.6 1.00e+00 2.26e-01h 1 49 5.2665710e+00 3.70e-01 2.11e+01 -2.6 1.21e+02 - 2.17e-03 2.50e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.4401085e+00 2.18e-01 1.16e+02 -4.0 1.12e+01 -1.2 9.02e-01 5.00e-01h 2 51 5.5023523e+00 6.83e-02 1.73e+01 -3.2 5.32e+00 - 1.00e+00 1.00e+00h 1 52 5.6193283e+00 3.37e-03 1.13e+00 -4.0 5.57e-01 - 1.00e+00 1.00e+00h 1 53 5.5434963e+00 7.40e-02 5.69e-01 -4.0 3.81e+00 - 1.00e+00 1.00e+00h 1 54 5.5957701e+00 2.38e-03 4.03e-02 -4.0 2.60e-01 - 1.00e+00 1.00e+00h 1 55 5.5941867e+00 3.11e-04 2.51e-04 -4.0 1.76e-01 - 1.00e+00 1.00e+00h 1 56 5.5944077e+00 1.01e-06 2.29e-06 -4.0 1.10e-02 - 1.00e+00 1.00e+00h 1 57 5.5944084e+00 3.13e-12 8.27e-12 -4.0 2.34e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 57 (scaled) (unscaled) Objective...............: 5.5944083908690443e+00 5.5944083908690443e+00 Dual infeasibility......: 8.2721652336185947e-12 8.2721652336185947e-12 Constraint violation....: 3.1341595985168169e-12 3.1341595985168169e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 8.2721652336185947e-12 8.2721652336185947e-12 Number of objective function evaluations = 92 Number of objective gradient evaluations = 58 Number of equality constraint evaluations = 92 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 58 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 57 Total seconds in IPOPT = 34.279 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 (0.068s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.12s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.121s) 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 3.0904446e+00 2.53e+00 5.04e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8570484e+00 1.13e+00 2.12e+00 -0.9 2.47e+00 0.0 9.08e-01 5.56e-01f 1 2 2.6461014e+00 3.07e-02 3.66e+00 -0.9 1.20e+00 -0.5 6.69e-01 1.00e+00h 1 3 2.4743404e+00 3.45e-02 3.10e-01 -1.4 4.51e-01 -1.0 9.97e-01 1.00e+00h 1 4 2.2304539e+00 1.92e-02 1.70e-01 -2.2 3.84e-01 -1.4 9.49e-01 7.64e-01h 1 5 2.1228358e+00 2.07e-03 2.71e-02 -2.7 1.04e-01 -1.9 9.74e-01 8.92e-01h 1 6 2.0912187e+00 6.42e-05 1.59e-03 -4.0 1.43e-02 -2.4 9.99e-01 9.82e-01h 1 7 2.0909093e+00 1.47e-06 2.35e-05 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909045e+00 1.29e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908912e+00 6.87e-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 2.0908514e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907319e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903744e+00 5.04e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893088e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861766e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796289e+00 2.51e-03 8.62e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812805e+00 1.46e-04 1.91e-01 -4.0 6.74e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778405e+00 5.64e-03 2.67e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781750e+00 1.62e-02 3.32e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767280e+00 1.29e-02 1.78e-02 -3.8 2.84e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758211e+00 1.17e-02 2.19e-02 -3.9 4.07e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757744e+00 6.48e-03 9.56e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756775e+00 3.50e-04 4.18e-04 -4.0 5.91e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.68e-06 7.95e-06 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.65e-08 1.48e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.45e-09 1.47e-07 -4.0 5.19e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.62e-11 2.98e-09 -4.0 9.20e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122065388e+00 2.0756712122065388e+00 Dual infeasibility......: 2.9808902487766901e-09 2.9808902487766901e-09 Constraint violation....: 7.6162853801520214e-11 7.6162853801520214e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 2.9808902487766901e-09 2.9808902487766901e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 37.122 EXIT: Optimal Solution Found. ====================================================================================== 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 19 running 1 of 1 signal (10): User defined signal 1 int64hash at /source/src/support/hashing.c:31:9 bitmix at /source/src/support/hashing.h:31:12 [inlined] typekeyvalue_hash at /source/src/jltypes.c:1857:12 [inlined] lookup_typevalue at /source/src/jltypes.c:1161:19 jl_inst_arg_tuple_type at /source/src/jltypes.c:2504:42 arg_type_tuple at /source/src/gf.c:3175:12 [inlined] jl_lookup_generic_ at /source/src/gf.c:4277:26 [inlined] ijl_apply_generic at /source/src/gf.c:4333:35 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_f__apply_iterate at /source/src/builtins.c:897:26 objective_value at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/objectives/knot_point_objectives.jl:165:27 unknown function (ip: 0x765c6f9e8a86) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 objective_value at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/objectives/_objectives.jl:110:23 unknown function (ip: 0x765c6f9e83b6) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 #24 at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:762:14 #finite_difference_hessian!#35 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:268:264 unknown function (ip: 0x765c1af332bd) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 finite_difference_hessian! at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:202:29 #finite_difference_hessian#33 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:165:9 finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:159:29 [inlined] #finite_difference_hessian#32 at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:146:9 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:9 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/hMV7l/src/hessians.jl:140:5 unknown function (ip: 0x765c544a845a) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:3113:125 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:7:12 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:15 [inlined] cd at ./file.jl:112:18 unknown function (ip: 0x765c985d7b26) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:99 unknown function (ip: 0x765c985d76ce) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:250:552 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x765c9851ba62) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:3113:125 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:35 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:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:318:353 _start at ./client.jl:593:35 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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: 0x765cae96d249) 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 ============================================================== ====================================================================================== 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 wait at ./task.jl:1246:44 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:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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 ============================================================== ┌ 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 0x00007091aef41780 Total snapshots: 536. Utilization: 0% ╎536 @Base/task.jl:1168 wait_forever() 535╎ 536 @Base/task.jl:1246 wait() [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:1246:44 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:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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: 19470859 (Pool: 19470160; Big: 699); GC: 16 [19] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:798 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:2414:41 jl_specializations_get_linfo_ at /source/src/gf.c:236:17 #specialize_method#6 at ./runtime_internals.jl:1796:38 [inlined] specialize_method at ./runtime_internals.jl:1783:4 [inlined] typeinf_edge at ./../usr/share/julia/Compiler/src/typeinfer.jl:1147:8 abstract_call_method at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:769:274 infercalls at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:178:37 abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:340:130 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2999:1162 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3107:46 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3100:4 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3260:15 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3278:20 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3648:10 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4055:136 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4012:4 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4596:643 jfptr_typeinf_local_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4874:135 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1537:123 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1723:2 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1732:17 jfptr_typeinf_ext_toplevel_3.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jl_apply at /source/src/julia.h:2327:12 [inlined] jl_type_infer at /source/src/gf.c:463:35 jl_compile_method_internal at /source/src/gf.c:3638:24 _jl_invoke at /source/src/gf.c:4103:16 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/z3jRk/src/jacobian.jl:58:3 unknown function (ip: 0x765c1af76be9) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/integrators/bilinear_integrator.jl:114:50 unknown function (ip: 0x765c1af767fe) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:487:26 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/bnQ8f/src/solvers/evaluator.jl:359:4 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:3113:125 include_string at ./loading.jl:3123:3 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:7:12 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:15 [inlined] cd at ./file.jl:112:18 unknown function (ip: 0x765c985d7b26) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:99 unknown function (ip: 0x765c985d76ce) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:250:552 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:3 unknown function (ip: 0x765c9851ba62) at (unknown file) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:3113:125 _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 _include at ./loading.jl:3173:35 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:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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:318:353 _start at ./client.jl:593:35 jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4111:23 [inlined] ijl_apply_generic at /source/src/gf.c:4337:12 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: 0x765cae96d249) 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: 1483721204 (Pool: 1483644860; Big: 76344); GC: 625 PkgEval terminated after 2737.89s: test duration exceeded the time limit