Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2462 (fcc4213c48*) started at 2026-07-01T00:24:05.685 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 13.82s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.6 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.1 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.45 [79e6a3ab] + Adapt v4.7.0 [4fba245c] + ArrayInterface v7.27.0 [4c555306] + ArrayLayouts v1.12.2 [b2a6c25c] + BinaryHeaps v1.0.1 [70df07ce] + BracketingNonlinearSolve v1.12.2 [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 v0.2.9 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.5 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.5 [2b5f629d] + DiffEqBase v7.6.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.18 [c823fa1f] + DirectTrajOpt v0.9.6 [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 v1.3.3 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.3 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.1 [f6369f11] + ForwardDiff v1.4.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.9.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.15.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.8.0 [682c06a0] + JSON v1.6.1 [5078a376] + LazyArrays v2.9.10 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.1 [bb5d69b7] + MaybeInplace v0.1.5 [46d2c3a1] + MuladdMacro v0.2.6 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.3 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.5.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.2 [69de0a69] + Parsers v2.8.6 [d236fae5] + PreallocationTools v1.2.1 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.2 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.21 [0bca4576] + SciMLBase v3.30.0 [19f34311] + SciMLJacobianOperators v0.1.14 [a6db7da4] + SciMLLogging v2.0.1 [c0aeaf25] + SciMLOperators v1.22.1 [431bcebd] + SciMLPublic v1.2.1 [53ae85a6] + SciMLStructures v1.10.1 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.8.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.2 [2efcf032] + SymbolicIndexingInterface v0.3.49 [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 v2.14.0+0 [9cc047cb] + Ipopt_jll v300.1400.1902+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.900.0+0 [656ef2d0] + OpenBLAS32_jll v0.3.33+1 [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 v1.2.0 [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 v1.14.0 [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 v1.13.0 [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 v1.5.5+2 [deac9b47] + LibCURL_jll v8.20.0+1 [e37daf67] + LibGit2_jll v1.9.4+0 [29816b5a] + LibSSH2_jll v1.11.101+0 [14a3606d] + MozillaCACerts_jll v2026.5.14 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.7+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.67s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/RUPmD/src/julia-1.13/activate_set.jl:78 Precompiling package dependencies... Precompiling project... WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. Stacktrace:  [1] top-level scope  @ ~/.julia/packages/JET/ofYLk/src/abstractinterpret/typeinfer.jl:233  [2] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [3] top-level scope  @ ~/.julia/packages/JET/ofYLk/src/JETBase.jl:320  [4] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [5] top-level scope  @ ~/.julia/packages/JET/ofYLk/src/JET.jl:43  [6] include(mod::Module, _path::String)  @ Base Base.jl:325  [7] include_package_for_output(pkg::Base.PkgId, input::String, syntax_version::VersionNumber, depot_path::Vector{String}, dl_load_path::Vector{String}, load_path::Vector{String}, concrete_deps::Vector{Pair{Base.PkgId, UInt128}}, source::Nothing)  @ Base loading.jl:3303  [8] top-level scope  @ stdin:5  [9] eval(m::Module, e::Any)  @ Core boot.jl:522  [10] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String)  @ Base loading.jl:3132  [11] include_string(m::Module, txt::String, fname::String)  @ Base loading.jl:3142 [inlined]  [12] exec_options(opts::Base.JLOptions)  @ Base client.jl:353  [13] _start()  @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/abstractinterpret/typeinfer.jl:233 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JETBase.jl:320 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 12.3 s ✓ NamedTrajectories 18.1 s ✓ MadNLP → MadNLPMOI 53.6 s ✓ Ipopt → IpoptMathOptInterfaceExt 29.7 s ✓ DirectTrajOpt 29.8 s ✓ DirectTrajOpt → MadNLPSolverExt 5 dependencies successfully precompiled in 160 seconds. 224 already precompiled. Precompilation completed after 188.25s ################################################################################ # Testing # Testing DirectTrajOpt Test Could not use exact versions of packages in manifest, re-resolving. Note: if you do not check your manifest file into source control, then you can probably ignore this message. However, if you do check your manifest file into source control, then you probably want to pass the `allow_reresolve = false` kwarg when calling the `Pkg.test` function. Updating `/tmp/jl_qpuStw/Project.toml` [4c88cf16] + Aqua v0.8.16 [c823fa1f] + DirectTrajOpt v0.9.6 [c3a54625] + JET v0.11.5 ⌅ [2621e9c9] + MadNLP v0.9.2 Updating `/tmp/jl_qpuStw/Manifest.toml` [14f7f29c] + AMD v0.5.3 [4c88cf16] + Aqua v0.8.16 [da1fd8a2] + CodeTracking v3.0.2 [807dbc54] + Compiler v0.1.1 [c823fa1f] + DirectTrajOpt v0.9.6 [c3a54625] + JET v0.11.5 ⌅ [aa1ae85d] + JuliaInterpreter v0.10.12 [70703baa] + JuliaSyntax v1.0.2 [40e66cde] + LDLFactorizations v0.10.2 [5c8ed15e] + LinearOperators v2.14.1 ⌃ [6f1432cf] + LoweredCodeUtils v3.6.2 ⌅ [2621e9c9] + MadNLP v0.9.2 [a4795742] + NLPModels v0.21.12 [295af30f] + Revise v3.15.1 [ff4d7338] + SolverCore v0.3.10 ⌃ [9cc047cb] ↓ Ipopt_jll v300.1400.1902+0 ⇒ v300.1400.1901+0 ⌅ [d7ed1dd3] ↓ MUMPS_seq_jll v500.900.0+0 ⇒ v500.800.200+0 [8bf52ea8] + CRC32c v1.11.0 [3fa0cd96] + REPL v1.11.0 [4607b0f0] + SuiteSparse 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` Test Successfully re-resolved Status `/tmp/jl_qpuStw/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.1 [f6369f11] ForwardDiff v1.4.1 [b6b21f68] Ipopt v1.15.0 [c3a54625] JET v0.11.5 [5078a376] LazyArrays v2.9.10 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [538bc3a1] NamedTrajectories v0.9.1 [b1df2697] OrdinaryDiffEqTsit5 v2.0.2 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.30.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.14.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_qpuStw/Manifest.toml` [47edcb42] ADTypes v1.22.1 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.45 [79e6a3ab] Adapt v4.7.0 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.27.0 [4c555306] ArrayLayouts v1.12.2 [b2a6c25c] BinaryHeaps v1.0.1 [70df07ce] BracketingNonlinearSolve v1.12.2 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.9 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.5 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.5 [2b5f629d] DiffEqBase v7.6.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.18 [c823fa1f] DirectTrajOpt v0.9.6 [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 v1.3.3 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.3 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.1 [f6369f11] ForwardDiff v1.4.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.9.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.15.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [c3a54625] JET v0.11.5 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.6.1 ⌅ [aa1ae85d] JuliaInterpreter v0.10.12 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.9.10 [5c8ed15e] LinearOperators v2.14.1 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 ⌃ [6f1432cf] LoweredCodeUtils v3.6.2 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [bb5d69b7] MaybeInplace v0.1.5 [46d2c3a1] MuladdMacro v0.2.6 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.3 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.5.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.2 [69de0a69] Parsers v2.8.6 [d236fae5] PreallocationTools v1.2.1 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.2 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [295af30f] Revise v3.15.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.21 [0bca4576] SciMLBase v3.30.0 [19f34311] SciMLJacobianOperators v0.1.14 [a6db7da4] SciMLLogging v2.0.1 [c0aeaf25] SciMLOperators v1.22.1 [431bcebd] SciMLPublic v1.2.1 [53ae85a6] SciMLStructures v1.10.1 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.8.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.2 [2efcf032] SymbolicIndexingInterface v0.3.49 [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 v2.14.0+0 ⌃ [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.33+1 [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 v1.2.0 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [8bf52ea8] CRC32c 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 v1.14.0 [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 [3fa0cd96] REPL v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.13.0 [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 v1.5.5+2 [deac9b47] LibCURL_jll v8.20.0+1 [e37daf67] LibGit2_jll v1.9.4+0 [29816b5a] LibSSH2_jll v1.11.101+0 [14a3606d] MozillaCACerts_jll v2026.5.14 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.7+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.803s integrator 2 jacobian structure: 0.053s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.891s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.045s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.105s sub-objective 2 (QuadraticRegularizer): 1.874s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 4.084s hessian structure: 1749 nonzeros (4.176s) linear index maps built (0.0s) evaluator ready (total: 6.489s) evaluator created (11.256s) NL constraint bounds extracted (0.096s) NLP block data built (0.0s) Ipopt optimizer configured (0.365s) variables set (0.807s) 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 (3.019s) optimizer initialization complete (total: 15.627s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.2079368e+00 2.14e+00 3.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3694237e+00 3.51e-01 4.35e+00 -4.0 1.93e+00 0.0 1.41e-01 8.39e-01f 1 2 2.4728916e+00 7.68e-02 1.21e+00 -1.1 5.57e-01 -0.5 8.94e-01 7.73e-01f 1 3 2.4103952e+00 2.49e-02 3.84e-01 -1.5 3.21e-01 -1.0 9.90e-01 1.00e+00h 1 4 2.1781263e+00 6.70e-03 1.07e-01 -2.2 2.12e-01 -1.4 9.99e-01 7.29e-01h 1 5 2.0946544e+00 7.51e-04 7.29e-03 -3.4 5.74e-02 -1.9 9.95e-01 1.00e+00h 1 6 2.0909482e+00 4.52e-06 8.66e-04 -4.0 1.10e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909373e+00 5.58e-08 4.74e-05 -4.0 3.45e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909328e+00 7.49e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909195e+00 6.86e-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 2.0908797e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907602e+00 5.57e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904026e+00 5.04e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893368e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862039e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796290e+00 2.53e-03 8.56e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812005e+00 1.33e-04 1.75e-01 -4.0 7.38e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778035e+00 6.06e-03 2.60e-02 -4.0 1.14e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0772415e+00 3.50e-03 3.59e-02 -4.0 1.92e+02 -8.1 1.00e+00 4.62e-01h 1 19 2.0773847e+00 2.11e-02 3.94e-02 -3.7 3.41e+02 -8.6 1.00e+00 8.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760909e+00 1.69e-02 4.27e-02 -3.9 5.19e+02 -9.1 1.00e+00 1.00e+00h 1 21 2.0757856e+00 1.16e-02 1.28e-02 -4.0 1.49e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756764e+00 7.91e-04 5.62e-04 -4.0 7.34e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.57e-06 1.07e-05 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 7.40e-08 1.49e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.50e-09 1.49e-07 -4.0 5.24e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.75e-11 3.03e-09 -4.0 9.28e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122090994e+00 2.0756712122090994e+00 Dual infeasibility......: 3.0318993523203910e-09 3.0318993523203910e-09 Constraint violation....: 7.7533757192327357e-11 7.7533757192327357e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 3.0318993523203910e-09 3.0318993523203910e-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 = 62.057 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.152s) optimizer initialization complete (total: 0.259s) 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 2.3222106e+00 4.26e+00 4.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9574363e+00 1.30e-01 1.09e+01 -1.2 2.70e+00 0.0 8.51e-02 1.00e+00h 1 2 2.9591379e+00 5.11e-02 3.10e+00 -0.8 5.34e-01 0.4 8.31e-01 7.18e-01f 1 3 2.6773377e+00 2.27e-02 3.58e+00 -2.7 1.79e-01 -0.1 5.98e-01 1.00e+00h 1 4 2.5186076e+00 1.29e-02 1.44e+00 -1.2 3.23e-01 -0.5 8.29e-01 4.41e-01f 1 5 2.2466090e+00 1.72e-02 1.90e-01 -2.0 2.82e-01 -1.0 9.99e-01 9.55e-01f 1 6 2.1253534e+00 3.08e-03 9.20e-02 -2.7 1.58e-01 -1.5 9.75e-01 1.00e+00h 1 7 2.0942081e+00 2.26e-04 3.89e-02 -4.0 5.02e-02 -2.0 1.00e+00 8.66e-01h 1 8 2.0909248e+00 4.27e-05 1.77e-02 -4.0 1.05e-01 -2.4 1.00e+00 1.00e+00h 1 9 2.0909012e+00 4.24e-07 5.03e-04 -4.0 1.89e-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 2.0908986e+00 6.50e-08 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908836e+00 8.83e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908388e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907044e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903024e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891051e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855957e+00 5.54e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796327e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807344e+00 1.60e-04 1.82e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775327e+00 7.44e-03 2.46e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769213e+00 1.10e-03 4.91e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760148e+00 1.05e-03 2.35e-02 -4.0 3.10e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754472e+00 4.99e-04 3.03e-02 -4.0 4.71e+02 -9.1 1.00e+00 7.23e-01H 1 23 2.0757775e+00 2.20e-03 1.08e-02 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753827e+00 1.41e-03 4.92e-04 -4.1 7.88e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.07e-04 6.85e-06 -4.0 1.86e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.36e-04 8.32e-07 -4.1 2.60e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.13e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-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.........: 2.3095644031728799e-04 2.3095644031728799e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.103 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.108s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.048s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.333s sub-objective 2 (QuadraticRegularizer): 0.15s sub-objective 3 (MinimumTimeObjective): 0.016s objective hessian structure: 0.591s hessian structure: 1749 nonzeros (0.688s) linear index maps built (0.0s) evaluator ready (total: 0.796s) evaluator created (0.834s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) 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 (4.524s) optimizer initialization complete (total: 5.475s) 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 4.6783397e+00 3.31e+00 9.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7156031e+00 1.80e-01 1.17e+00 -0.9 2.09e+00 -2.0 9.48e-01 1.00e+00f 1 2 2.4092056e+00 1.40e-01 3.96e-01 -1.4 2.43e+00 -2.5 9.82e-01 1.00e+00h 1 3 2.2002055e+00 5.65e-02 1.05e-01 -2.1 1.46e+00 -3.0 9.82e-01 1.00e+00h 1 4 2.1146491e+00 1.68e-02 7.25e-02 -2.7 1.44e+00 -3.4 9.94e-01 8.84e-01h 1 5 2.0919729e+00 1.97e-04 3.13e-03 -3.8 7.67e-02 -3.9 9.96e-01 1.00e+00h 1 6 2.0908010e+00 8.67e-05 2.32e-04 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906539e+00 4.70e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902129e+00 7.72e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889007e+00 7.08e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850642e+00 6.71e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796305e+00 2.11e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.37e-01h 1 12 2.0802708e+00 1.45e-04 1.68e-01 -4.0 6.69e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774144e+00 7.87e-03 2.41e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.64e-01h 1 14 2.0769984e+00 1.71e-03 4.80e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761818e+00 2.23e-03 1.92e-02 -4.0 3.50e+02 -8.7 1.00e+00 8.24e-01h 1 16 2.0755149e+00 2.24e-03 2.81e-02 -4.0 5.22e+02 -9.2 1.00e+00 7.05e-01h 1 17 2.0757540e+00 2.63e-03 1.21e-02 -4.0 1.45e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756811e+00 2.96e-04 4.15e-04 -4.0 6.54e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 6.76e-06 6.86e-06 -4.0 2.22e+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 1.08e-06 -4.0 1.30e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.00e-09 8.21e-08 -4.0 4.08e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.99e-11 1.18e-09 -4.0 5.92e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121399694e+00 2.0756712121399694e+00 Dual infeasibility......: 1.1806524149993430e-09 1.1806524149993430e-09 Constraint violation....: 2.9880653507063926e-11 2.9880653507063926e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.1806524149993430e-09 1.1806524149993430e-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 = 34.746 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.107s) 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 2.2590421e+00 3.38e+00 3.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9563445e+00 1.43e+00 1.95e+01 -1.0 1.01e+01 -2.0 2.62e-01 5.97e-01h 1 2 2.9076275e+00 1.38e+00 1.88e+01 -4.0 7.95e+00 -0.7 4.17e-02 3.51e-02h 1 3 2.8120048e+00 1.15e+00 1.51e+01 -2.2 3.24e+00 -0.2 3.65e-01 1.68e-01h 1 4 2.6045220e+00 9.69e-01 8.55e+01 -0.4 1.56e+01 -0.7 9.11e-01 1.52e-01f 1 5 2.7370742e+00 3.91e-01 2.18e+01 -0.6 2.12e+00 -1.2 8.65e-01 5.98e-01h 1 6 2.6920023e+00 9.95e-02 5.72e+00 -2.2 2.16e+00 -1.7 8.16e-01 1.00e+00h 1 7 2.6260648e+00 1.09e-01 3.62e-01 -1.4 2.49e+00 -2.2 9.91e-01 1.00e+00f 1 8 2.4459341e+00 8.31e-02 1.69e-01 -2.2 2.92e+00 -2.6 9.17e-01 1.00e+00h 1 9 2.3287471e+00 1.36e-01 1.05e-01 -2.6 4.75e+00 -3.1 9.85e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.2470829e+00 1.48e-01 1.47e-01 -3.2 6.78e+00 -3.6 1.00e+00 1.00e+00h 1 11 2.1872317e+00 1.25e-01 1.38e-01 -3.6 9.49e+00 -4.1 1.00e+00 1.00e+00h 1 12 2.1450909e+00 1.51e-01 1.51e-01 -4.0 1.35e+01 -4.5 1.00e+00 1.00e+00h 1 13 2.1154422e+00 1.36e-01 1.23e-01 -4.0 1.92e+01 -5.0 1.00e+00 1.00e+00h 1 14 2.0977406e+00 1.48e-01 1.24e-01 -3.3 2.64e+01 -5.5 1.00e+00 1.00e+00h 1 15 2.0933751e+00 1.69e-01 1.30e-01 -3.1 2.88e+01 -6.0 1.00e+00 8.83e-01h 1 16 2.0989671e+00 1.74e-01 5.18e-01 -2.8 7.24e+01 -6.4 1.00e+00 8.31e-01H 1 17 2.0940917e+00 3.28e-01 7.51e-02 -2.8 5.69e+01 -6.9 1.00e+00 9.34e-01h 1 18 2.0927480e+00 1.89e-02 5.51e-03 -2.9 2.67e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0795093e+00 1.05e-01 1.48e-02 -4.0 9.36e+01 -7.9 9.25e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0780965e+00 4.40e-03 1.15e-02 -3.8 1.92e+02 -8.4 1.00e+00 1.00e+00h 1 21 2.0769822e+00 2.34e-02 1.15e-02 -4.0 4.52e+02 -8.8 1.00e+00 1.00e+00h 1 22 2.0786058e+00 9.23e-02 3.51e-02 -3.5 3.53e+02 -9.3 8.95e-01 1.00e+00h 1 23 2.0781249e+00 2.39e-02 5.56e-03 -3.6 1.72e+02 -9.8 1.00e+00 1.00e+00h 1 24 2.0780831e+00 3.56e-04 1.29e-04 -3.6 3.03e+01 -10.3 1.00e+00 1.00e+00h 1 25 2.0762328e+00 1.30e-02 4.45e-06 -4.0 8.91e+01 -10.7 1.00e+00 1.00e+00h 1 26 2.0762847e+00 7.40e-05 5.17e-06 -4.0 4.91e+01 -11.2 1.00e+00 1.00e+00h 1 27 2.0762766e+00 1.04e-07 2.79e-07 -4.0 6.78e+00 -11.7 1.00e+00 1.00e+00h 1 28 2.0762765e+00 6.60e-11 6.30e-10 -4.0 3.16e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0762764839796075e+00 2.0762764839796075e+00 Dual infeasibility......: 6.3032279295680525e-10 6.3032279295680525e-10 Constraint violation....: 6.5996763609632580e-11 6.5996763609632580e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002782007120e-04 1.0000002782007120e-04 Overall NLP error.......: 6.3032279295680525e-10 6.3032279295680525e-10 Number of objective function evaluations = 31 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 23.799 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.048s) optimizer initialization complete (total: 0.157s) 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 3.4772009e+00 1.85e+00 1.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.5448876e+00 1.69e+00 9.14e+01 -1.0 2.54e+01 - 8.19e-01 1.00e+00h 1 2 4.5889862e+00 1.61e+00 4.86e+03 0.5 1.08e+02 0.0 9.33e-01 4.38e-02h 1 3 3.0254879e+01 4.57e+00 7.04e+04 1.5 9.87e+01 -0.5 2.79e-02 3.10e-01f 2 4 1.9543565e+01 2.40e+00 3.19e+07 0.8 3.60e+01 3.6 2.80e-01 4.79e-01h 1 5 1.9171907e+01 2.28e+00 3.06e+07 0.7 4.27e+01 3.1 1.00e+00 4.63e-02h 1 6 1.7518330e+01 1.53e+00 1.15e+08 2.3 4.82e+01 3.5 1.00e+00 3.30e-01f 1 7 1.7659847e+01 1.47e+00 1.09e+08 2.4 1.22e+02 3.0 2.01e-02 3.57e-02h 1 8 2.2157712e+01 1.85e+00 1.01e+08 2.4 1.71e+02 2.6 8.64e-02 1.99e-01f 1 9 2.2154000e+01 1.84e+00 1.00e+08 2.3 2.90e+01 4.8 7.42e-02 2.54e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9394939e+01 1.03e+00 8.92e+07 2.3 4.40e+01 4.3 8.88e-01 1.33e-01f 1 11 1.9286380e+01 9.95e-01 9.08e+07 2.3 6.70e+01 3.8 1.00e+00 3.59e-02h 1 12 2.4332241e+01 2.09e+00 9.05e+07 2.4 1.04e+03 - 2.04e-03 1.31e-01f 1 13 2.4852769e+01 1.90e+00 2.45e+08 2.2 2.67e+02 3.4 1.28e-02 8.68e-02h 1 14 6.1268392e+01 4.80e+00 9.36e+08 2.2 9.92e+01 2.9 2.14e-02 1.00e+00f 1 15 4.1771605e+01 2.34e+00 1.10e+10 2.2 7.80e+01 5.1 1.00e+00 5.42e-01h 1 16 3.8582037e+01 2.33e-01 4.90e+09 2.2 5.27e+01 4.6 1.00e+00 1.00e+00f 1 17 3.8318949e+01 4.54e-02 3.66e+07 1.7 3.80e+00 4.2 1.00e+00 1.00e+00f 1 18 3.8495255e+01 2.10e-03 3.89e+05 0.2 3.12e-01 4.6 1.00e+00 1.00e+00h 1 19 3.8496251e+01 5.45e-06 1.23e+03 -0.4 7.04e-03 4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.8495396e+01 9.11e-09 1.47e+00 -2.3 3.44e-04 3.6 1.00e+00 1.00e+00h 1 21 3.8493004e+01 5.41e-08 1.46e+00 -3.6 1.03e-03 3.2 1.00e+00 1.00e+00f 1 22 3.8485930e+01 4.86e-07 1.45e+00 -4.0 3.06e-03 2.7 1.00e+00 1.00e+00f 1 23 3.8465600e+01 4.32e-06 1.39e+00 -4.0 8.85e-03 2.2 1.00e+00 1.00e+00f 1 24 3.8411487e+01 3.75e-05 1.26e+00 -4.0 2.39e-02 1.7 1.00e+00 1.00e+00f 1 25 3.8290990e+01 3.08e-04 9.44e-01 -4.0 5.38e-02 1.2 1.00e+00 1.00e+00f 1 26 3.8090855e+01 2.09e-03 5.99e-01 -4.0 1.03e-01 0.8 1.00e+00 1.00e+00f 1 27 3.7858473e+01 7.92e-03 3.32e-01 -4.0 1.71e-01 0.3 1.00e+00 1.00e+00f 1 28 3.7745174e+01 5.39e-03 1.53e-01 -3.8 2.26e-01 -0.2 1.00e+00 6.85e-01f 1 29 3.7435071e+01 6.16e-03 1.47e-01 -4.0 6.78e-01 -0.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.6544883e+01 1.93e-02 2.39e-01 -4.0 2.03e+00 -1.1 1.00e+00 1.00e+00f 1 31 3.3796126e+01 1.03e-01 1.83e+00 -4.0 6.05e+00 -1.6 1.00e+00 1.00e+00f 1 32 2.5896765e+01 1.14e+00 1.02e+01 -4.0 1.56e+01 -2.1 1.00e+00 1.00e+00f 1 33 1.5981767e+01 1.48e+00 2.27e+01 -4.0 3.46e+01 -2.6 1.00e+00 1.00e+00f 1 34 1.7234292e+01 9.91e-01 1.66e+01 -2.5 4.22e+00 -0.3 1.00e+00 3.93e-01h 1 35 2.1683185e+01 1.34e+00 7.90e+01 -2.5 6.97e+00 -0.8 1.00e+00 1.00e+00h 1 36 2.0308067e+01 7.34e-02 1.97e+01 -2.2 1.92e+00 -1.3 1.00e+00 1.00e+00h 1 37 1.8962164e+01 3.65e-01 2.29e+01 -2.7 5.33e+00 -1.8 1.00e+00 1.00e+00h 1 38 1.8771498e+01 2.53e-01 6.41e+00 -2.3 7.17e+00 -1.3 1.00e+00 5.00e-01h 2 39 1.9708222e+01 1.53e-02 2.19e+00 -2.7 2.21e-01 -0.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.9686096e+01 1.95e-03 1.51e-01 -4.0 2.80e-01 -0.5 1.00e+00 1.00e+00h 1 41 1.9594532e+01 5.79e-03 8.97e-02 -4.0 8.41e-01 -1.0 1.00e+00 5.98e-01f 1 42 1.9331564e+01 6.85e-03 1.39e-01 -3.7 2.55e+00 -1.4 1.00e+00 1.00e+00f 1 43 1.8516887e+01 7.98e-03 7.26e-01 -4.0 7.61e+00 -1.9 1.00e+00 1.00e+00f 1 44 1.6009363e+01 8.83e-02 6.38e+00 -4.0 2.28e+01 -2.4 1.00e+00 1.00e+00f 1 45 7.0554370e+00 1.63e+00 6.71e+00 -4.0 1.86e+04 - 6.85e-03 5.81e-03f 6 46 6.9472235e+00 1.20e+00 2.16e+01 -3.2 3.52e+01 - 8.09e-02 5.00e-01f 2 47 5.6011009e+00 3.02e-01 1.75e+00 -3.4 4.89e+00 -1.1 1.00e+00 6.19e-01f 1 48 5.6034659e+00 3.00e-01 5.02e+00 -2.8 1.18e+01 -1.6 1.00e+00 3.62e-03h 1 49 5.7774323e+00 2.80e-01 4.27e+01 -3.8 3.23e+02 - 4.27e-01 1.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 7.9837899e+00 1.96e-01 2.12e+04 -1.1 2.62e+02 -2.0 1.39e-03 3.57e-01H 1 51 9.1485177e+00 9.07e-02 7.00e+03 -2.8 7.17e-01 0.2 1.00e+00 5.36e-01h 1 52 7.2983314e+00 2.02e+00 2.22e+02 -1.4 4.49e+00 -0.3 1.00e+00 9.33e-01f 1 53 8.3398860e+00 8.98e-01 1.73e+02 -0.4 7.50e+00 -0.8 1.00e+00 4.05e-01h 1 54 6.3025999e+00 1.35e+00 3.33e+02 -0.4 1.32e+02 - 6.52e-01 1.00e+00f 1 55 6.3098930e+00 1.35e+00 3.30e+02 -0.4 4.44e+02 -0.3 1.84e-02 1.74e-04h 7 56 6.3454717e+00 1.32e+00 2.65e+02 -0.4 2.31e+01 0.1 1.88e-01 1.75e-02h 4 57 5.8510966e+00 7.16e-01 1.29e+04 -0.4 5.20e+01 -0.4 5.16e-01 5.00e-01f 2 58 6.0059189e+00 2.63e-01 3.59e+03 -0.4 2.79e+00 1.0 1.00e+00 9.03e-01h 1 59 6.5995309e+00 5.44e-02 2.37e+03 -0.2 1.80e+00 0.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 6.6193115e+00 3.14e-03 4.78e+01 -4.0 4.46e-01 0.9 7.30e-01 1.00e+00h 1 61 6.5762049e+00 4.18e-05 1.28e+00 -1.6 4.06e-02 0.4 1.00e+00 1.00e+00h 1 62 6.5013634e+00 1.38e-03 1.28e-01 -2.4 8.11e-02 -0.1 1.00e+00 1.00e+00f 1 63 6.4292098e+00 2.64e-03 5.42e-02 -3.2 1.88e-01 -0.5 9.99e-01 1.00e+00h 1 64 6.3437007e+00 9.17e-03 4.20e-02 -4.0 4.26e-01 -1.0 1.00e+00 1.00e+00h 1 65 6.2379543e+00 9.22e-03 4.03e-02 -4.0 1.23e+00 -1.5 1.00e+00 1.00e+00h 1 66 6.0338567e+00 5.45e-02 1.22e-01 -4.0 3.39e+00 -2.0 1.00e+00 1.00e+00h 1 67 5.9109379e+00 5.82e-01 4.30e+00 -4.0 2.00e+01 - 4.95e-02 5.00e-01f 2 68 5.7213257e+00 3.24e-01 2.23e+00 -4.1 1.33e+00 -0.6 1.00e+00 3.81e-01h 1 69 5.7578269e+00 2.66e-01 2.51e+00 -3.1 2.41e+00 -1.1 1.00e+00 1.51e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.7775394e+00 2.27e-01 5.24e+02 -1.1 1.52e+03 -1.6 1.00e+00 1.03e-03h 1 71 2.5700060e+01 2.88e-01 2.19e+03 -4.0 3.04e+02 - 2.11e-01 1.00e+00H 1 72 1.7127015e+01 1.26e-01 1.01e+03 -1.3 1.05e+01 -1.2 1.76e-01 5.83e-01f 1 73 1.7408080e+01 3.22e-03 5.39e-01 -1.3 2.73e-01 -0.7 1.00e+00 1.00e+00h 1 74 1.7026146e+01 3.97e-04 1.08e-01 -1.3 6.78e-01 -1.2 1.00e+00 1.00e+00f 1 75 1.6805759e+01 5.25e-03 1.28e+00 -2.0 1.77e+00 -1.7 1.00e+00 1.00e+00f 1 76 7.8597191e+00 2.40e+00 1.50e+02 -2.0 2.10e+03 - 7.04e-03 1.80e-01f 3 77 6.2037303e+00 8.63e-01 1.19e+01 -2.0 2.18e+02 - 2.66e-01 2.47e-01f 1 78 5.8637043e+00 5.23e-01 1.67e+01 -2.0 2.73e+02 - 5.63e-01 4.61e-02h 1 79 5.8607938e+00 5.22e-01 8.46e+02 -2.0 6.89e+02 -2.2 1.00e+00 3.13e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.6985192e+01 1.13e-01 5.98e+04 -2.0 3.45e+02 -2.6 5.56e-01 1.00e+00h 1 81 1.8062234e+01 1.68e-02 3.73e+03 -2.0 6.44e+01 - 1.45e-01 1.00e+00h 1 82 1.7185126e+01 9.38e-03 1.95e+03 -2.0 1.24e+01 -2.2 4.81e-01 4.36e-01f 1 83 1.6759001e+01 4.42e-03 8.50e+01 -2.0 1.67e+01 -2.7 1.00e+00 1.00e+00f 1 84 1.4788346e+01 1.56e-01 4.73e+02 -2.0 3.68e+01 -3.2 3.20e-01 1.00e+00f 1 85 9.1319276e+00 5.81e-01 3.58e+02 -2.0 6.56e+02 - 8.51e-02 2.50e-01f 3 86 6.5572426e+00 6.84e-01 8.36e+01 -2.0 8.06e+01 - 7.27e-01 1.00e+00f 1 87 6.4378611e+00 1.12e-01 8.11e+00 -2.0 7.28e+00 -2.7 5.76e-01 1.00e+00h 1 88 6.7231230e+00 5.37e-02 8.00e+00 -2.0 4.83e+01 -3.2 7.05e-02 2.50e-01h 3 89 6.3304173e+00 1.81e-02 2.49e+00 -2.0 1.64e+00 -1.0 1.00e+00 6.55e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 6.3240405e+00 1.98e-03 1.73e-01 -3.1 9.22e-01 -1.5 1.00e+00 1.00e+00h 1 91 5.8864788e+00 5.12e-01 2.90e+00 -2.4 3.88e+02 - 2.86e-01 4.22e-02f 4 92 5.7984867e+00 3.50e-01 4.89e-01 -2.9 1.71e+01 -1.9 1.03e-01 1.75e-02H 1 93 5.7404802e+00 1.32e-01 2.23e+01 -2.9 6.44e+01 - 6.89e-02 2.24e-01f 2 94 5.8401693e+00 1.28e-01 1.89e+01 -1.6 8.54e+00 -1.5 9.44e-01 9.12e-02h 1 95 6.0019939e+00 1.35e-01 4.43e+00 -2.5 1.36e+01 -2.0 1.00e+00 5.00e-01h 2 96 5.7093671e+00 6.88e-01 4.32e+00 -1.9 2.42e+01 -2.5 1.00e+00 5.00e-01f 2 97 5.6231928e+00 4.19e-01 1.76e+00 -2.0 2.05e+00 -0.2 9.67e-01 3.27e-01h 1 98 5.9542790e+00 2.03e-01 5.00e+00 -2.0 1.13e+02 - 2.74e-02 2.09e-01h 3 99 6.6004346e+00 1.49e-01 6.82e+00 -2.0 1.26e+00 -0.7 8.22e-01 6.17e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.2443249e+00 1.45e-01 7.20e+00 -2.0 3.32e+02 - 1.12e-02 3.11e-02f 5 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.2443249448345295e+00 6.2443249448345295e+00 Dual infeasibility......: 7.1956563892572190e+00 7.1956563892572190e+00 Constraint violation....: 1.4467240637743983e-01 1.4467240637743983e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6933726688994857e-02 1.6933726688994857e-02 Overall NLP error.......: 7.1956563892572190e+00 7.1956563892572190e+00 Number of objective function evaluations = 168 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 168 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 = 24.493 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.108s) 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 1.8198667e+00 2.07e+00 5.11e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5541264e+00 3.73e-02 1.91e+00 -1.0 1.90e+00 0.0 9.94e-01 9.97e-01h 1 2 2.4294122e+00 4.52e-02 1.13e+00 -1.2 7.66e-01 -0.5 9.91e-01 5.21e-01f 1 3 2.2985352e+00 1.05e-02 1.84e-01 -1.6 2.32e-01 -1.0 9.92e-01 1.00e+00h 1 4 2.1165274e+00 1.15e-03 1.06e-02 -2.9 5.80e-02 -1.4 9.94e-01 1.00e+00h 1 5 2.0912976e+00 1.16e-04 5.36e-03 -4.0 2.88e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0908763e+00 6.60e-07 5.04e-04 -4.0 1.88e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908758e+00 4.19e-09 2.19e-05 -4.0 1.59e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908714e+00 7.69e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908581e+00 6.92e-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 2.0908183e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906989e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903414e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892760e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861446e+00 4.36e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796375e+00 2.51e-03 8.73e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.55e-01h 1 16 2.0812473e+00 1.37e-04 1.86e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778382e+00 5.47e-03 2.55e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781607e+00 1.68e-02 3.60e-02 -3.7 1.55e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767345e+00 1.29e-02 1.83e-02 -3.8 2.95e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760063e+00 7.05e-03 2.27e-02 -3.9 4.20e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757516e+00 8.57e-03 9.71e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756802e+00 4.34e-04 3.87e-04 -4.0 5.65e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 5.65e-06 7.72e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.52e-08 1.48e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.50e-09 1.49e-07 -4.0 5.25e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.76e-11 3.03e-09 -4.0 9.28e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122084648e+00 2.0756712122084648e+00 Dual infeasibility......: 3.0347163221765543e-09 3.0347163221765543e-09 Constraint violation....: 7.7620132543643194e-11 7.7620132543643194e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 3.0347163221765543e-09 3.0347163221765543e-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 = 24.340 EXIT: Optimal Solution Found. Difference in Jacobian ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##171"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:122 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.231s) optimizer initialization complete (total: 2.341s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2223779e+00 2.74e+00 1.98e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9012859e+00 1.81e-02 1.06e+00 -1.1 2.27e+00 -2.0 9.96e-01 1.00e+00h 1 2 2.3174744e+00 1.86e-02 5.62e-02 -1.6 2.62e-01 -1.6 9.80e-01 1.00e+00f 1 3 2.1405798e+00 7.73e-03 1.90e-01 -2.8 1.51e-01 -1.1 9.60e-01 1.00e+00h 1 4 2.1010418e+00 2.35e-03 2.20e-01 -3.9 1.42e-01 -1.6 1.00e+00 7.91e-01h 1 5 2.0925478e+00 7.93e-04 4.29e-01 -4.0 4.70e-01 -2.1 1.00e+00 5.71e-01h 1 6 2.0906455e+00 5.48e-04 3.72e-01 -4.0 8.16e-01 -2.6 1.00e+00 7.53e-01h 1 7 2.0909333e+00 4.98e-05 5.52e-02 -4.0 3.78e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909943e+00 1.74e-06 7.06e-04 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909685e+00 4.23e-07 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 2.0909066e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907242e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902043e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888604e+00 8.20e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861709e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830973e+00 9.12e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828615e+00 9.28e-04 2.33e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823476e+00 3.96e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.13e-05 1.86e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819520e+00 2.71e-04 8.73e-03 -4.0 9.96e+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 3.72e-05 8.53e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.38e-07 1.40e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.91e-10 3.29e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-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...............: 2.0819382907191102e+00 2.0819382907191102e+00 Dual infeasibility......: 1.2271603844855525e-11 1.2271603844855525e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 1.2271603844855525e-11 1.2271603844855525e-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 = 24.855 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.055s) optimizer initialization complete (total: 0.162s) 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 2.4560428e+00 3.14e+00 1.64e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8250158e+00 2.64e-02 5.23e-01 -1.1 2.14e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2709010e+00 1.69e-02 6.25e-02 -1.6 2.92e-01 -1.6 9.58e-01 9.87e-01h 1 3 2.1248904e+00 2.85e-03 1.73e-01 -3.0 1.18e-01 -1.1 9.20e-01 9.92e-01h 1 4 2.0978085e+00 6.22e-04 2.20e-01 -3.8 1.29e-01 -1.6 1.00e+00 7.78e-01h 1 5 2.0923567e+00 3.26e-04 3.60e-01 -4.0 3.29e-01 -2.1 1.00e+00 5.03e-01h 1 6 2.0908764e+00 1.17e-04 2.43e-01 -4.0 7.89e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0908385e+00 8.44e-07 1.23e-02 -4.0 3.93e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908564e+00 4.09e-07 7.45e-05 -4.0 7.72e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908334e+00 2.15e-08 3.93e-05 -4.0 2.12e-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 2.0907855e+00 1.01e-07 2.23e-04 -4.0 5.37e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906837e+00 6.37e-07 9.28e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904063e+00 6.10e-06 8.21e-04 -4.0 4.24e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902870e+00 7.70e-07 5.23e-04 -4.0 1.51e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901527e+00 1.34e-06 1.84e-02 -4.0 6.12e+00 -5.5 1.00e+00 2.19e-01h 2 15 2.0890409e+00 5.80e-05 2.22e-03 -4.0 1.34e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0874551e+00 1.48e-04 5.61e-02 -4.0 3.73e+01 -6.4 1.00e+00 5.04e-01h 1 17 2.0837435e+00 1.59e-03 5.70e-02 -4.0 6.63e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0827580e+00 5.25e-04 1.68e-02 -4.0 1.28e+01 -6.5 1.00e+00 6.40e-01h 1 19 2.0828102e+00 1.54e-04 9.26e-03 -4.0 2.87e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825129e+00 2.96e-04 3.14e-03 -4.0 7.43e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821287e+00 8.39e-04 8.74e-03 -4.0 1.73e+02 -7.9 6.49e-01 1.00e+00h 1 22 2.0821663e+00 8.70e-04 1.30e-02 -4.0 3.43e+03 -7.5 9.59e-04 3.53e-03h 5 23 2.0820906e+00 6.93e-04 8.11e-01 -4.1 7.14e+00 -5.3 1.00e+00 4.68e-01H 1 24 2.0842223e+00 1.48e-03 3.04e-02 -3.4 4.25e+00 -4.8 1.00e+00 1.00e+00f 1 25 2.0838936e+00 4.14e-04 2.39e-02 -3.5 4.44e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0836807e+00 1.76e-04 4.09e-01 -3.5 1.50e+00 -4.9 1.00e+00 5.66e-01h 1 27 2.0840220e+00 1.31e-05 2.50e-03 -3.5 2.76e+00 -5.4 1.00e+00 1.00e+00f 1 28 2.0839153e+00 2.04e-05 4.62e-01 -4.0 5.59e+00 -4.0 5.50e-02 2.91e-02h 2 29 2.0850533e+00 6.00e-08 9.91e-03 -3.3 1.86e-01 -2.7 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0842297e+00 1.20e-05 4.17e-03 -3.7 6.05e-02 -3.2 9.97e-01 1.00e+00h 1 31 2.0830889e+00 4.32e-05 2.92e-03 -3.8 2.25e-01 -3.7 1.00e+00 1.00e+00h 1 32 2.0823885e+00 1.45e-05 2.90e-01 -4.0 1.82e-01 -4.1 1.00e+00 8.53e-01h 1 33 2.0825285e+00 1.41e-05 4.42e-04 -4.0 2.80e-01 -4.6 1.00e+00 1.00e+00f 1 34 2.0824048e+00 7.81e-05 6.88e-04 -4.0 1.56e+00 -5.1 1.00e+00 1.00e+00h 1 35 2.0822749e+00 9.32e-08 5.29e-02 -4.1 2.83e+00 -5.6 7.68e-01 1.00e+00H 1 36 2.0821712e+00 5.16e-07 1.84e-01 -4.1 9.96e-01 -2.4 1.30e-01 1.01e-01h 2 37 2.0822952e+00 6.98e-07 1.64e-03 -4.0 9.35e-02 -2.9 1.00e+00 1.00e+00h 1 38 2.0821370e+00 6.09e-07 1.16e-04 -4.1 6.10e-02 -3.4 1.00e+00 1.00e+00h 1 39 2.0822719e+00 1.11e-06 4.27e-05 -4.0 7.90e-02 -3.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821273e+00 8.09e-06 5.50e-05 -4.1 2.37e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0822646e+00 8.30e-06 1.77e-04 -4.0 6.05e-01 -4.8 1.00e+00 1.00e+00h 1 42 2.0820935e+00 8.36e-05 3.20e-04 -4.1 1.34e+00 -5.3 1.00e+00 1.00e+00h 1 43 2.0822045e+00 1.85e-05 8.29e-04 -4.0 1.97e+00 -5.8 1.00e+00 1.00e+00h 1 44 2.0819405e+00 1.59e-04 2.18e-04 -4.1 5.07e+00 -6.3 1.00e+00 1.00e+00h 1 45 2.0820749e+00 8.73e-05 1.46e-03 -4.0 5.30e+00 -6.7 1.00e+00 1.00e+00h 1 46 2.0817919e+00 4.14e-04 1.25e-04 -4.1 1.69e+01 -7.2 1.00e+00 1.00e+00h 1 47 2.0819464e+00 6.45e-04 2.76e-03 -4.0 2.81e+01 -7.7 1.00e+00 1.00e+00h 1 48 2.0816213e+00 1.17e-03 2.90e-03 -4.1 4.68e+01 -8.2 1.00e+00 1.00e+00h 1 49 2.0818450e+00 1.17e-03 1.96e-03 -4.0 4.94e+01 -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 2.0815807e+00 5.51e-04 3.38e-04 -4.1 2.39e+01 -9.1 1.00e+00 1.00e+00h 1 51 2.0818394e+00 1.82e-04 3.80e-05 -4.0 7.54e+00 -9.6 1.00e+00 1.00e+00h 1 52 2.0818383e+00 2.47e-08 7.84e-08 -4.0 3.56e-01 -10.1 1.00e+00 1.00e+00h 1 53 2.0818383e+00 6.27e-13 3.51e-11 -4.0 5.41e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 53 (scaled) (unscaled) Objective...............: 2.0818383021863531e+00 2.0818383021863531e+00 Dual infeasibility......: 3.5141862510246202e-11 3.5141862510246202e-11 Constraint violation....: 6.2705396430828841e-13 6.2705396430828841e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000370215e-04 1.0000000000370215e-04 Overall NLP error.......: 3.5141862510246202e-11 3.5141862510246202e-11 Number of objective function evaluations = 72 Number of objective gradient evaluations = 54 Number of equality constraint evaluations = 72 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 54 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 53 Total seconds in IPOPT = 24.659 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.05s jacobian structure: 180 nonzeros (0.08s) integrator 1 hessian structure: 0.047s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.318s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.513s hessian structure: 375 nonzeros (0.561s) linear index maps built (0.0s) evaluator ready (total: 0.757s) evaluator created (1.221s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.298s) optimizer initialization complete (total: 4.647s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7677385e+00 8.63e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4949100e+00 2.24e-01 1.88e+00 -0.9 6.41e-01 0.0 9.92e-01 1.00e+00h 1 2 1.4850257e+00 6.28e-02 6.33e-01 -0.9 3.07e-01 -0.5 6.78e-01 7.20e-01h 1 3 1.5151922e+00 2.79e-02 2.12e+00 -1.5 4.54e+00 - 9.08e-01 1.00e+00H 1 4 1.6446796e+00 3.49e-02 4.63e+00 -1.5 2.54e-01 -1.0 9.97e-01 1.00e+00h 1 5 1.4732233e+00 2.69e-02 4.13e+00 -1.1 2.23e+00 -1.4 1.00e+00 1.79e-01f 1 6 1.2867481e+00 1.04e-02 1.51e+00 -1.5 1.18e+00 -1.9 1.00e+00 6.38e-01f 1 7 1.1669433e+00 6.54e-03 2.39e-01 -2.7 1.35e+00 - 1.00e+00 9.00e-01h 1 8 1.1038175e+00 7.55e-04 2.91e-01 -4.0 3.36e+00 - 1.00e+00 8.92e-01h 1 9 1.0936678e+00 1.75e-04 1.18e-01 -4.0 2.42e+00 - 1.00e+00 7.68e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908023e+00 2.71e-07 2.11e-02 -4.0 1.28e+00 - 1.00e+00 1.00e+00h 1 11 1.0909017e+00 6.25e-10 3.80e-04 -4.0 1.90e-01 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 4.89e-16 8.31e-06 -4.0 1.68e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 9.30e-28 2.29e-14 -4.0 3.09e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 2.2884472095086039e-14 2.2884472095086039e-14 Constraint violation....: 9.2952384806653335e-28 9.2952384806653335e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000001644e-04 1.0000000000001644e-04 Overall NLP error.......: 2.2884472095086039e-14 2.2884472095086039e-14 Number of objective function evaluations = 15 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 25.842 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.322s jacobian structure: 1600 nonzeros (2.38s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.234s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.284s) linear index maps built (0.0s) evaluator ready (total: 5.665s) evaluator created (5.693s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 5.695s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9465016e+00 3.30e+00 3.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8028275e+00 2.44e-01 3.78e+00 -0.9 1.94e+00 0.0 9.60e-01 9.18e-01f 1 2 2.8235655e+00 2.18e-01 1.18e+01 0.3 2.03e+00 0.4 1.73e-01 1.05e-01f 1 3 3.1982302e+00 1.38e-01 1.60e+01 -0.1 8.19e-01 -0.1 5.73e-01 1.00e+00f 1 4 2.7786213e+00 5.36e-02 7.65e+00 -0.6 3.71e-01 0.4 9.29e-01 1.00e+00h 1 5 2.8806535e+00 1.33e-02 1.53e+00 -0.6 1.81e-01 -0.1 8.63e-01 1.00e+00f 1 6 2.6904666e+00 4.05e-03 1.05e-01 -1.5 1.05e-01 -0.6 9.86e-01 1.00e+00h 1 7 2.2654304e+00 1.46e-02 1.56e-01 -2.3 2.53e-01 -1.1 9.07e-01 7.27e-01f 1 8 2.1246589e+00 2.10e-03 3.42e-02 -2.6 9.04e-02 -1.5 9.55e-01 8.67e-01h 1 9 2.0914851e+00 1.16e-04 1.11e-03 -3.9 2.03e-02 -2.0 9.91e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908785e+00 6.92e-07 9.00e-05 -4.0 1.59e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908752e+00 7.17e-10 1.99e-05 -4.0 1.85e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908713e+00 7.21e-10 1.60e-05 -4.0 4.43e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908610e+00 5.69e-09 1.57e-05 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908324e+00 4.45e-08 4.45e-05 -4.0 3.75e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907512e+00 3.79e-07 1.69e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0904935e+00 3.35e-06 4.98e-04 -4.0 3.18e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903973e+00 5.82e-07 3.74e-04 -4.0 1.30e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902345e+00 1.34e-06 1.28e-02 -4.0 5.06e+00 -5.4 1.00e+00 3.10e-01h 2 19 2.0891765e+00 4.89e-05 2.10e-03 -4.0 1.19e+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 2.0869791e+00 3.42e-04 2.07e-02 -4.0 3.14e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0860533e+00 1.69e-04 1.90e-02 -4.0 1.34e+01 -5.9 1.00e+00 6.10e-01h 1 22 2.0845838e+00 2.12e-04 1.44e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827722e+00 1.92e-04 2.19e-02 -4.0 3.43e+01 -6.9 1.00e+00 8.56e-01h 1 24 2.0828835e+00 7.96e-04 2.64e-02 -4.0 6.06e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0820523e+00 1.90e-03 9.48e-03 -4.1 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0823695e+00 7.48e-04 3.96e-02 -4.0 4.84e+03 -8.3 6.41e-03 3.12e-02h 6 27 2.0822697e+00 4.10e-04 2.17e-01 -4.0 1.36e+01 -6.1 1.00e+00 4.25e-01h 1 28 2.0819630e+00 2.12e-03 1.06e-02 -4.0 1.75e+01 -6.6 1.00e+00 1.00e+00h 1 29 2.0834271e+00 9.38e-03 5.47e-03 -3.6 4.39e+01 -7.0 8.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1218926e+00 6.16e-03 1.55e-01 -3.8 1.30e+02 -7.5 9.03e-02 3.34e-01h 1 31 2.0910806e+00 1.37e-03 1.84e-01 -3.8 5.34e+01 -8.0 4.01e-03 1.00e+00f 1 32 2.0857267e+00 4.51e-09 5.27e-02 -3.8 7.32e-02 -0.1 1.00e+00 1.00e+00h 1 33 2.0830403e+00 1.76e-07 1.62e-02 -4.0 7.22e-02 -0.6 1.00e+00 1.00e+00f 1 34 2.0825885e+00 3.59e-07 1.78e-03 -4.0 2.12e-02 -1.1 1.00e+00 1.00e+00h 1 35 2.0825253e+00 3.80e-07 4.23e-04 -4.0 1.30e-02 -1.6 1.00e+00 1.00e+00h 1 36 2.0824774e+00 2.20e-09 3.85e-05 -4.0 2.97e-03 -2.1 1.00e+00 1.00e+00h 1 37 2.0824736e+00 2.67e-10 7.22e-06 -4.0 2.46e-03 -2.5 1.00e+00 1.00e+00h 1 38 2.0824731e+00 5.03e-11 7.22e-06 -4.0 7.39e-03 -3.0 1.00e+00 1.00e+00h 1 39 2.0824718e+00 2.58e-10 7.21e-06 -4.0 2.21e-02 -3.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0824677e+00 2.34e-09 7.18e-06 -4.0 6.61e-02 -4.0 1.00e+00 1.00e+00h 1 41 2.0824555e+00 2.07e-08 7.09e-06 -4.0 1.96e-01 -4.4 1.00e+00 1.00e+00h 1 42 2.0824203e+00 1.78e-07 1.72e-05 -4.0 5.66e-01 -4.9 1.00e+00 1.00e+00h 1 43 2.0823247e+00 1.46e-06 1.32e-04 -4.0 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 44 2.0821151e+00 1.00e-05 7.10e-04 -4.0 3.32e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0818609e+00 7.85e-05 1.35e-03 -4.0 9.57e+00 -6.4 1.00e+00 1.00e+00h 1 46 2.0818215e+00 1.68e-04 2.24e-02 -4.0 1.42e+02 -6.8 7.16e-02 9.68e-02h 4 47 2.0824672e+00 1.83e-07 1.21e+00 -4.0 1.81e+00 -4.6 4.89e-01 1.00e+00H 1 48 2.0816540e+00 2.34e-06 1.92e-03 -4.1 8.53e-02 -1.5 1.00e+00 1.00e+00f 1 49 2.0818520e+00 4.69e-07 6.10e-04 -4.0 4.54e-02 -1.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818553e+00 2.54e-09 3.39e-04 -4.0 8.79e-02 -2.4 1.00e+00 1.00e+00h 1 51 2.0818553e+00 1.18e-09 8.29e-05 -4.0 6.44e-02 -2.9 1.00e+00 1.00e+00h 1 52 2.0818556e+00 2.01e-09 1.50e-05 -4.0 3.49e-02 -3.4 1.00e+00 1.00e+00h 1 53 2.0817354e+00 1.83e-07 6.80e-05 -4.1 9.30e-03 -3.8 1.00e+00 1.00e+00h 1 54 2.0818635e+00 1.07e-06 6.45e-05 -4.0 4.74e-02 -4.3 1.00e+00 1.00e+00h 1 55 2.0817334e+00 1.58e-06 5.55e-05 -4.1 7.96e-02 -4.8 1.00e+00 1.00e+00h 1 56 2.0811239e+00 1.52e-04 2.36e-02 -6.1 1.63e+00 -5.3 9.33e-01 1.00e+00h 1 57 2.0811210e+00 8.95e-05 1.51e-01 -4.8 6.11e-01 -4.9 1.00e+00 4.04e-01h 1 58 2.0816130e+00 6.91e-05 7.83e-02 -4.0 9.61e-01 -5.3 1.00e+00 6.13e-01f 1 59 2.0818309e+00 4.99e-05 5.40e-04 -4.0 1.33e+00 -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 60 2.0817105e+00 1.44e-05 1.46e-04 -4.1 9.73e-01 -6.3 1.00e+00 1.00e+00h 1 61 2.0807676e+00 1.04e-03 5.16e-03 -6.1 1.28e+01 -6.8 9.87e-01 1.00e+00h 1 62 2.0808737e+00 9.26e-04 4.37e-01 -4.0 4.45e+00 -4.5 2.49e-01 1.01e-01h 1 63 2.0811207e+00 6.44e-04 1.58e+00 -4.0 3.42e+00 -5.0 1.00e+00 3.96e-01h 1 64 2.0813689e+00 4.78e-05 2.35e-03 -4.1 1.38e+00 -5.5 1.00e+00 1.00e+00h 1 65 2.0816400e+00 1.30e-04 3.55e-01 -3.9 1.10e+01 -6.0 1.00e+00 4.41e-01h 2 66 2.0817586e+00 2.18e-05 1.51e-03 -4.0 3.10e+00 -6.4 1.00e+00 1.00e+00h 1 67 2.0818610e+00 1.89e-05 5.24e-04 -4.0 6.14e+00 -6.9 1.00e+00 1.00e+00h 1 68 2.0807255e+00 2.20e-03 3.34e-03 -6.0 2.40e+01 -7.4 9.79e-01 9.69e-01h 1 69 2.0818977e+00 2.95e-03 3.34e-03 -4.0 2.62e+01 -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 70 2.0816341e+00 6.09e-04 1.55e-03 -4.1 2.73e+01 -8.3 1.00e+00 1.00e+00h 1 71 2.0816050e+00 1.50e-05 3.44e-04 -4.1 2.31e+01 -8.8 1.00e+00 1.00e+00h 1 72 2.0818441e+00 2.07e-04 4.71e-05 -4.0 9.32e+00 -9.3 1.00e+00 1.00e+00h 1 73 2.0815838e+00 2.16e-04 1.48e-05 -4.1 9.83e+00 -9.8 1.00e+00 1.00e+00h 1 74 2.0805955e+00 3.32e-03 1.61e-04 -6.1 4.09e+01 -10.3 9.77e-01 9.64e-01h 1 75 2.0818908e+00 6.58e-03 3.42e-04 -4.0 6.15e+01 -10.7 1.00e+00 1.00e+00f 1 76 2.0816146e+00 4.96e-04 1.31e-05 -4.1 2.08e+01 -11.2 1.00e+00 1.00e+00h 1 77 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -11.7 9.76e-01 9.58e-01h 1 78 2.0805507e+00 9.70e-05 2.38e-06 -6.1 1.71e+01 -12.2 1.00e+00 1.00e+00h 1 79 2.0819818e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -12.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816804e+00 9.65e-04 4.93e-05 -4.1 4.57e+01 -13.1 1.00e+00 1.00e+00h 1 81 2.0816444e+00 4.72e-07 7.75e-07 -4.1 8.40e+00 -13.6 1.00e+00 1.00e+00h 1 82 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -14.1 1.00e+00 1.00e+00h 1 83 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.5 1.00e+00 1.00e+00h 1 84 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -15.0 9.77e-01 9.64e-01h 1 85 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.5 1.00e+00 1.00e+00h 1 86 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -16.0 1.00e+00 1.00e+00f 1 87 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.5 1.00e+00 1.00e+00h 1 88 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -16.9 1.00e+00 1.00e+00h 1 89 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.4 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -17.9 1.00e+00 1.00e+00h 1 91 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -18.4 1.00e+00 1.00e+00h 1 92 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -18.8 1.00e+00 1.00e+00f 1 93 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -19.3 1.00e+00 1.00e+00h 1 94 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -19.8 1.00e+00 1.00e+00h 1 95 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 96 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 99 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+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 100 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0817243844587781e+00 2.0817243844587781e+00 Dual infeasibility......: 7.7266495361985198e-05 7.7266495361985198e-05 Constraint violation....: 1.1306257481873416e-03 1.1306257481873416e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1532535306469231e-04 1.1532535306469231e-04 Overall NLP error.......: 1.1306257481873416e-03 1.1306257481873416e-03 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 25.912 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.944s jacobian structure: 1680 nonzeros (6.001s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.556s 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): 0.518s objective hessian structure: 0.518s hessian structure: 1964 nonzeros (12.121s) linear index maps built (0.0s) evaluator ready (total: 18.123s) evaluator created (18.149s) 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: 18.15s) 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 1.1550088e+01 1.90e+00 4.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1219761e+00 2.92e-01 2.91e+00 -1.0 1.46e+00 0.0 7.86e-01 8.56e-01f 1 2 3.4421705e+00 1.18e-01 6.66e+00 -0.6 4.18e-01 0.4 8.69e-01 5.80e-01f 1 3 2.7034008e+00 3.82e-03 9.56e-01 -1.1 4.84e-01 -0.1 9.80e-01 1.00e+00f 1 4 2.5378376e+00 3.06e-03 8.89e-01 -1.4 1.86e-01 -0.5 9.99e-01 3.11e-01h 1 5 2.2353728e+00 1.94e-02 2.43e-01 -2.0 2.05e-01 -1.0 9.93e-01 9.90e-01f 1 6 2.1220084e+00 4.78e-03 1.13e-01 -2.7 1.63e-01 -1.5 9.95e-01 7.54e-01h 1 7 2.0911687e+00 5.46e-05 5.45e-03 -4.0 2.08e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909005e+00 4.75e-07 1.30e-04 -4.0 2.86e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908953e+00 3.04e-09 2.22e-05 -4.0 1.83e-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 2.0908917e+00 5.66e-10 1.49e-05 -4.0 3.67e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908833e+00 3.57e-09 1.49e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908582e+00 3.15e-08 1.48e-05 -4.0 3.27e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907818e+00 2.79e-07 6.87e-05 -4.0 9.74e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904906e+00 2.98e-06 9.51e-04 -4.0 3.16e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896816e+00 3.05e-05 2.57e-03 -4.0 9.65e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0893996e+00 3.12e-05 1.37e-01 -4.0 4.21e+01 -6.3 1.00e+00 6.70e-02h 2 17 2.0853815e+00 1.29e-03 4.37e-02 -4.0 5.67e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0833098e+00 3.78e-03 6.35e-02 -3.7 5.58e+01 -7.2 1.00e+00 7.39e-01h 1 19 2.0826353e+00 9.60e-03 4.56e-02 -4.0 9.99e+01 -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 2.0822257e+00 4.36e-03 4.48e-02 -4.0 2.60e+02 -8.2 3.50e-01 1.00e+00h 1 21 2.0820776e+00 7.45e-05 6.66e-04 -4.0 2.98e+00 -5.9 1.00e+00 1.00e+00h 1 22 2.0819771e+00 2.36e-05 3.68e-04 -4.0 8.69e+00 -6.4 1.00e+00 1.00e+00h 1 23 2.0818678e+00 3.07e-04 3.39e-02 -4.0 3.63e+01 -6.9 5.94e-01 1.00e+00h 1 24 2.0869275e+00 5.86e-05 1.14e+00 -4.0 1.53e+01 -5.6 4.97e-01 1.00e+00H 1 25 2.0841595e+00 6.45e-07 1.75e-02 -4.1 6.01e-02 -0.6 1.00e+00 1.00e+00h 1 26 2.0827802e+00 5.02e-07 8.55e-03 -4.0 8.57e-02 -1.1 1.00e+00 1.00e+00f 1 27 2.0821865e+00 6.31e-07 1.89e-03 -4.0 1.37e-01 -1.6 1.00e+00 1.00e+00h 1 28 2.0821146e+00 2.51e-06 9.41e-02 -4.0 1.16e-01 -2.0 1.00e+00 8.13e-01h 1 29 2.0823178e+00 4.46e-07 2.97e-04 -4.0 6.96e-02 -2.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821124e+00 4.43e-07 7.35e-05 -4.1 2.44e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0822427e+00 4.69e-07 5.97e-05 -4.0 1.97e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0820822e+00 1.73e-06 4.33e-05 -4.1 7.03e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0822290e+00 4.59e-06 9.13e-05 -4.0 1.80e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0820327e+00 1.52e-05 6.99e-05 -4.1 6.09e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0812487e+00 2.75e-04 1.32e-03 -6.1 2.78e+00 -5.4 9.99e-01 1.00e+00h 1 36 2.0859123e+00 2.19e-04 6.13e-01 -4.0 5.99e+01 -5.9 4.48e-02 2.17e-01h 1 37 2.0836640e+00 1.09e-04 4.67e-01 -5.2 1.33e-01 -0.9 1.00e+00 5.03e-01h 1 38 2.0818354e+00 4.91e-05 1.06e+00 -5.2 1.71e-01 -1.4 9.39e-01 5.49e-01f 1 39 2.0818204e+00 4.76e-05 1.43e+01 -4.0 6.73e-01 -1.9 1.00e+00 2.96e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0810670e+00 1.60e-06 3.18e-03 -4.0 9.28e-02 -2.4 1.00e+00 1.00e+00h 1 41 2.0811885e+00 4.72e-06 1.76e-03 -4.0 1.13e-01 -2.8 1.00e+00 1.00e+00h 1 42 2.0811826e+00 9.85e-07 1.38e-03 -4.1 1.97e-01 -3.3 1.00e+00 1.00e+00h 1 43 2.0813041e+00 9.47e-06 4.44e-04 -4.0 5.42e-01 -3.8 1.00e+00 1.00e+00h 1 44 2.0813668e+00 4.19e-06 2.96e-03 -4.1 4.68e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0814693e+00 1.00e-05 7.73e-04 -4.1 9.70e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0809750e+00 1.26e-04 1.58e-02 -6.1 1.45e+00 -5.2 9.65e-01 1.00e+00h 1 47 2.0808696e+00 5.40e-05 2.60e-02 -5.3 2.29e+00 -5.7 1.00e+00 5.72e-01h 1 48 2.0819602e+00 9.61e-04 3.81e-02 -4.0 8.15e+00 -6.2 7.78e-01 1.00e+00f 1 49 2.0816067e+00 2.32e-04 1.88e-03 -4.2 5.05e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0857872e+00 9.62e-05 4.40e-02 -4.2 1.83e+01 -7.1 5.85e-01 1.00e+00h 1 51 2.0853908e+00 1.27e-08 4.04e-02 -4.2 7.68e-03 0.7 1.00e+00 1.00e+00h 1 52 2.0845715e+00 1.13e-07 3.29e-02 -4.0 1.86e-02 0.2 1.00e+00 1.00e+00f 1 53 2.0838205e+00 2.36e-07 1.09e+00 -4.0 2.77e-02 -0.2 1.00e+00 7.15e-01f 1 54 2.0832984e+00 7.06e-07 2.76e-02 -4.1 3.67e-02 -0.7 9.94e-01 1.00e+00h 1 55 2.0826806e+00 1.23e-06 4.37e-03 -4.1 5.73e-02 -1.2 1.00e+00 1.00e+00h 1 56 2.0822446e+00 3.00e-07 2.72e-01 -4.1 1.39e-01 -1.7 8.86e-01 1.00e+00h 1 57 2.0819609e+00 5.13e-07 2.23e+00 -4.1 9.06e-01 -2.1 2.63e-01 7.98e-02h 2 58 2.0819872e+00 1.27e-06 1.43e+00 -4.1 2.01e+00 -1.7 2.74e-01 3.51e-02h 2 59 2.0816631e+00 1.15e-06 7.55e-04 -4.1 4.66e-02 -2.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818218e+00 3.60e-07 1.31e-04 -4.0 1.21e-02 -2.7 1.00e+00 1.00e+00h 1 61 2.0816954e+00 1.31e-07 8.62e-05 -4.1 7.71e-03 -3.1 1.00e+00 1.00e+00h 1 62 2.0811616e+00 5.80e-06 1.03e-01 -6.1 6.17e-02 -3.6 7.19e-01 1.00e+00h 1 63 2.0810344e+00 2.25e-06 5.99e-05 -6.1 1.36e-01 -4.1 1.00e+00 1.00e+00h 1 64 2.0820970e+00 3.82e-05 2.42e-03 -4.0 2.86e-01 -4.6 1.00e+00 1.00e+00f 1 65 2.0816756e+00 1.15e-04 4.87e-04 -4.1 1.38e+00 -5.1 1.00e+00 1.00e+00h 1 66 2.0810889e+00 5.58e-05 2.29e-01 -6.1 5.63e-01 -4.6 7.43e-01 1.00e+00h 1 67 2.0809162e+00 2.09e-05 4.48e-04 -6.1 1.34e+00 -5.1 1.00e+00 1.00e+00h 1 68 2.0808231e+00 2.87e-05 1.68e-02 -5.1 3.88e+00 -5.6 9.90e-01 8.51e-01h 1 69 2.0810857e+00 2.72e-05 8.71e-01 -4.0 1.39e+02 -5.2 1.88e-03 1.93e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0809171e+00 3.23e-05 1.00e+00 -5.2 1.54e+01 -5.6 1.50e-03 1.60e-01h 1 71 2.0808358e+00 4.42e-05 3.83e+00 -5.2 7.97e+01 -6.1 1.00e+00 3.84e-02f 1 72 2.0808263e+00 2.75e-05 9.21e-01 -5.2 9.32e+00 -6.6 8.78e-01 3.90e-01f 2 73 2.0809700e+00 1.53e-04 6.88e-03 -4.6 6.90e+00 -7.1 1.00e+00 1.00e+00h 1 74 2.0808715e+00 9.80e-05 8.40e-04 -4.7 1.74e+01 -7.5 1.00e+00 1.00e+00h 1 75 2.0808192e+00 1.15e-05 1.67e-03 -4.7 3.05e+01 -8.0 1.00e+00 1.00e+00h 1 76 2.0818859e+00 6.23e-03 3.12e-03 -4.0 6.25e+01 -8.5 1.00e+00 1.00e+00h 1 77 2.0816222e+00 5.49e-04 9.35e-04 -4.1 2.37e+01 -9.0 1.00e+00 1.00e+00h 1 78 2.0816071e+00 2.44e-06 3.90e-05 -4.1 1.04e+01 -9.5 1.00e+00 1.00e+00h 1 79 2.0805925e+00 3.43e-03 1.49e-04 -6.1 4.08e+01 -9.9 9.77e-01 9.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818887e+00 6.50e-03 3.87e-04 -4.0 6.05e+01 -10.4 1.00e+00 1.00e+00f 1 81 2.0816122e+00 4.90e-04 3.77e-05 -4.1 2.05e+01 -10.9 1.00e+00 1.00e+00h 1 82 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -11.4 9.76e-01 9.61e-01h 1 83 2.0805507e+00 9.05e-05 2.52e-06 -6.1 1.70e+01 -11.8 1.00e+00 1.00e+00h 1 84 2.0819806e+00 1.03e-02 3.97e-04 -4.0 8.49e+01 -12.3 1.00e+00 1.00e+00f 1 85 2.0816780e+00 9.65e-04 4.88e-05 -4.1 4.57e+01 -12.8 1.00e+00 1.00e+00h 1 86 2.0816420e+00 4.58e-07 3.89e-05 -4.1 8.54e+00 -13.3 1.00e+00 1.00e+00h 1 87 2.0805932e+00 3.64e-03 1.54e-04 -6.1 4.19e+01 -13.7 9.76e-01 9.71e-01h 1 88 2.0805508e+00 7.31e-05 1.94e-06 -6.1 1.62e+01 -14.2 1.00e+00 1.00e+00h 1 89 2.0819836e+00 1.04e-02 3.98e-04 -4.0 8.53e+01 -14.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816801e+00 9.75e-04 5.08e-05 -4.1 4.63e+01 -15.2 1.00e+00 1.00e+00h 1 91 2.0816431e+00 4.96e-07 3.89e-05 -4.1 8.74e+00 -15.7 1.00e+00 1.00e+00h 1 92 2.0805932e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -16.1 9.76e-01 9.71e-01h 1 93 2.0805509e+00 7.33e-05 1.95e-06 -6.1 1.62e+01 -16.6 1.00e+00 1.00e+00h 1 94 2.0805467e+00 5.04e-08 3.88e-07 -6.1 2.91e+00 -17.1 1.00e+00 1.00e+00h 1 95 2.0820227e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -17.6 1.00e+00 1.00e+00f 1 96 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -18.0 1.00e+00 1.00e+00h 1 97 2.0816573e+00 1.18e-06 3.94e-05 -4.1 1.10e+01 -18.5 1.00e+00 1.00e+00h 1 98 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -19.0 9.76e-01 9.71e-01h 1 99 2.0805512e+00 7.57e-05 2.02e-06 -6.1 1.64e+01 -19.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805469e+00 5.37e-08 3.95e-07 -6.1 3.01e+00 -19.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805469455086669e+00 2.0805469455086669e+00 Dual infeasibility......: 3.9525271171825211e-07 3.9525271171825211e-07 Constraint violation....: 5.3674482192178630e-08 5.3674482192178630e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8270724298636589e-07 8.8270724298636589e-07 Overall NLP error.......: 9.9206930833745476e-05 9.9206930833745476e-05 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.797 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.209s jacobian structure: 1594 nonzeros (4.268s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 10.011s 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 (10.06s) linear index maps built (0.0s) evaluator ready (total: 14.329s) evaluator created (14.352s) 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: 14.353s) 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 1.2061338e+02 2.91e+00 3.46e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.4521484e+00 3.83e-01 6.70e+00 -0.5 2.82e+00 0.0 1.00e+00 8.57e-01f 1 2 3.5874497e+00 2.63e-01 2.72e+00 -0.7 1.72e+00 -0.5 4.03e-01 7.02e-01f 1 3 3.0130875e+00 1.30e-02 2.35e+01 -1.1 2.22e-01 -0.1 5.12e-01 1.00e+00f 1 4 3.0271997e+00 1.62e-02 1.56e+00 -1.4 1.52e-01 1.3 9.95e-01 1.00e+00h 1 5 2.7540951e+00 2.22e-03 3.61e-01 -2.0 5.00e-02 0.8 9.98e-01 1.00e+00f 1 6 2.4055258e+00 4.34e-03 2.92e-01 -2.5 1.32e-01 0.3 9.96e-01 5.67e-01f 1 7 2.2284516e+00 6.25e-03 6.83e-01 -2.8 4.67e-01 -0.2 9.97e-01 2.77e-01f 1 8 2.1376769e+00 5.30e-03 6.25e-01 -3.1 3.28e-01 -0.6 1.00e+00 2.32e-01h 1 9 2.1023091e+00 8.72e-04 1.11e-01 -4.0 3.26e-02 -1.1 1.00e+00 8.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909471e+00 3.11e-05 6.39e-03 -4.0 6.46e-03 -1.6 1.00e+00 9.89e-01h 1 11 2.0909261e+00 4.62e-08 3.46e-04 -4.0 1.27e-02 -2.1 1.00e+00 1.00e+00h 1 12 2.0909236e+00 1.60e-09 3.46e-04 -4.0 1.68e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0909208e+00 3.13e-10 3.46e-04 -4.0 2.03e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0909145e+00 1.63e-09 3.46e-04 -4.0 5.98e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908985e+00 1.23e-08 3.46e-04 -4.0 1.70e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0908612e+00 7.74e-08 3.46e-04 -4.0 4.54e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0907697e+00 4.42e-07 5.26e-04 -4.0 1.20e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0905075e+00 4.77e-06 4.43e-04 -4.0 3.75e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0903946e+00 6.57e-07 5.04e-04 -4.0 1.41e+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 2.0900852e+00 1.93e-06 9.56e-03 -4.0 5.60e+00 -5.5 1.00e+00 5.14e-01H 1 21 2.0891434e+00 8.13e-05 1.38e-02 -4.0 1.48e+01 -5.9 1.00e+00 1.00e+00f 1 22 2.0884092e+00 7.08e-05 6.57e-02 -4.0 1.42e+01 -5.5 1.00e+00 3.10e-01h 1 23 2.0874111e+00 7.57e-05 1.37e-02 -4.0 1.45e+01 -6.0 1.00e+00 1.00e+00h 1 24 2.0859918e+00 1.37e-04 5.75e-02 -4.0 3.56e+01 -6.5 1.00e+00 4.69e-01h 1 25 2.0830606e+00 9.43e-04 5.37e-02 -4.0 5.44e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0830296e+00 1.28e-03 3.38e-02 -4.0 7.69e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0822498e+00 1.98e-03 2.27e-02 -4.0 1.95e+02 -7.9 6.09e-01 1.00e+00h 1 28 2.0823284e+00 2.03e-03 2.44e-02 -4.0 8.38e+03 -8.4 9.39e-04 3.48e-03h 5 29 2.0820582e+00 1.83e-04 1.95e-03 -4.1 2.02e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824588e+00 5.99e-04 4.62e-02 -3.8 7.02e+00 -5.7 7.68e-01 1.00e+00h 1 31 2.0822721e+00 4.32e-04 3.89e-01 -4.0 1.33e+00 -3.5 1.89e-01 2.47e-01h 1 32 2.0821127e+00 5.13e-06 2.49e-03 -4.0 1.71e-01 -4.0 1.00e+00 1.00e+00f 1 33 2.0820799e+00 1.23e-05 5.94e-04 -4.0 2.19e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0820873e+00 7.02e-06 3.46e-04 -4.0 2.76e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0821001e+00 2.12e-06 3.46e-04 -4.0 3.27e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0821082e+00 1.02e-06 3.46e-04 -4.0 6.53e-01 -5.9 1.00e+00 1.00e+00h 1 37 2.0821092e+00 1.64e-06 3.46e-04 -4.0 2.11e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0818661e+00 1.85e-04 5.10e-04 -4.1 9.00e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0820301e+00 3.30e-04 1.67e-03 -4.0 1.47e+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 2.0816971e+00 9.02e-04 1.47e-03 -4.1 3.68e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818685e+00 1.26e-03 4.07e-03 -4.0 5.32e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815841e+00 1.06e-03 1.80e-03 -4.1 4.74e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818397e+00 4.34e-04 3.46e-04 -4.0 1.86e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818383e+00 4.38e-07 3.46e-04 -4.0 2.62e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818383e+00 3.25e-10 3.46e-04 -4.0 1.55e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818383e+00 1.14e-13 3.46e-04 -4.0 3.20e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815798e+00 2.05e-04 2.77e-04 -4.1 9.35e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818395e+00 2.12e-04 3.46e-04 -4.0 9.66e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815804e+00 2.11e-04 2.77e-04 -4.1 9.62e+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 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.5 9.78e-01 9.71e-01h 1 51 2.0818882e+00 6.56e-03 3.46e-04 -4.0 6.10e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816136e+00 4.88e-04 2.84e-04 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.0 9.76e-01 9.65e-01h 1 54 2.0805508e+00 8.46e-05 2.57e-06 -6.1 1.69e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816837e+00 9.34e-04 2.95e-04 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816477e+00 4.73e-07 2.95e-04 -4.1 8.52e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818389e+00 1.15e-04 3.46e-04 -4.0 7.07e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815801e+00 2.08e-04 2.77e-04 -4.1 9.50e+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 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.3 9.78e-01 9.71e-01h 1 61 2.0805497e+00 6.51e-05 2.48e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816887e+00 9.54e-04 2.96e-04 -4.1 4.72e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816504e+00 5.63e-07 2.96e-04 -4.1 8.93e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.7 9.77e-01 9.75e-01h 1 66 2.0805511e+00 6.76e-05 2.73e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805469e+00 4.72e-08 2.73e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817159e+00 1.04e-03 2.99e-04 -4.1 5.46e+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 2.0816648e+00 1.22e-06 2.99e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 72 2.0805514e+00 6.96e-05 2.78e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805471e+00 4.99e-08 2.78e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817306e+00 1.08e-03 3.01e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816723e+00 1.67e-06 3.01e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 79 2.0805516e+00 7.07e-05 2.81e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805472e+00 5.15e-08 2.81e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 9.27e-11 3.15e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817309e+00 1.08e-03 3.01e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816725e+00 1.68e-06 3.01e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805516e+00 7.08e-05 2.81e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805472e+00 5.16e-08 2.81e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-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 9.28e-11 3.15e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 8.88e-16 3.15e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.15e-09 -9.0 1.57e-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 3.15e-09 -9.0 1.57e-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......: 3.1455984772129711e-09 3.1455984772129711e-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 = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 Number of inequality constraint evaluations = 108 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.509 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: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 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 4.1472009e+00 2.70e+00 6.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4981829e+00 9.75e-02 5.96e+00 -1.0 1.94e+00 0.0 6.84e-01 1.00e+00f 1 2 2.6039130e+00 6.40e-03 1.17e+00 -0.9 1.94e-01 0.4 8.98e-01 1.00e+00f 1 3 2.4730120e+00 7.54e-04 1.94e-01 -1.7 4.49e-02 -0.1 9.92e-01 1.00e+00h 1 4 2.1730408e+00 4.95e-03 8.54e-02 -2.3 1.52e-01 -0.5 9.82e-01 7.26e-01f 1 5 2.1094358e+00 5.29e-04 3.45e-02 -2.9 1.43e-02 -1.0 9.93e-01 9.00e-01h 1 6 2.0908719e+00 1.04e-05 1.75e-03 -4.0 5.50e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908553e+00 3.93e-08 7.38e-05 -4.0 6.72e-03 -2.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908553085790360e+00 2.0908553085790360e+00 Dual infeasibility......: 7.3765057740142145e-05 7.3765057740142145e-05 Constraint violation....: 3.9326227767311206e-08 3.9326227767311206e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0011917667650117e-04 1.0011917667650117e-04 Overall NLP error.......: 7.3765057740142145e-05 7.3765057740142145e-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 = 24.472 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.105s) 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 2.1855844e+00 1.93e+00 2.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2869409e+00 1.81e+00 2.73e+00 -0.3 2.08e+01 -2.0 2.98e-01 4.25e-01h 1 2 2.5594796e+00 1.57e+00 7.31e+00 -0.6 9.54e+00 -2.5 6.51e-01 7.95e-01f 1 3 3.7501885e+00 4.34e-01 6.09e+00 -0.3 1.89e+00 -1.1 6.24e-01 9.27e-01f 1 4 3.8486451e+00 2.09e-01 6.81e+00 0.4 9.03e+00 -0.7 2.08e-01 1.03e-01h 1 5 3.4855923e+00 1.08e-01 4.52e+00 -0.7 1.63e+00 -1.2 9.77e-01 1.00e+00f 1 6 3.1009773e+00 4.57e-02 1.42e+00 -0.7 1.59e+00 -1.7 7.00e-01 1.00e+00f 1 7 2.7599244e+00 7.18e-02 1.17e+00 -1.4 8.50e-01 -2.2 9.41e-01 5.51e-01h 1 8 2.3531964e+00 1.29e-01 5.20e-01 -1.9 3.90e+00 -2.6 1.00e+00 7.40e-01f 1 9 2.1827998e+00 1.05e-01 2.58e-01 -2.5 3.96e+00 -3.1 1.00e+00 6.03e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1137895e+00 2.16e-02 4.95e-02 -2.7 1.48e+00 -3.6 1.00e+00 8.85e-01h 1 11 2.0911750e+00 5.42e-04 4.52e-03 -3.9 1.99e-01 -4.1 1.00e+00 9.96e-01h 1 12 2.0907517e+00 9.67e-05 1.54e-04 -4.0 7.12e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0905424e+00 1.76e-06 2.05e-05 -4.0 2.13e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0899156e+00 1.57e-05 6.97e-05 -4.0 6.37e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0880573e+00 1.45e-04 6.21e-04 -4.0 1.89e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0826966e+00 1.40e-03 5.88e-03 -4.0 5.44e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0796169e+00 1.66e-03 2.75e-01 -4.0 1.12e+02 -6.9 1.00e+00 2.68e-01h 1 18 2.0788137e+00 7.99e-03 1.92e-01 -4.1 6.62e+01 -7.4 1.00e+00 7.32e-01h 1 19 2.0777398e+00 1.70e-02 5.36e-02 -3.8 1.35e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0764367e+00 1.70e-02 2.80e-02 -4.0 2.28e+02 -8.4 1.00e+00 1.00e+00h 1 21 2.0758964e+00 2.05e-03 2.42e-02 -4.0 3.88e+02 -8.8 1.00e+00 1.00e+00h 1 22 2.0755082e+00 1.68e-03 1.89e-02 -4.0 2.51e+02 -9.3 1.00e+00 7.58e-01h 1 23 2.0756979e+00 7.65e-04 3.87e-03 -4.0 1.05e+02 -9.8 1.00e+00 1.00e+00h 1 24 2.0756720e+00 2.47e-05 3.36e-05 -4.0 2.22e+01 -10.3 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.54e-07 2.67e-06 -4.0 1.93e+01 -10.7 1.00e+00 1.00e+00h 1 26 2.0756712e+00 1.13e-08 5.36e-07 -4.0 9.40e+00 -11.2 1.00e+00 1.00e+00h 1 27 2.0756712e+00 6.41e-10 2.54e-08 -4.0 2.45e+00 -11.7 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.97e-12 2.02e-10 -4.0 2.53e-01 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712120878129e+00 2.0756712120878129e+00 Dual infeasibility......: 2.0214433417626611e-10 2.0214433417626611e-10 Constraint violation....: 4.9732440388083887e-12 4.9732440388083887e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 2.0214433417626611e-10 2.0214433417626611e-10 Number of objective function evaluations = 29 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 29 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 = 25.169 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.108s) 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 1.9375049e+00 3.25e+00 6.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4318429e+00 7.89e-01 2.45e+00 -1.1 2.46e+00 0.0 9.22e-01 7.58e-01h 1 2 3.1646762e+00 7.16e-01 5.37e+01 0.9 1.85e+01 -0.5 2.77e-01 3.06e-02h 1 3 3.0944873e+00 6.08e-02 1.86e+01 -4.0 1.63e+00 -1.0 6.71e-01 1.00e+00h 1 4 2.8509696e+00 8.36e-02 9.70e+00 -1.3 5.08e-01 -0.5 7.18e-01 1.00e+00f 1 5 2.8802589e+00 1.25e-01 5.11e+00 -1.0 1.96e+00 -1.0 8.05e-01 4.71e-01f 2 6 2.6103743e+00 6.21e-02 2.22e+00 -1.1 4.07e-01 -0.6 8.76e-01 5.98e-01h 1 7 2.4631102e+00 5.81e-03 1.44e-01 -1.4 1.09e-01 -1.1 9.85e-01 1.00e+00f 1 8 2.1726829e+00 3.00e-03 5.19e-02 -2.3 8.71e-02 -1.5 8.89e-01 1.00e+00f 1 9 2.0940658e+00 7.91e-04 2.23e-02 -3.7 8.32e-02 -2.0 9.81e-01 9.13e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0910392e+00 4.46e-06 1.40e-04 -4.0 6.49e-03 -2.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0910392343580098e+00 2.0910392343580098e+00 Dual infeasibility......: 1.3968983471544867e-04 1.3968983471544867e-04 Constraint violation....: 4.4645774847527561e-06 4.4645774847527561e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0800770636954901e-04 1.0800770636954901e-04 Overall NLP error.......: 1.3968983471544867e-04 1.3968983471544867e-04 Number of objective function evaluations = 15 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 24.468 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: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4501733e+00 3.29e+00 2.42e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8142544e+00 1.17e-01 2.62e+00 -1.1 2.01e+00 - 5.42e-01 1.00e+00f 1 2 2.4978971e+00 5.30e-02 5.01e-01 -1.0 4.98e-01 - 9.80e-01 9.93e-01h 1 3 2.3992151e+00 2.56e-03 1.95e-01 -1.7 1.51e-01 - 8.24e-01 1.00e+00h 1 4 2.1349049e+00 7.85e-03 1.91e-01 -2.5 3.35e-01 - 9.91e-01 9.71e-01f 1 5 2.0940716e+00 1.41e-03 9.74e-02 -3.8 2.66e-01 - 9.99e-01 9.02e-01h 1 6 2.0908474e+00 5.06e-06 1.37e-03 -4.0 1.81e-02 - 1.00e+00 1.00e+00h 1 7 2.0909231e+00 4.25e-07 7.41e-04 -4.0 1.30e-02 - 1.00e+00 1.00e+00h 1 8 2.0909222e+00 7.01e-11 6.58e-04 -4.0 1.24e-02 - 1.00e+00 1.00e+00h 1 9 2.0909213e+00 4.91e-11 6.52e-04 -4.0 1.23e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909212e+00 9.21e-13 2.06e-05 -4.0 2.06e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909212017134648e+00 2.0909212017134648e+00 Dual infeasibility......: 2.0587628534980591e-05 2.0587628534980591e-05 Constraint violation....: 9.2082591551800874e-13 9.2082591551800874e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000404774e-04 1.0000000000404774e-04 Overall NLP error.......: 2.0587628534980591e-05 2.0587628534980591e-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 = 7.979 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 (0.059s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.112s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 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 3.0664304e+00 3.09e+00 4.85e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5276979e+00 1.18e+00 1.23e+00 -1.0 4.13e+00 -2.0 8.92e-01 6.19e-01h 1 2 2.6631562e+00 9.10e-02 3.58e-01 -1.0 2.32e+00 -2.5 1.00e+00 1.00e+00f 1 3 2.3548707e+00 8.05e-02 5.85e-02 -1.7 1.28e+00 -3.0 1.00e+00 1.00e+00h 1 4 2.1261575e+00 5.00e-02 3.01e-02 -2.5 1.76e+00 -3.4 9.77e-01 1.00e+00h 1 5 2.1151744e+00 3.58e-04 6.98e-03 -2.5 2.95e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0911929e+00 1.05e-03 5.41e-04 -3.8 3.95e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905082e+00 8.93e-05 1.51e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0900677e+00 6.60e-06 2.91e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0887567e+00 7.13e-05 3.08e-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 2.0849248e+00 6.76e-04 2.82e-03 -4.0 3.89e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0849248379240768e+00 2.0849248379240768e+00 Dual infeasibility......: 2.8237016937953802e-03 2.8237016937953802e-03 Constraint violation....: 6.7631357045172535e-04 6.7631357045172535e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 2.8237016937953802e-03 2.8237016937953802e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 25.504 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.107s) evaluator created (0.107s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.109s) [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:412 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 [ Info: Skipping JET correctness analysis on Julia 1.14.0-DEV.2462 (gated to 1.12.x) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.127s jacobian structure: 1600 nonzeros (2.191s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.901s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (2.939s) linear index maps built (0.0s) evaluator ready (total: 5.131s) evaluator created (5.154s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.125s) variables set (0.683s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.829s) optimizer initialization complete (total: 8.922s) This is MadNLP version v0.9.2, 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 2.0062258e+00 2.07e+00 4.55e-01 9.81e-01 -1.0 - 0.00e+00 1 0 1 2.7807472e+00 3.46e-01 2.19e+00 4.80e-01 -1.0 -2.0 1.00e+00 1 1h 2 2.5891159e+00 4.32e-01 5.61e-01 1.81e-01 -1.0 -2.5 8.25e-01 1 1h 3 2.4909544e+00 3.73e-01 1.10e+00 1.15e-01 -1.7 -3.0 1.41e-01 1 1h 4 2.4218854e+00 3.32e-01 1.16e+00 9.07e-02 -1.7 -0.7 1.08e-01 1 1h 5 2.2546102e+00 1.50e-02 9.50e-01 3.98e-02 -1.7 -1.2 1.00e+00 1 1h 6 2.2742758e+00 2.57e-03 7.93e-02 3.01e-02 -1.7 -1.7 1.00e+00 1 1h 7 2.1204961e+00 9.23e-03 1.65e-02 4.98e-03 -2.5 -2.2 9.91e-01 1 1h 8 2.0920793e+00 1.95e-03 3.25e-03 4.64e-04 -3.8 -2.6 9.83e-01 1 1h 9 2.0913512e+00 9.08e-06 2.83e-05 1.51e-04 -3.8 -3.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900104e+00 1.17e-05 3.20e-05 2.37e-06 -5.7 -3.6 1.00e+00 1 1h 11 2.0899891e+00 1.06e-04 4.34e-05 1.85e-06 -5.7 -4.1 1.00e+00 1 1h 12 2.0899487e+00 1.31e-04 4.31e-04 1.85e-06 -5.7 -4.5 6.94e-01 1 1h 13 2.0898069e+00 2.99e-04 1.46e-03 7.12e-06 -5.7 -5.0 1.00e+00 1 1h 14 2.0896940e+00 2.45e-04 1.92e-02 1.87e-06 -5.7 -4.6 1.86e-01 1 1h 15 2.0894810e+00 2.99e-05 2.43e-03 3.12e-06 -5.7 -5.1 1.00e+00 1 1h 16 2.0892434e+00 2.92e-05 1.53e-02 1.91e-06 -5.7 -5.5 3.68e-01 1 1h 17 2.0876207e+00 9.04e-05 4.17e-03 5.27e-06 -5.7 -6.0 1.00e+00 1 1h 18 2.0870676e+00 7.78e-05 1.18e-01 2.51e-06 -5.7 -6.5 1.50e-01 1 1h 19 2.0819072e+00 5.55e-05 8.56e-02 3.83e-06 -5.7 -7.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817847e+00 5.33e-05 8.58e-02 9.01e-06 -5.7 -7.5 3.94e-02 1 1h 21 2.0815086e+00 4.66e-05 1.54e-01 9.76e-06 -5.7 -7.9 3.09e-01 1 1h 22 2.0807015e+00 3.57e-05 8.67e-02 4.47e-06 -5.7 -8.4 9.71e-01 1 1h 23 2.0807021e+00 2.39e-05 5.78e-02 3.39e-05 -5.7 -7.1 3.31e-01 1 1h 24 2.0806836e+00 1.58e-05 9.86e-03 1.38e-05 -5.7 -7.6 3.32e-01 1 1h 25 2.0806101e+00 8.10e-06 3.44e-03 4.56e-06 -5.7 -8.0 9.97e-01 1 1h 26 2.0805734e+00 5.73e-06 1.98e-02 4.78e-06 -5.7 -8.5 1.00e+00 1 1h 27 2.0809945e+00 2.19e-06 1.31e-01 2.22e-06 -5.7 -7.2 1.97e-02 1 3h 28 2.0805943e+00 2.86e-06 1.44e+00 2.58e-06 -5.7 -4.0 7.72e-01 1 1h 29 2.0805904e+00 2.86e-06 1.45e+00 2.56e-06 -5.7 -4.5 1.99e-03 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805861e+00 2.81e-06 2.21e+00 2.03e-06 -5.7 -5.0 2.35e-02 1 1h 31 2.0805805e+00 5.79e-07 6.07e-01 3.23e-06 -5.7 -5.5 7.33e-01 1 1h 32 2.0805832e+00 1.36e-07 5.15e-04 2.58e-06 -5.7 -6.0 1.00e+00 1 1h 33 2.0805800e+00 4.73e-09 1.43e-05 1.85e-06 -5.7 -6.4 1.00e+00 1 1h 34 2.0805529e+00 8.32e-06 6.01e-04 4.48e-07 -8.6 -6.9 9.43e-01 1 1h 35 2.0805424e+00 2.83e-06 1.69e-03 5.29e-08 -8.6 -7.4 7.51e-01 1 1h 36 2.0805422e+00 1.76e-06 6.97e-03 2.16e-08 -8.6 -6.1 3.78e-01 1 1h 37 2.0805419e+00 1.33e-08 1.36e-05 8.25e-08 -8.6 -6.5 1.00e+00 1 1h 38 2.0805416e+00 6.72e-09 3.00e-03 3.31e-09 -8.6 -7.0 4.96e-01 1 1h 39 2.0805404e+00 2.26e-10 2.83e-05 3.37e-09 -8.6 -7.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805386e+00 1.64e-10 6.98e-05 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 41 2.0805370e+00 3.76e-10 9.41e-05 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 42 2.0805365e+00 1.83e-10 1.73e-03 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 43 2.0805367e+00 3.78e-11 1.10e-04 6.72e-07 -8.6 -6.7 1.00e+00 1 1h 44 2.0805366e+00 1.17e-11 9.56e-06 1.00e-07 -8.6 -5.4 1.00e+00 1 1h 45 2.0805366e+00 6.35e-13 7.01e-06 2.54e-08 -8.6 -4.9 1.00e+00 1 1h 46 2.0805365e+00 9.24e-14 5.28e-06 6.97e-09 -8.6 -5.4 1.00e+00 1 1h 47 2.0805365e+00 1.19e-13 5.52e-07 3.12e-09 -8.6 -5.9 1.00e+00 1 1h 48 2.0805365e+00 8.61e-13 6.43e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 49 2.0805365e+00 2.95e-12 3.76e-04 2.51e-09 -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 2.0805365e+00 1.21e-13 5.05e-08 2.52e-09 -8.6 -5.5 1.00e+00 1 1h 51 2.0805365e+00 1.72e-13 2.42e-07 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 52 2.0805365e+00 1.11e-15 2.08e-04 2.51e-09 -8.6 -6.5 1.00e+00 1 1H 53 2.0805362e+00 2.63e-06 1.66e-02 6.46e-09 -8.6 -6.0 2.82e-03 1 1H 54 2.0805364e+00 1.31e-06 2.96e-03 2.05e-08 -8.6 -6.5 5.00e-01 1 2h 55 2.0805365e+00 1.58e-13 6.17e-05 2.55e-09 -8.6 -7.0 1.00e+00 1 1h 56 2.0805365e+00 1.45e-13 1.38e-05 6.75e-09 -8.6 -6.6 1.00e+00 1 1h 57 2.0805366e+00 5.95e-14 4.78e-04 2.51e-09 -8.6 -7.0 6.99e-01 1 1H 58 2.0805365e+00 4.44e-16 2.43e-04 2.51e-09 -8.6 -7.5 1.00e+00 1 1H 59 2.0805365e+00 1.18e-12 2.18e-06 2.57e-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 4.44e-13 1.86e-07 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 61 2.0805365e+00 4.09e-14 5.83e-08 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 62 2.0805365e+00 7.11e-15 1.05e-08 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 63 2.0805365e+00 3.03e-10 1.34e-08 9.43e-10 -9.0 -7.2 1.00e+00 1 1h 64 2.0805365e+00 1.71e-13 8.46e-08 9.09e-10 -9.0 -7.7 1.00e+00 1 1h 65 2.0805365e+00 6.47e-13 3.45e-07 9.09e-10 -9.0 -8.2 1.00e+00 1 1h 66 2.0805365e+00 7.46e-13 5.22e-07 9.09e-10 -9.0 -8.6 1.00e+00 1 1h 67 2.0805365e+00 2.11e-13 1.77e-07 9.09e-10 -9.0 -9.1 1.00e+00 1 1h 68 2.0805365e+00 1.13e-14 9.24e-09 9.09e-10 -9.0 -9.6 1.00e+00 1 1h Number of Iterations....: 68 (scaled) (unscaled) Objective...............: 2.0805364595439459e+00 2.0805364595439459e+00 Dual infeasibility......: 9.2441857502123526e-09 9.2441857502123526e-09 Constraint violation....: 1.1324274851176597e-14 1.1324274851176597e-14 Complementarity.........: 9.0909090964847815e-10 9.0909090964847815e-10 Overall NLP error.......: 9.2441857502123526e-09 9.2441857502123526e-09 Number of objective function evaluations = 80 Number of objective gradient evaluations = 69 Number of constraint evaluations = 80 Number of constraint Jacobian evaluations = 69 Number of Lagrangian Hessian evaluations = 68 Number of KKT factorizations = 165 Number of KKT backsolves = 76 Total wall secs in initialization = 23.538 s Total wall secs in linear solver = 0.160 s Total wall secs in NLP function evaluations = 19.577 s Total wall secs in solver (w/o init./fun./lin. alg.) = 52.462 s Total wall secs = 95.737 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 ┌ 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/TIf6x/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.087s hessian structure: 30 nonzeros (0.087s) linear index maps built (0.0s) evaluator ready (total: 0.088s) evaluator created (0.135s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.116s) 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 (3.002s) optimizer initialization complete (total: 3.255s) 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 1.5411744e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5331132e-02 4.99e-12 1.22e-02 -2.2 2.06e-02 -2.0 9.88e-01 1.00e+00f 1 2 7.8874666e-03 6.26e-12 8.01e-02 -3.0 8.89e-02 -1.6 9.77e-01 1.00e+00f 1 3 1.0344567e-03 1.76e-11 5.76e-02 -3.4 1.42e-01 -1.1 1.00e+00 1.00e+00f 1 4 1.1464881e-04 5.62e-12 1.76e-02 -3.1 4.99e-01 -1.6 9.96e-01 4.19e-01f 2 5 3.4056833e-04 1.95e-12 1.35e-02 -2.9 1.71e+00 -2.1 1.00e+00 4.35e-01f 2 6 3.4056833e-04 1.95e-12 9.14e-03 -3.0 1.97e+00 -2.6 4.88e-01 2.89e-15h 48 7 3.4056833e-04 1.95e-12 1.62e-02 -4.5 2.37e+00 -3.1 3.95e-01 5.68e-16h 50 8 4.0958194e-04 2.88e-12 6.99e-03 -4.5 1.55e+00 -3.5 5.05e-01 5.05e-01s 64 Cannot call restoration phase at point that is almost feasible (violation 2.878347e-12). Abort in line search due to no other fall back. Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 4.0958193887242306e-04 4.0958193887242306e-04 Dual infeasibility......: 6.9936103251110326e-03 6.9936103251110326e-03 Constraint violation....: 2.8783468664084211e-12 2.8783468664084211e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1512365174260861e-03 1.1512365174260861e-03 Overall NLP error.......: 6.9936103251110326e-03 6.9936103251110326e-03 Number of objective function evaluations = 179 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 179 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 = 9 Total seconds in IPOPT = 2.942 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): 0.084s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.171s hessian structure: 40 nonzeros (0.172s) linear index maps built (0.0s) evaluator ready (total: 0.172s) evaluator created (0.223s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.12s) 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 (2.867s) optimizer initialization complete (total: 3.211s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4614772e+00 5.42e-01 8.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0391674e+00 2.44e-09 9.42e-02 -0.5 3.25e-01 -2.0 9.90e-01 1.00e+00f 1 2 2.9428117e-01 1.44e-09 2.06e-01 -1.3 1.13e+00 -1.6 9.87e-01 1.00e+00f 1 3 1.3074951e-01 3.06e-10 4.76e-02 -2.3 5.45e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.5312172e-02 3.66e-11 3.53e-02 -3.2 7.96e-01 -1.6 1.00e+00 1.00e+00f 1 5 7.0831704e-03 2.23e-11 1.58e-02 -4.0 6.98e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.3932415e-03 6.49e-12 5.04e-03 -4.0 4.49e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.2728464e-04 1.60e-12 1.25e-03 -4.0 1.90e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4864687e-04 1.68e-13 2.64e-04 -4.0 8.66e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.5457930e-04 2.41e-14 1.14e-04 -4.0 2.15e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0540056e-04 9.69e-15 4.34e-04 -4.1 7.94e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5691135e-04 4.59e-15 3.59e-04 -4.0 2.00e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7599741e-04 2.78e-15 5.69e-04 -4.1 1.08e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6345583e-04 1.78e-15 4.78e-04 -4.0 2.59e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6417242e-04 1.55e-15 6.46e-04 -4.1 1.24e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6454464e-04 1.22e-15 5.25e-04 -4.0 2.84e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.6018199e-04 1.19e-15 6.78e-04 -4.1 1.31e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6459768e-04 1.11e-15 5.44e-04 -4.0 2.94e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5887305e-04 1.04e-15 6.96e-04 -4.1 1.34e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6422888e-04 8.88e-16 5.52e-04 -4.0 3.00e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5845952e-04 9.02e-16 7.09e-04 -4.1 1.37e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6375268e-04 7.77e-16 5.57e-04 -4.0 3.04e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5833262e-04 8.53e-16 7.20e-04 -4.1 1.39e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6325632e-04 7.77e-16 5.61e-04 -4.0 3.07e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5829623e-04 8.33e-16 7.30e-04 -4.1 1.41e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6276955e-04 6.66e-16 5.64e-04 -4.0 3.09e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5828754e-04 7.98e-16 7.40e-04 -4.1 1.43e-01 -12.1 1.00e+00 1.00e+00f 1 27 4.6230133e-04 5.55e-16 5.67e-04 -4.0 3.12e-01 -12.6 1.00e+00 5.00e-01f 2 28 2.5828681e-04 7.74e-16 7.49e-04 -4.1 1.45e-01 -13.1 1.00e+00 1.00e+00f 1 29 3.1045249e-05 8.49e-15 9.35e-04 -6.2 3.96e-01 -13.6 9.66e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7216184e-03 2.22e-15 7.93e-03 -4.0 2.07e+00 -14.0 1.00e+00 5.00e-01f 2 31 2.4927055e-05 2.21e-14 3.00e-03 -4.1 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 1.5659046e-03 2.84e-14 8.27e-03 -4.0 1.02e+00 -15.0 1.00e+00 1.00e+00f 1 33 1.0530406e-05 1.70e-14 2.39e-03 -4.2 1.13e+00 -15.5 1.00e+00 1.00e+00f 1 34 4.6007227e-04 1.44e-15 2.82e-03 -4.0 1.41e+00 -15.9 1.00e+00 5.00e-01f 2 35 2.2105215e-04 2.89e-15 2.51e-04 -4.2 3.79e-01 -16.4 1.00e+00 5.00e-01f 2 36 2.0369375e-05 4.27e-15 8.44e-04 -6.4 4.28e-01 -16.9 9.62e-01 1.00e+00f 1 37 8.1993226e-06 3.11e-15 1.04e-04 -6.4 1.09e-01 -17.4 1.00e+00 1.00e+00f 1 38 1.3556497e-03 1.33e-15 4.77e-03 -4.0 9.96e+00 -17.8 1.00e+00 1.20e-01f 4 39 1.1437612e-04 4.91e-14 3.36e-03 -4.0 7.43e-01 -18.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 7.2618746e-04 3.02e-14 3.40e-03 -4.0 5.13e-01 -18.8 1.00e+00 1.00e+00f 1 41 3.7978797e-04 5.44e-15 4.50e-04 -4.0 4.17e-01 -19.3 1.00e+00 5.00e-01f 2 42 3.5356044e-05 5.55e-15 1.38e-03 -6.0 5.23e-01 -19.8 9.53e-01 1.00e+00f 1 43 1.4564649e-05 5.00e-15 1.66e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 44 3.9530480e-06 8.33e-16 1.05e-04 -6.0 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 45 9.2852486e-04 4.79e-16 2.49e-03 -4.0 1.64e+01 -20.0 1.00e+00 7.33e-02f 4 46 1.8473524e-04 4.37e-14 2.64e-03 -4.0 5.22e-01 -20.0 1.00e+00 1.00e+00f 1 47 6.3572121e-04 1.82e-14 2.50e-03 -4.0 3.79e-01 -20.0 1.00e+00 1.00e+00f 1 48 3.8902091e-04 3.11e-15 4.08e-04 -4.0 3.35e-01 -20.0 1.00e+00 5.00e-01f 2 49 3.4900684e-05 5.77e-15 1.50e-03 -6.1 5.67e-01 -20.0 9.47e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4578224e-05 4.55e-15 1.73e-04 -6.1 1.36e-01 -20.0 1.00e+00 1.00e+00f 1 51 3.8425242e-06 7.77e-16 1.13e-04 -6.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 52 7.6219989e-04 2.88e-16 1.59e-03 -4.0 1.76e+01 -20.0 1.00e+00 6.81e-02f 4 53 2.1926723e-04 3.82e-14 2.24e-03 -4.1 4.28e-01 -20.0 1.00e+00 1.00e+00f 1 54 5.7485518e-04 1.29e-14 2.02e-03 -4.1 3.13e-01 -20.0 1.00e+00 1.00e+00f 1 55 3.8494060e-04 2.22e-15 3.77e-04 -4.1 2.89e-01 -20.0 1.00e+00 5.00e-01f 2 56 3.3847935e-05 5.44e-15 1.58e-03 -6.1 6.01e-01 -20.0 9.43e-01 1.00e+00f 1 57 1.4263684e-05 4.22e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 58 3.7094913e-06 6.66e-16 1.19e-04 -6.1 1.73e-01 -20.0 1.00e+00 1.00e+00f 1 59 6.3926497e-04 4.44e-16 7.76e-04 -4.0 1.90e+01 -20.0 1.00e+00 6.30e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.5301071e-04 3.38e-14 1.82e-03 -4.1 3.38e-01 -20.0 1.00e+00 1.00e+00f 1 61 5.1950953e-04 8.44e-15 1.53e-03 -4.1 2.42e-01 -20.0 1.00e+00 1.00e+00f 1 62 3.8103349e-04 1.33e-15 3.32e-04 -4.1 2.36e-01 -20.0 1.00e+00 5.00e-01f 2 63 3.2762072e-05 5.22e-15 1.65e-03 -6.1 6.33e-01 -20.0 9.39e-01 1.00e+00f 1 64 1.3952864e-05 3.77e-15 1.81e-04 -6.1 1.46e-01 -20.0 1.00e+00 1.00e+00f 1 65 3.5974377e-06 5.99e-16 1.23e-04 -6.1 1.82e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.4868112e-04 3.30e-16 7.82e-05 -4.0 2.03e+01 -20.0 1.00e+00 5.88e-02f 4 67 2.8258983e-04 3.04e-14 1.41e-03 -4.1 2.57e-01 -20.0 1.00e+00 1.00e+00f 1 68 4.7265537e-04 5.55e-15 1.08e-03 -4.1 1.76e-01 -20.0 1.00e+00 1.00e+00f 1 69 2.9584900e-04 4.00e-15 1.01e-03 -4.1 1.84e-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 4.6549414e-04 3.11e-15 9.39e-04 -4.1 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 71 3.0307206e-04 3.55e-15 9.16e-04 -4.1 1.66e-01 -20.0 1.00e+00 1.00e+00f 1 72 4.5829337e-04 2.66e-15 8.43e-04 -4.1 1.38e-01 -20.0 1.00e+00 1.00e+00f 1 73 2.3438103e-05 4.55e-15 1.82e-03 -6.1 7.71e-01 -20.0 9.24e-01 1.00e+00f 1 74 1.2279149e-05 4.00e-15 1.19e-04 -6.1 1.05e-01 -20.0 1.00e+00 1.00e+00f 1 75 3.0711823e-06 4.44e-16 1.15e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 76 4.9899519e-04 2.91e-16 5.03e-04 -4.0 2.30e+01 -20.0 1.00e+00 5.18e-02f 4 77 3.0806495e-04 2.95e-14 1.09e-03 -4.1 1.95e-01 -20.0 1.00e+00 1.00e+00f 1 78 4.4562870e-04 3.77e-15 7.51e-04 -4.1 1.23e-01 -20.0 1.00e+00 1.00e+00f 1 79 2.4201595e-05 4.44e-15 1.89e-03 -6.1 7.91e-01 -20.0 9.22e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.2426069e-05 3.66e-15 1.31e-04 -6.1 1.15e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.1140211e-06 4.44e-16 1.21e-04 -6.1 1.92e-01 -20.0 1.00e+00 1.00e+00f 1 82 3.9933327e-06 2.22e-16 2.10e-05 -6.1 3.65e-02 -20.0 1.00e+00 1.00e+00f 1 83 3.4336383e-06 4.68e-17 6.10e-06 -6.1 1.09e-02 -20.0 1.00e+00 1.00e+00h 1 84 2.6153876e-07 7.94e-17 5.26e-05 -9.0 2.34e-01 -20.0 9.77e-01 1.00e+00f 1 85 2.4899735e-03 2.74e-16 1.22e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.34e-02f 3 86 8.2828423e-05 4.88e-14 7.12e-03 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00f 1 87 7.7334745e-04 2.95e-14 5.40e-03 -3.9 8.18e-01 -20.0 1.00e+00 1.00e+00f 1 88 4.4009286e-04 5.77e-15 7.70e-04 -3.9 5.35e-01 -20.0 1.00e+00 5.00e-01f 2 89 4.3473339e-05 4.33e-15 2.13e-03 -5.9 7.13e-01 -20.0 9.30e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.7960429e-05 4.11e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 91 5.1447980e-06 6.66e-16 1.66e-04 -5.9 2.08e-01 -20.0 1.00e+00 1.00e+00f 1 92 5.8581439e-06 3.33e-16 1.77e-05 -5.9 2.51e-02 -20.0 1.00e+00 1.00e+00h 1 93 5.4067728e-06 6.42e-17 2.82e-06 -5.9 4.05e-03 -20.0 1.00e+00 1.00e+00h 1 94 3.8919328e-07 5.55e-17 7.96e-05 -8.9 2.86e-01 -20.0 9.72e-01 1.00e+00f 1 95 1.5649356e-07 5.77e-17 8.37e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 96 1.5998486e-03 6.97e-16 1.35e-03 -4.0 3.12e+02 -20.0 1.00e+00 7.80e-03f 3 97 4.7369693e-04 6.37e-14 5.69e-03 -3.8 7.36e-01 -20.0 1.00e+00 1.00e+00f 1 98 8.9289700e-04 1.91e-14 2.23e-03 -3.8 2.65e-01 -20.0 1.00e+00 1.00e+00f 1 99 5.6075959e-04 8.66e-15 2.32e-03 -3.8 3.03e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 8.8246192e-04 3.11e-15 1.46e-03 -3.8 1.71e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.8246191772959617e-04 8.8246191772959617e-04 Dual infeasibility......: 1.4600794580880757e-03 1.4600794580880757e-03 Constraint violation....: 3.1086244689504383e-15 3.1086244689504383e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7088793129813542e-04 1.7088793129813542e-04 Overall NLP error.......: 1.4600794580880757e-03 1.4600794580880757e-03 Number of objective function evaluations = 162 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 162 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 = 3.314 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.047s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.103s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.053s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.36s sub-objective 2 (QuadraticRegularizer): 0.088s sub-objective 3 (LinearRegularizer): 0.078s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.654s hessian structure: 2431 nonzeros (0.759s) linear index maps built (0.0s) evaluator ready (total: 0.862s) evaluator created (0.913s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.127s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.934s) optimizer initialization complete (total: 3.975s) 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 1.1819550e+00 3.76e+00 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 9.1652326e-01 2.86e+00 9.04e-01 -1.3 3.68e+01 -4.0 8.90e-01 4.69e-01h 1 2 1.7457068e+00 1.86e+00 7.50e+00 -1.7 8.58e+01 -4.5 3.59e-01 7.82e-01h 1 3 2.3619205e+00 9.80e-02 1.98e+00 -1.3 4.92e+00 -3.1 4.09e-01 1.00e+00f 1 4 2.2745439e+00 2.75e-02 4.78e-01 -1.6 1.34e+00 -2.7 7.38e-01 1.00e+00h 1 5 2.1666090e+00 2.05e-02 1.15e-01 -1.9 1.21e+00 -2.3 8.23e-01 6.31e-01h 1 6 2.0405417e+00 6.63e-03 5.46e-02 -2.6 8.14e-01 -2.8 8.94e-01 9.35e-01h 1 7 2.0152170e+00 3.73e-03 9.18e-02 -3.3 7.42e-01 -3.3 8.46e-01 6.07e-01h 1 8 2.0018804e+00 4.55e-04 2.90e-02 -4.0 1.78e-01 -3.7 1.00e+00 9.09e-01h 1 9 2.0009576e+00 2.04e-05 1.70e-02 -4.0 6.54e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010218e+00 1.81e-06 1.71e-02 -4.0 1.10e+00 -4.7 1.00e+00 1.00e+00h 1 11 2.0010669e+00 3.76e-09 3.84e-02 -4.0 2.00e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0010812e+00 3.88e-10 6.96e-02 -4.0 3.50e+00 -5.6 1.00e+00 1.00e+00f 1 13 2.0006695e+00 5.58e-08 8.15e-02 -4.2 4.10e+00 -6.1 1.00e+00 1.00e+00f 1 14 2.0013809e+00 3.14e-08 2.80e-01 -4.0 1.40e+01 -6.6 1.00e+00 1.00e+00f 1 15 2.0008979e+00 3.30e-08 1.63e-01 -4.1 1.22e+01 -7.1 1.00e+00 6.68e-01f 1 16 2.0011898e+00 6.76e-09 6.46e-01 -4.1 3.24e+01 -7.5 1.00e+00 1.00e+00f 1 17 2.0008901e+00 2.05e-08 7.61e-01 -4.1 4.18e+01 -8.0 1.00e+00 9.10e-01f 1 18 2.0013035e+00 1.35e-08 1.62e+00 -4.1 8.12e+01 -8.5 1.00e+00 1.00e+00f 1 19 2.0009132e+00 3.63e-08 2.11e+00 -4.1 1.19e+02 -9.0 1.00e+00 8.86e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0013174e+00 1.64e-08 4.34e+00 -4.1 2.17e+02 -9.5 1.00e+00 1.00e+00f 1 21 2.0008810e+00 4.62e-08 7.29e+00 -4.1 3.92e+02 -9.9 1.00e+00 9.30e-01f 1 22 2.0013663e+00 1.11e-08 1.23e+01 -4.1 6.07e+02 -10.4 9.74e-01 1.00e+00f 1 23 2.0008405e+00 3.51e-08 1.86e+01 -4.1 1.02e+03 -10.9 1.00e+00 9.17e-01f 1 24 2.0014046e+00 4.32e-09 3.59e+01 -4.1 1.74e+03 -11.4 9.30e-01 1.00e+00f 1 25 2.0007480e+00 2.31e-08 4.82e+01 -4.1 2.67e+03 -11.8 1.00e+00 9.03e-01f 1 26 2.0014860e+00 2.86e-10 1.01e+02 -4.1 4.85e+03 -12.3 9.13e-01 1.00e+00f 1 27 2.0006160e+00 1.47e-08 1.17e+02 -4.1 6.65e+03 -12.8 1.00e+00 8.81e-01f 1 28 2.0021242e+00 8.16e-10 2.99e+02 -4.0 1.47e+04 -13.3 9.50e-01 1.00e+00f 1 29 2.0001197e+00 1.77e-08 5.14e+01 -4.2 3.65e+03 -13.7 1.00e+00 7.04e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0019032e+00 2.51e-09 6.29e+02 -4.0 3.15e+04 -14.2 1.00e+00 1.00e+00f 1 31 2.0008913e+00 1.76e-09 4.66e+01 -4.2 6.19e+03 -14.7 1.00e+00 3.76e-01f 2 32 2.0006397e+00 9.04e-11 2.25e+02 -4.2 1.13e+04 -15.2 1.00e+00 1.00e+00f 1 33 2.0005867e+00 7.61e-13 2.04e+02 -4.2 1.02e+04 -15.7 1.00e+00 1.00e+00f 1 34 2.0005312e+00 5.28e-14 1.02e+02 -4.2 5.10e+03 -16.1 1.00e+00 1.00e+00h 1 35 2.0005184e+00 3.05e-14 4.11e+01 -4.2 2.06e+03 -16.6 1.00e+00 1.00e+00h 1 36 2.0005072e+00 5.01e-14 1.62e+01 -4.2 8.09e+02 -17.1 1.00e+00 1.00e+00h 1 37 2.0005048e+00 4.03e-14 6.52e+00 -4.2 3.26e+02 -17.6 1.00e+00 1.00e+00h 1 38 2.0005029e+00 7.25e-14 2.64e+00 -4.2 1.32e+02 -18.0 1.00e+00 1.00e+00h 1 39 2.0005025e+00 5.93e-14 1.08e+00 -4.2 5.39e+01 -18.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0005021e+00 1.08e-13 4.39e-01 -4.2 2.19e+01 -19.0 1.00e+00 1.00e+00h 1 41 2.0005021e+00 8.86e-14 1.80e-01 -4.2 8.98e+00 -19.5 1.00e+00 1.00e+00h 1 42 2.0005020e+00 1.62e-13 7.31e-02 -4.2 3.65e+00 -19.9 1.00e+00 1.00e+00h 1 43 2.0005020e+00 4.97e-14 2.99e-02 -4.2 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 44 2.0005020e+00 3.02e-14 1.22e-02 -4.2 6.09e-01 -20.0 1.00e+00 1.00e+00h 1 45 2.0008731e+00 2.52e-09 1.03e+02 -4.0 5.16e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0005588e+00 4.28e-10 1.59e+02 -4.1 7.95e+03 -20.0 1.00e+00 1.00e+00h 1 47 2.0006575e+00 4.39e-10 6.16e+01 -4.1 3.08e+03 -20.0 1.00e+00 1.00e+00h 1 48 2.0006255e+00 1.21e-10 2.53e+01 -4.1 1.26e+03 -20.0 1.00e+00 1.00e+00h 1 49 2.0006409e+00 7.01e-11 8.43e+00 -4.1 4.22e+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 2.0006355e+00 2.12e-11 4.37e+00 -4.1 2.19e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0006381e+00 1.16e-11 1.36e+00 -4.1 6.79e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006372e+00 3.55e-12 7.31e-01 -4.1 3.66e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0006376e+00 1.93e-12 2.25e-01 -4.1 1.13e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0006374e+00 5.91e-13 1.22e-01 -4.1 6.10e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0006375e+00 3.21e-13 3.75e-02 -4.1 1.87e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0006375e+00 9.84e-14 2.03e-02 -4.1 1.02e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0006375e+00 5.34e-14 6.24e-03 -4.1 3.12e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006375e+00 1.64e-14 3.39e-03 -4.1 1.69e-01 -20.0 1.00e+00 1.00e+00h 1 59 2.0006375e+00 8.88e-15 1.04e-03 -4.1 9.85e-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 2.0006375e+00 2.73e-15 5.65e-04 -4.1 9.85e-02 -20.0 1.00e+00 1.00e+00h 1 61 1.9998550e+00 1.27e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 62 2.0006800e+00 3.27e-09 2.07e+03 -4.0 2.07e+05 -20.0 1.00e+00 5.00e-01f 2 63 2.0004271e+00 1.00e-10 2.26e+03 -3.9 1.13e+05 -20.0 1.00e+00 1.00e+00f 1 64 2.0009514e+00 3.38e-09 5.34e+02 -3.9 2.67e+04 -20.0 1.00e+00 1.00e+00f 1 65 2.0010318e+00 2.92e-09 1.05e+02 -3.9 5.24e+03 -20.0 1.00e+00 1.00e+00h 1 66 2.0010450e+00 7.44e-10 2.70e+01 -3.9 1.35e+03 -20.0 1.00e+00 1.00e+00h 1 67 2.0010617e+00 5.56e-10 6.28e+00 -3.9 3.14e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0010635e+00 1.33e-10 4.71e+00 -3.9 2.35e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0010663e+00 9.48e-11 1.09e+00 -3.9 5.47e+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 2.0010666e+00 2.24e-11 7.82e-01 -3.9 3.91e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0010670e+00 1.58e-11 1.84e-01 -3.9 9.19e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010671e+00 3.73e-12 1.30e-01 -3.9 6.52e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010671e+00 2.64e-12 3.07e-02 -3.9 1.53e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0010671e+00 6.21e-13 2.17e-02 -3.9 1.09e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0010672e+00 4.39e-13 5.11e-03 -3.9 4.83e-01 -20.0 1.00e+00 1.00e+00h 1 76 2.0010672e+00 1.03e-13 3.62e-03 -3.9 4.83e-01 -20.0 1.00e+00 1.00e+00h 1 77 2.0010672e+00 7.32e-14 8.52e-04 -3.9 4.83e-01 -20.0 1.00e+00 1.00e+00h 1 78 1.9998648e+00 8.43e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 79 1.9998450e+00 3.04e-13 2.19e+02 -5.9 1.18e+04 -20.0 9.29e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9766245e+00 2.82e-13 2.68e+05 -5.5 1.07e+08 -20.0 1.00e+00 1.25e-01f 4 81 1.9879121e+00 2.59e-13 1.41e+05 -4.8 1.07e+09 -20.0 1.00e+00 6.60e-03f 1 82 1.9999798e+00 1.64e-13 1.29e+05 -3.4 2.62e+08 -20.0 1.00e+00 2.46e-02f 1 83 1.9998763e+00 1.11e-08 1.96e+03 -3.4 9.81e+04 -20.0 1.00e+00 1.00e+00f 1 84 2.0169464e+00 2.96e-04 1.67e+00 -3.4 2.53e+03 -20.0 1.00e+00 1.25e-01f 4 85 2.0013251e+00 2.26e-06 1.50e+03 -3.4 7.50e+04 -20.0 1.00e+00 1.00e+00H 1 86 2.0046093e+00 1.75e-05 8.09e+02 -3.4 4.05e+04 -20.0 1.00e+00 1.00e+00f 1 87 2.0037712e+00 4.98e-07 2.61e+02 -3.4 1.30e+04 -20.0 1.00e+00 1.00e+00h 1 88 2.0043474e+00 8.63e-07 9.28e+01 -3.4 4.64e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0040068e+00 5.49e-07 2.09e+01 -3.4 1.05e+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 2.0041177e+00 1.25e-07 2.20e+01 -3.4 1.10e+03 -20.0 1.00e+00 1.00e+00h 1 91 2.0040589e+00 9.43e-08 4.41e+00 -3.4 2.21e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0040775e+00 2.01e-08 3.70e+00 -3.4 1.85e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0040676e+00 1.57e-08 7.74e-01 -3.4 3.87e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0040707e+00 3.33e-09 6.16e-01 -3.4 3.08e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0040691e+00 2.62e-09 1.30e-01 -3.4 2.84e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0040696e+00 5.54e-10 1.03e-01 -3.4 2.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0040693e+00 4.36e-10 2.17e-02 -3.4 2.84e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0040694e+00 9.22e-11 1.71e-02 -3.4 2.84e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0040693e+00 7.26e-11 3.61e-03 -3.4 2.84e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9999318e+00 1.44e-05 2.63e+02 -5.1 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999318023073387e+00 1.9999318023073387e+00 Dual infeasibility......: 2.6334589684385082e+02 2.6334589684385082e+02 Constraint violation....: 1.4426660389913205e-05 1.4426660389913205e-05 Variable bound violation: 4.8106501882286973e-09 4.8106501882286973e-09 Complementarity.........: 6.3369956757834792e-05 6.3369956757834792e-05 Overall NLP error.......: 2.6334589684385082e+02 2.6334589684385082e+02 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 40.931 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.864s jacobian structure: 1600 nonzeros (2.93s) integrator 1 hessian structure: 0.056s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.031s 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 (4.089s) linear index maps built (0.0s) evaluator ready (total: 7.019s) evaluator created (7.054s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.056s) This is MadNLP version v0.9.2, 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 2.1527036e+00 2.67e+00 7.38e-01 9.88e-01 -1.0 - 0.00e+00 1 0 1 2.6933492e+00 1.45e-01 4.24e+00 3.68e-01 -1.0 0.0 1.00e+00 1 1h 2 2.3822619e+00 6.00e-02 9.14e-01 1.77e-01 -1.0 0.4 7.61e-01 1 1h 3 2.2840339e+00 3.58e-02 5.04e-01 6.02e-02 -1.7 -0.1 4.45e-01 2 1h 4 2.3953874e+00 1.92e-02 7.74e-01 3.16e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.2641000e+00 1.55e-02 2.39e-01 2.86e-02 -1.7 -1.0 4.15e-01 2 1h 6 2.2200819e+00 1.30e-02 1.98e-01 2.90e-02 -1.7 -1.5 1.00e+00 2 1h 7 2.1293841e+00 1.28e-03 7.67e-03 5.77e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0913294e+00 9.44e-05 8.47e-04 1.80e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0899649e+00 1.99e-06 3.15e-04 4.00e-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 2.0899404e+00 5.03e-07 2.35e-04 1.09e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0899203e+00 3.96e-06 7.95e-05 3.32e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0898771e+00 2.17e-05 1.97e-05 1.85e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0897506e+00 5.75e-05 1.96e-05 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0893819e+00 5.83e-05 1.54e-04 1.84e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0883941e+00 2.93e-05 1.99e-03 7.91e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0879170e+00 2.47e-05 8.29e-02 2.26e-06 -5.7 -6.3 1.77e-01 1 1h 17 2.0834452e+00 3.02e-05 4.87e-02 4.63e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0824049e+00 2.46e-05 1.18e-01 2.52e-06 -5.7 -7.2 2.52e-01 1 1h 19 2.0817031e+00 2.17e-05 1.23e-01 4.81e-06 -5.7 -7.7 1.58e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814429e+00 2.54e-05 1.94e-01 1.47e-05 -5.7 -8.2 2.34e-01 1 1h 21 2.0806628e+00 4.10e-05 1.43e-01 8.17e-06 -5.7 -8.6 8.69e-01 1 1h 22 2.0806630e+00 3.64e-05 1.14e-01 1.61e-05 -5.7 -6.4 1.13e-01 1 1h 23 2.0806529e+00 1.09e-05 4.65e-03 6.50e-06 -5.7 -6.9 6.96e-01 1 1h 24 2.0806324e+00 1.48e-06 5.21e-04 3.17e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805964e+00 1.10e-06 1.09e-03 1.90e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805715e+00 2.80e-06 8.86e-03 2.53e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0895814e+00 5.81e-09 1.76e-01 8.40e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0889081e+00 6.54e-07 6.27e-01 8.09e-05 -5.7 -3.9 2.58e-02 1 3h 29 2.0834633e+00 2.68e-07 3.52e-01 3.48e-05 -5.7 -0.7 5.95e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0826359e+00 2.21e-07 2.01e+00 2.97e-05 -5.7 -1.2 1.79e-01 2 1h 31 2.0808363e+00 7.89e-08 1.25e+00 7.89e-06 -5.7 -1.7 7.17e-01 2 1h 32 2.0806572e+00 1.78e-08 1.87e-01 1.90e-06 -5.7 -2.1 7.41e-01 2 1h 33 2.0806044e+00 2.79e-07 3.49e-01 7.72e-06 -5.7 -2.6 1.66e-01 2 1h 34 2.0806515e+00 1.40e-07 4.68e-04 5.44e-05 -5.7 -3.1 1.00e+00 2 1h 35 2.0806199e+00 1.64e-07 1.45e-01 1.12e-05 -5.7 -3.6 1.00e+00 2 1h 36 2.0806087e+00 8.47e-08 2.77e-05 2.62e-06 -5.7 -4.1 1.00e+00 2 1h 37 2.0806082e+00 1.31e-08 1.69e-06 1.89e-06 -5.7 -4.5 1.00e+00 2 1h 38 2.0805889e+00 3.47e-07 3.70e-03 5.22e-07 -8.6 -5.0 8.35e-01 2 1h 39 2.0805832e+00 1.64e-07 1.35e-03 4.92e-08 -8.6 -5.5 9.76e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805824e+00 1.15e-07 1.41e-02 1.56e-08 -8.6 -6.0 3.04e-01 2 1h 41 2.0805760e+00 1.12e-08 1.57e-04 3.83e-09 -8.6 -6.4 1.00e+00 2 1h 42 2.0805706e+00 7.31e-09 4.22e-03 3.24e-09 -8.6 -6.9 3.49e-01 2 1h 43 2.0805557e+00 3.47e-09 5.83e-03 1.23e-07 -8.6 -7.4 5.70e-01 2 1h 44 2.0805436e+00 3.73e-09 1.08e-02 4.16e-07 -8.6 -7.9 1.00e+00 2 1h 45 2.0805436e+00 3.63e-09 1.05e-02 2.50e-07 -8.6 -6.5 2.77e-02 1 1h 46 2.0805413e+00 1.30e-09 3.34e-03 4.95e-09 -8.6 -7.0 6.41e-01 2 1h 47 2.0805395e+00 3.64e-11 3.56e-03 6.58e-09 -8.6 -7.5 1.00e+00 2 1h 48 2.0805391e+00 8.73e-11 4.58e-03 5.83e-07 -8.6 -7.1 7.32e-01 1 1h 49 2.0805384e+00 1.84e-10 2.78e-03 2.51e-09 -8.6 -7.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805384e+00 4.95e-14 1.07e-06 2.53e-09 -8.6 -5.3 1.00e+00 1 1h 51 2.0805384e+00 3.06e-14 1.28e-07 2.51e-09 -8.6 -5.8 1.00e+00 2 1h 52 2.0805383e+00 9.75e-14 1.95e-07 2.51e-09 -8.6 -6.3 1.00e+00 2 1h 53 2.0805382e+00 3.62e-13 4.29e-07 2.51e-09 -8.6 -6.7 1.00e+00 2 1h 54 2.0805380e+00 2.18e-12 3.49e-06 6.98e-09 -8.6 -7.2 1.00e+00 2 1h 55 2.0805378e+00 2.44e-12 7.98e-04 2.53e-09 -8.6 -7.7 2.73e-01 2 1h 56 2.0805370e+00 3.34e-11 4.93e-05 2.51e-09 -8.6 -8.2 1.00e+00 1 1h 57 2.0805366e+00 4.97e-11 3.58e-04 2.51e-09 -8.6 -8.7 1.00e+00 1 1h 58 2.0805366e+00 4.50e-11 7.61e-02 1.80e-08 -8.6 -7.3 7.82e-03 1 6h 59 2.0805366e+00 4.47e-11 2.20e-03 2.53e-09 -8.6 -7.8 5.66e-03 2 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805366e+00 1.40e-11 1.31e-03 2.51e-09 -8.6 -6.5 6.82e-01 1 1h 61 2.0805366e+00 7.27e-13 5.43e-07 4.45e-09 -8.6 -7.0 1.00e+00 1 1h 62 2.0805365e+00 7.41e-13 9.90e-05 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 63 2.0805365e+00 4.71e-14 1.19e-06 1.46e-08 -8.6 -6.1 1.00e+00 1 1h 64 2.0805365e+00 1.55e-13 9.19e-08 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 65 2.0805365e+00 6.38e-14 4.95e-07 2.67e-09 -8.6 -7.1 1.00e+00 2 1h 66 2.0805365e+00 2.53e-13 1.57e-07 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 67 2.0805365e+00 8.07e-13 7.12e-07 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 68 2.0805365e+00 1.43e-12 1.50e-06 2.51e-09 -8.6 -8.5 1.00e+00 1 1h 69 2.0805365e+00 7.84e-13 8.21e-07 2.51e-09 -8.6 -9.0 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 8.33e-14 7.61e-08 2.51e-09 -8.6 -9.4 1.00e+00 1 1h 71 2.0805365e+00 1.11e-15 9.48e-10 2.51e-09 -8.6 -9.9 1.00e+00 1 1h Number of Iterations....: 71 (scaled) (unscaled) Objective...............: 2.0805364803022148e+00 2.0805364803022148e+00 Dual infeasibility......: 9.4778568326958634e-10 9.4778568326958634e-10 Constraint violation....: 1.1102230246251565e-15 1.1102230246251565e-15 Complementarity.........: 2.5059035602552522e-09 2.5059035602552522e-09 Overall NLP error.......: 2.5059035602552522e-09 2.5059035602552522e-09 Number of objective function evaluations = 83 Number of objective gradient evaluations = 72 Number of constraint evaluations = 83 Number of constraint Jacobian evaluations = 72 Number of Lagrangian Hessian evaluations = 71 Number of KKT factorizations = 171 Number of KKT backsolves = 109 Total wall secs in initialization = 6.270 s Total wall secs in linear solver = 0.108 s Total wall secs in NLP function evaluations = 19.834 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.135 s Total wall secs = 56.348 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.085s jacobian structure: 1680 nonzeros (3.15s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.122s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.172s) linear index maps built (0.0s) evaluator ready (total: 14.322s) evaluator created (14.353s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.097s) 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 (4.607s) optimizer initialization complete (total: 19.057s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 9.2753798e+00 2.37e+00 3.80e+00 1.90e+00 -1.0 - 0.00e+00 1 0 1 4.0080485e+00 5.95e-01 2.48e+00 1.00e+00 -1.0 0.0 7.46e-01 1 1h 2 3.1979760e+00 4.02e-01 2.46e+00 6.91e-01 -1.0 -0.5 2.28e-01 2 1h 3 2.8259102e+00 1.49e-01 1.63e+00 4.07e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.5527852e+00 1.42e-01 6.01e-01 1.16e-01 -1.0 -1.4 7.31e-01 2 1h 5 2.3089648e+00 2.72e-02 6.32e-01 5.13e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.2622991e+00 8.54e-03 1.75e-01 2.24e-02 -1.7 -2.4 1.00e+00 2 1h 7 2.1189984e+00 4.81e-03 1.05e-02 3.91e-03 -2.5 -2.9 9.98e-01 2 1h 8 2.0915259e+00 4.08e-04 2.25e-03 2.12e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0914155e+00 1.03e-05 1.42e-04 1.50e-04 -3.8 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900279e+00 1.21e-04 1.65e-04 8.42e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0899799e+00 2.62e-04 2.96e-03 3.73e-06 -5.7 -4.8 6.99e-01 2 1h 12 2.0898083e+00 3.99e-04 5.79e-03 2.31e-06 -5.7 -5.2 1.00e+00 1 1h 13 2.0897853e+00 2.05e-04 8.06e-03 2.68e-05 -5.7 -3.9 4.86e-01 1 1h 14 2.0897463e+00 2.74e-06 5.19e-04 7.60e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0896959e+00 3.47e-06 3.55e-03 1.85e-06 -5.7 -4.9 1.14e-01 1 1h 16 2.0892885e+00 5.12e-05 1.56e-03 1.84e-06 -5.7 -5.4 1.00e+00 1 1h 17 2.0891051e+00 4.55e-05 4.13e-02 2.03e-06 -5.7 -5.8 1.42e-01 1 1h 18 2.0863827e+00 7.18e-05 1.31e-02 6.32e-06 -5.7 -6.3 1.00e+00 1 1h 19 2.0858334e+00 6.43e-05 1.68e-01 3.01e-06 -5.7 -6.8 1.07e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0817350e+00 4.31e-05 1.37e-01 1.99e-06 -5.7 -7.3 6.82e-01 1 1h 21 2.0817394e+00 1.68e-04 1.31e-01 7.02e-04 -5.7 -7.7 1.00e+00 1 1h 22 2.0811053e+00 5.59e-05 3.53e-02 3.28e-04 -5.7 -8.2 5.23e-01 2 1h 23 2.0806929e+00 1.35e-05 5.05e-02 1.42e-04 -5.7 -8.7 8.62e-01 1 1h 24 2.0807837e+00 5.93e-06 8.73e-02 1.07e-04 -5.7 -6.5 1.00e+00 1 1h 25 2.0807504e+00 4.91e-06 8.99e-02 7.81e-05 -5.7 -6.9 1.70e-01 2 1h 26 2.0806835e+00 1.54e-06 2.67e-03 1.72e-05 -5.7 -6.5 1.00e+00 1 1h 27 2.0806463e+00 9.27e-07 1.50e-02 1.35e-05 -5.7 -7.0 3.41e-01 2 1h 28 2.0806259e+00 6.73e-07 4.98e-03 1.13e-05 -5.7 -7.5 1.00e+00 1 1h 29 2.0805786e+00 3.53e-07 3.26e-03 4.99e-06 -5.7 -7.9 6.96e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805896e+00 7.71e-08 2.07e-02 1.50e-05 -5.7 -6.6 1.00e+00 1 1h 31 2.0805765e+00 1.30e-07 2.02e-04 4.66e-06 -5.7 -7.1 1.00e+00 1 1h 32 2.0805793e+00 6.46e-08 3.44e-04 4.93e-06 -5.7 -6.7 1.00e+00 1 1h 33 2.0805896e+00 2.26e-11 1.96e-02 3.20e-06 -5.7 -7.1 1.00e+00 1 1H 34 2.0805822e+00 2.82e-08 9.45e-02 2.28e-06 -5.7 -4.9 3.67e-01 1 2h 35 2.0805775e+00 6.46e-08 6.02e-05 1.88e-06 -5.7 -5.4 1.00e+00 1 1h 36 2.0805782e+00 6.46e-08 3.16e-05 3.45e-06 -5.7 -5.9 1.00e+00 1 1h 37 2.0805755e+00 6.48e-08 1.00e-05 1.84e-06 -5.7 -6.3 1.00e+00 2 1h 38 2.0805577e+00 5.77e-05 1.23e-02 2.07e-06 -8.6 -6.8 1.35e-02 1 1H 39 2.0805559e+00 5.76e-05 1.60e+00 4.46e-05 -8.6 -7.3 1.77e-03 1 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805535e+00 5.51e-05 3.97e-02 3.93e-06 -8.6 -7.8 4.31e-02 1 1h 41 2.0805538e+00 3.67e-05 1.72e-02 1.63e-06 -8.6 -5.5 3.34e-01 1 1h 42 2.0805525e+00 1.70e-05 5.01e-02 1.96e-06 -8.6 -6.0 5.38e-01 2 1h 43 2.0805500e+00 6.79e-07 5.96e-04 4.08e-07 -8.6 -6.5 9.69e-01 1 1h 44 2.0805487e+00 4.81e-07 3.54e-03 2.76e-07 -8.6 -7.0 3.00e-01 2 1h 45 2.0805480e+00 4.43e-07 4.60e-03 3.12e-07 -8.6 -7.4 7.95e-02 2 1h 46 2.0805429e+00 1.17e-07 8.58e-04 3.52e-08 -8.6 -7.9 8.94e-01 1 1h 47 2.0805381e+00 1.31e-08 2.50e-04 6.88e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805366e+00 2.86e-10 2.24e-03 2.55e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805367e+00 9.01e-11 3.09e-06 1.33e-07 -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 2.0805366e+00 8.92e-11 2.24e-04 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 51 2.0805366e+00 8.92e-11 1.51e-06 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 52 2.0805366e+00 8.92e-11 1.71e-06 8.41e-09 -8.6 -6.3 1.00e+00 1 1h 53 2.0805366e+00 8.92e-11 2.54e-07 3.49e-09 -8.6 -6.7 1.00e+00 1 1h 54 2.0805366e+00 8.91e-11 3.78e-08 2.56e-09 -8.6 -6.3 1.00e+00 1 1h 55 2.0805366e+00 8.92e-11 2.11e-08 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 56 2.0805366e+00 9.68e-11 1.02e-03 1.92e-09 -9.0 -7.3 3.80e-01 1 1H 57 2.0805365e+00 1.25e-09 7.92e-07 9.25e-10 -9.0 -7.8 1.00e+00 1 1h 58 2.0805365e+00 3.28e-11 1.95e-06 9.09e-10 -9.0 -8.2 1.00e+00 1 1h 59 2.0805425e+00 3.28e-11 3.20e-04 9.13e-10 -9.0 -8.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 3.57e-11 1.48e-01 1.04e-09 -9.0 -4.7 7.98e-01 1 1h 61 2.0805368e+00 3.46e-11 3.80e-01 5.34e-06 -9.0 -5.1 3.68e-02 1 1h 62 2.0805368e+00 8.88e-16 1.62e-05 3.13e-07 -9.0 -5.6 1.00e+00 1 1H 63 2.0805366e+00 2.22e-16 1.84e-06 7.35e-08 -9.0 -6.1 1.00e+00 1 1H 64 2.0805365e+00 3.28e-11 5.33e-07 1.60e-08 -9.0 -6.6 1.00e+00 1 1h 65 2.0805365e+00 3.29e-11 5.99e-07 4.23e-09 -9.0 -7.1 1.00e+00 1 1h 66 2.0805365e+00 3.24e-11 1.20e-06 1.18e-09 -9.0 -7.5 1.00e+00 1 1h 67 2.0805365e+00 3.26e-11 2.22e-04 9.13e-10 -9.0 -8.0 1.00e+00 1 1h 68 2.0805365e+00 3.25e-11 6.27e-07 1.80e-08 -9.0 -6.7 1.00e+00 1 1h 69 2.0805365e+00 3.24e-11 1.72e-04 9.12e-10 -9.0 -7.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805365e+00 3.20e-11 1.30e-02 2.21e-08 -9.0 -7.6 1.04e-02 1 2h 71 2.0805365e+00 3.22e-11 2.72e-03 5.37e-09 -9.0 -5.4 1.00e+00 1 1h 72 2.0805365e+00 3.24e-11 2.64e-08 9.09e-10 -9.0 -5.9 1.00e+00 1 1h 73 2.0805365e+00 3.24e-11 4.41e-09 9.09e-10 -9.0 -6.4 1.00e+00 1 1h Number of Iterations....: 73 (scaled) (unscaled) Objective...............: 2.0805364607241366e+00 2.0805364607241366e+00 Dual infeasibility......: 4.4117850191279505e-09 4.4117850191279505e-09 Constraint violation....: 3.2357894141910037e-11 3.2357894141910037e-11 Complementarity.........: 9.0937376199549199e-10 9.0937376199549199e-10 Overall NLP error.......: 4.4117850191279505e-09 4.4117850191279505e-09 Number of objective function evaluations = 87 Number of objective gradient evaluations = 74 Number of constraint evaluations = 87 Number of constraint Jacobian evaluations = 74 Number of Lagrangian Hessian evaluations = 73 Number of KKT factorizations = 180 Number of KKT backsolves = 103 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.097 s Total wall secs in NLP function evaluations = 24.449 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.484 s Total wall secs = 35.032 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.868s jacobian structure: 1600 nonzeros (2.931s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.147s 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 (4.203s) linear index maps built (0.0s) evaluator ready (total: 7.135s) evaluator created (7.166s) 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: 7.167s) 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 1.8712899e+01 3.66e+00 9.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0431956e+01 1.33e-01 2.04e+00 -2.7 1.79e+00 -4.0 1.64e-01 1.00e+00f 1 2 1.0550290e+01 9.14e-02 7.49e-01 -1.0 1.14e+00 -4.5 6.82e-01 3.15e-01f 1 3 1.0105704e+01 3.27e-02 1.69e-01 -1.2 4.15e-01 -5.0 7.49e-01 7.64e-01f 1 4 9.6619944e+00 1.75e-02 8.25e-02 -2.1 2.35e-01 -5.4 9.54e-01 1.00e+00h 1 5 9.4832346e+00 2.69e-03 6.16e-02 -4.0 1.15e-01 -5.9 8.28e-01 1.00e+00h 1 6 9.4355092e+00 7.26e-04 1.61e-03 -4.0 4.95e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4264350e+00 6.79e-05 2.77e-04 -4.0 1.57e-02 -6.9 1.00e+00 1.00e+00h 1 8 9.4258214e+00 2.54e-06 1.01e-05 -4.0 2.52e-03 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 4.44e-09 1.55e-08 -4.0 9.73e-05 -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 9.4258086e+00 1.59e-14 1.00e-09 -4.0 2.24e-07 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 9.4258086225826965e+00 9.4258086225826965e+00 Dual infeasibility......: 1.0000000000835079e-09 1.0000000000835079e-09 Constraint violation....: 1.5876189252139739e-14 1.5876189252139739e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000006905993e-04 1.0000000006905993e-04 Overall NLP error.......: 1.0000000000835079e-09 1.0000000000835079e-09 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 = 29.029 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) 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 v0.9.2, 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 1.8712899e+01 3.66e+00 9.64e-01 9.63e-01 -1.0 - 0.00e+00 1 0 1 1.0508421e+01 2.97e-01 1.92e+00 8.38e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0039579e+01 2.09e-01 7.12e-01 3.92e-01 -1.0 -4.5 9.30e-01 2 1h 3 9.6961645e+00 4.56e-03 2.98e-02 6.70e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5067623e+00 2.73e-03 2.04e-02 9.28e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4389978e+00 1.04e-03 6.70e-03 2.27e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4276020e+00 1.70e-04 5.61e-04 5.01e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246521e+00 2.29e-05 1.70e-04 4.63e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245376e+00 4.67e-07 8.21e-07 2.58e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.11e-09 2.80e-09 4.81e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129861939638e+00 9.4245129861939638e+00 Dual infeasibility......: 2.7992155260392337e-09 2.7992155260392337e-09 Constraint violation....: 1.1139121847136835e-09 1.1139121847136835e-09 Complementarity.........: 4.8137173003112972e-09 4.8137173003112972e-09 Overall NLP error.......: 4.8137173003112972e-09 4.8137173003112972e-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.) = 0.007 s Total wall secs = 0.170 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 Difference in Hessian 1 undefined exports detected. To get a list, set `broken = false`. [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, 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: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) 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: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.407s) optimizer initialization complete (total: 0.535s) 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 1.1751401e+00 3.10e+00 2.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.6582890e-01 2.03e+00 2.79e+00 -1.6 7.35e+00 -2.0 1.34e-01 3.46e-01h 1 2 7.4747315e-01 1.21e+00 2.42e+00 -0.9 2.33e+00 -0.7 3.45e-01 4.02e-01f 1 3 8.4947639e-01 9.71e-01 2.83e+00 -0.6 1.94e+00 -0.2 4.93e-01 1.98e-01f 1 4 1.1842564e+00 5.23e-01 1.72e+00 -1.8 2.88e+00 -0.7 3.04e-01 4.61e-01h 1 5 1.4994576e+00 2.31e-01 1.43e+00 -1.0 9.20e-01 -0.3 3.47e-01 5.59e-01h 1 6 1.5308371e+00 2.15e-01 1.33e+00 -4.0 8.37e+00 -0.8 6.78e-02 6.90e-02h 1 7 1.5479192e+00 1.86e-01 1.58e+00 -1.7 3.74e-01 -0.3 7.95e-01 1.35e-01h 1 8 1.5285957e+00 9.11e-02 2.72e-01 -2.0 1.01e+00 -0.8 9.90e-01 9.26e-01h 1 9 1.4390498e+00 6.78e-02 5.67e-01 -2.3 8.87e-01 -1.3 7.83e-01 3.95e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3471819e+00 2.13e-02 1.78e-01 -2.2 1.24e+00 -1.8 6.17e-01 7.04e-01h 1 11 1.3182065e+00 1.63e-01 1.11e-01 -2.4 2.59e+00 -2.3 7.42e-01 1.00e+00h 1 12 1.2513343e+00 3.92e-02 1.81e-02 -3.4 2.01e-01 -0.9 9.98e-01 1.00e+00h 1 13 1.2338654e+00 1.06e-02 1.96e-02 -4.0 4.03e-01 -1.4 1.00e+00 1.00e+00h 1 14 1.2212243e+00 4.37e-02 5.51e-02 -4.0 9.54e-01 -1.9 1.00e+00 1.00e+00h 1 15 1.2129979e+00 1.84e-02 3.62e-02 -4.0 2.38e+00 -2.4 3.33e-01 2.51e-01h 1 16 1.2059806e+00 2.25e-02 1.37e-02 -4.0 4.49e-01 -1.9 1.00e+00 1.00e+00h 1 17 1.2000910e+00 1.68e-02 8.27e-03 -4.0 8.75e-01 -2.4 1.00e+00 9.26e-01h 1 18 1.1927628e+00 4.50e-02 6.50e-02 -4.0 1.71e+00 -2.9 7.52e-01 1.00e+00h 1 19 1.1854592e+00 5.08e-02 2.03e-02 -4.0 2.09e+00 -3.4 1.00e+00 9.46e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1796911e+00 8.81e-02 1.13e-02 -4.0 3.07e+00 -3.8 1.00e+00 1.00e+00h 1 21 1.1756349e+00 8.22e-02 1.70e-02 -4.0 4.83e+00 -4.3 1.00e+00 1.00e+00h 1 22 1.1718554e+00 1.21e-01 8.52e-03 -4.0 7.14e+00 -4.8 1.00e+00 1.00e+00h 1 23 1.1692795e+00 1.34e-01 9.89e-03 -4.0 1.10e+01 -5.3 1.00e+00 1.00e+00h 1 24 1.1669610e+00 1.75e-01 3.88e-03 -4.0 1.68e+01 -5.7 1.00e+00 1.00e+00h 1 25 1.1652485e+00 2.06e-01 1.73e-03 -4.0 2.55e+01 -6.2 1.00e+00 1.00e+00h 1 26 1.1638028e+00 2.56e-01 4.23e-03 -4.0 3.87e+01 -6.7 1.00e+00 1.00e+00h 1 27 1.1627012e+00 3.02e-01 8.73e-03 -4.0 5.80e+01 -7.2 1.00e+00 1.00e+00h 1 28 1.1618075e+00 3.62e-01 1.54e-02 -4.0 8.61e+01 -7.7 1.00e+00 1.00e+00h 1 29 1.1611412e+00 4.13e-01 2.08e-02 -4.0 1.25e+02 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1606637e+00 4.46e-01 2.49e-02 -4.0 1.74e+02 -8.6 1.00e+00 1.00e+00h 1 31 1.1604815e+00 3.70e-01 1.83e-02 -4.0 2.12e+02 -9.1 1.00e+00 1.00e+00h 1 32 1.1607811e+00 4.92e-02 3.67e-03 -4.0 1.14e+02 -9.6 1.00e+00 1.00e+00h 1 33 1.1608507e+00 1.34e-03 3.64e-04 -4.0 1.19e+01 -10.0 1.00e+00 1.00e+00h 1 34 1.1608491e+00 3.91e-05 4.93e-06 -4.0 2.62e+00 -10.5 1.00e+00 1.00e+00h 1 35 1.1608491e+00 8.20e-09 1.25e-10 -4.0 3.94e-02 -11.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 1.1608491309012632e+00 1.1608491309012632e+00 Dual infeasibility......: 1.2471534083778081e-10 1.2471534083778081e-10 Constraint violation....: 8.2011535340598130e-09 8.2011535340598130e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000140e-04 1.0000000000000140e-04 Overall NLP error.......: 8.2011535340598130e-09 8.2011535340598130e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 36 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 36 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 35 Total seconds in IPOPT = 30.080 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.047s jacobian structure: 180 nonzeros (0.078s) integrator 1 hessian structure: 0.045s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.32s sub-objective 2 (QuadraticRegularizer): 0.08s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.015s objective hessian structure: 0.499s hessian structure: 375 nonzeros (0.544s) linear index maps built (0.0s) evaluator ready (total: 0.768s) evaluator created (1.131s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.726s) optimizer initialization complete (total: 3.979s) 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 1.7417209e+00 9.47e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9259065e+00 1.06e-01 1.71e+00 -0.9 8.15e-01 0.0 1.00e+00 1.00e+00h 1 2 1.8456661e+00 2.13e-02 6.91e-01 -0.9 3.44e-01 -0.5 7.83e-01 7.31e-01h 1 3 1.9038523e+00 1.96e-02 2.02e+00 -1.1 2.22e+01 - 9.15e-01 2.97e-01f 2 4 1.4112934e+00 4.19e-03 3.70e-01 -1.9 1.09e-01 -1.0 1.00e+00 8.76e-01f 1 5 1.1284296e+00 2.21e-04 6.42e-01 -2.5 8.15e+00 - 9.92e-01 1.00e+00f 1 6 1.1014722e+00 1.16e-06 6.36e-02 -2.9 1.42e+00 - 1.00e+00 9.95e-01h 1 7 1.0910533e+00 4.13e-09 1.61e-02 -4.0 1.03e+00 - 1.00e+00 1.00e+00f 1 8 1.0910385e+00 1.43e-12 1.22e-04 -4.0 8.76e-02 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 4.00e-19 4.83e-06 -4.0 1.62e-04 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908587e+00 7.96e-24 4.79e-06 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 11 1.0910386e+00 2.62e-28 4.74e-06 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0908587e+00 2.12e-33 2.30e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0901453e+00 1.78e-15 3.65e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 14 1.0910388e+00 8.88e-16 2.92e-07 -4.0 1.23e-02 - 1.00e+00 1.00e+00f 1 15 1.0908587e+00 2.11e-35 2.27e-07 -4.1 9.79e-03 - 1.00e+00 1.00e+00f 1 16 1.0901453e+00 8.88e-16 3.65e-08 -6.1 8.92e-05 - 1.00e+00 1.00e+00f 1 17 1.0901388e+00 8.88e-16 1.71e-07 -9.0 8.34e-03 - 9.68e-01 1.00e+00f 1 18 1.0910388e+00 1.60e-32 2.00e-05 -4.0 5.40e-04 -1.4 1.00e+00 1.00e+00f 1 19 1.0908587e+00 3.95e-36 4.51e-08 -4.1 4.35e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0901453e+00 1.20e-35 3.65e-08 -6.1 7.90e-05 - 1.00e+00 1.00e+00f 1 21 1.0901388e+00 1.87e-37 1.92e-07 -9.0 8.73e-03 - 9.67e-01 1.00e+00f 1 22 1.0901388e+00 4.51e-39 2.09e-07 -9.0 1.69e-05 -1.9 1.00e+00 1.00e+00f 1 23 1.0901388e+00 1.78e-15 2.10e-07 -9.0 5.09e-05 -2.4 1.00e+00 1.00e+00f 1 24 1.0901388e+00 2.13e-41 2.10e-07 -9.0 1.53e-04 -2.9 1.00e+00 1.00e+00h 1 25 1.0901388e+00 8.88e-16 2.11e-07 -9.0 4.62e-04 -3.3 1.00e+00 1.00e+00f 1 26 1.0901388e+00 1.25e-39 2.15e-07 -9.0 1.41e-03 -3.8 1.00e+00 1.00e+00h 1 27 1.0904175e+00 3.72e-26 3.16e-04 -4.0 8.31e-01 -4.3 1.00e+00 3.09e-01f 1 28 1.0906387e+00 8.88e-16 1.03e-04 -4.3 1.43e-01 - 1.00e+00 1.00e+00f 1 29 1.0901426e+00 5.70e-35 3.76e-07 -6.4 8.04e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0901388e+00 8.88e-16 3.26e-08 -9.0 4.28e-03 - 9.74e-01 1.00e+00f 1 31 1.0901388e+00 8.88e-16 7.59e-08 -9.0 4.48e-03 -4.8 1.00e+00 1.00e+00h 1 32 1.0901388e+00 7.37e-36 3.09e-07 -9.0 1.51e-02 -5.2 1.00e+00 1.00e+00h 1 33 1.0901388e+00 1.05e-34 7.04e-06 -9.0 7.36e-02 -5.7 1.00e+00 1.00e+00f 1 34 1.0901388e+00 1.36e-36 7.23e-06 -9.0 5.03e-02 -5.3 1.00e+00 1.00e+00f 1 35 1.0901554e+00 5.92e-27 5.50e-04 -4.0 1.64e+01 -4.9 1.00e+00 1.78e-02f 1 36 1.0905572e+00 1.78e-15 1.69e-04 -4.3 1.35e-01 - 1.00e+00 1.00e+00f 1 37 1.0901417e+00 5.55e-36 5.81e-07 -6.5 1.26e-03 - 1.00e+00 1.00e+00f 1 38 1.0901388e+00 8.88e-16 3.41e-08 -9.0 4.53e-03 - 9.72e-01 1.00e+00f 1 39 1.0901388e+00 7.76e-34 3.77e-07 -9.0 1.73e-02 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0901388e+00 8.88e-16 9.77e-06 -9.0 9.09e-02 -5.8 1.00e+00 1.00e+00f 1 41 1.0901388e+00 5.48e-37 1.55e-05 -9.0 7.76e-02 -5.4 1.00e+00 1.00e+00h 1 42 1.0901459e+00 8.32e-27 1.08e-03 -4.0 5.65e+01 -5.0 1.00e+00 5.77e-03f 1 43 1.0905718e+00 8.88e-16 2.98e-04 -4.3 1.57e-01 - 1.00e+00 1.00e+00f 1 44 1.0901418e+00 1.78e-15 2.19e-06 -6.5 2.53e-03 - 1.00e+00 1.00e+00f 1 45 1.0901388e+00 8.88e-16 5.16e-08 -9.0 4.10e-03 - 9.76e-01 1.00e+00f 1 46 1.0901388e+00 8.88e-16 1.08e-06 -9.0 2.81e-02 -5.5 1.00e+00 1.00e+00h 1 47 1.0901387e+00 8.88e-16 5.54e-05 -9.0 3.75e-01 -5.9 4.68e-01 8.04e-01h 1 48 1.0903084e+00 1.78e-15 4.70e-03 -4.0 1.42e+04 - 6.99e-08 1.73e-05f 2 49 1.0901408e+00 8.88e-16 6.50e-04 -8.9 7.05e-01 -1.9 1.00e+00 1.74e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.0901388e+00 7.53e-35 1.30e-05 -8.9 5.12e-03 -2.4 1.00e+00 1.00e+00f 1 51 1.0901388e+00 3.46e-37 1.55e-07 -8.9 1.06e-04 -2.8 1.00e+00 1.00e+00f 1 52 1.0901388e+00 1.82e-39 6.36e-08 -8.9 1.34e-04 -3.3 1.00e+00 1.00e+00f 1 53 1.0901388e+00 9.22e-40 6.37e-08 -8.9 4.02e-04 -3.8 1.00e+00 1.00e+00f 1 54 1.0901388e+00 8.88e-16 6.41e-08 -8.9 1.21e-03 -4.3 1.00e+00 1.00e+00f 1 55 1.0901388e+00 3.45e-38 6.55e-08 -8.9 3.72e-03 -4.8 1.00e+00 1.00e+00h 1 56 1.0901388e+00 8.88e-16 1.67e-07 -8.9 1.19e-02 -5.2 1.00e+00 1.00e+00f 1 57 1.0901388e+00 8.88e-16 2.60e-06 -8.9 4.71e-02 -5.7 1.00e+00 1.00e+00h 1 58 1.0901388e+00 2.74e-36 1.16e-06 -8.9 2.29e-02 -5.3 1.00e+00 1.00e+00h 1 59 1.0901387e+00 8.88e-16 4.70e-05 -8.9 2.20e-01 -5.8 9.46e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.0901382e+00 2.34e-35 5.42e-05 -8.9 7.51e-02 -4.4 1.00e+00 8.36e-01f 1 61 1.0906838e+00 1.78e-15 8.02e-03 -4.0 7.07e+03 - 2.49e-08 3.64e-05f 3 62 1.0902518e+00 8.88e-16 3.58e-03 -8.6 7.75e-02 -1.3 1.00e+00 1.00e+00f 1 63 1.0901589e+00 1.18e-36 7.94e-04 -8.6 5.48e-02 -1.8 1.00e+00 8.21e-01f 1 64 1.0901372e+00 8.84e-37 1.69e-03 -8.6 2.36e+00 - 7.30e-06 2.50e-01f 3 65 1.0911044e+00 8.88e-16 1.17e-02 -4.0 2.30e-01 -2.2 1.00e+00 1.00e+00f 1 66 1.0914751e+00 8.88e-16 6.05e-04 -3.8 9.66e-02 - 9.41e-01 1.00e+00f 1 67 1.0905034e+00 4.37e-35 1.17e-02 -5.7 2.71e-01 - 1.00e+00 1.00e+00f 1 68 1.0901926e+00 8.88e-16 4.25e-03 -5.7 1.12e-01 -1.8 1.00e+00 5.12e-01f 1 69 1.0901550e+00 8.88e-16 1.47e-04 -5.7 1.71e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.0901550e+00 8.88e-16 1.83e-06 -5.7 1.19e-02 - 1.00e+00 1.00e+00f 1 71 1.0901388e+00 5.78e-37 5.00e-09 -8.6 7.03e-04 - 9.96e-01 1.00e+00f 1 72 1.0901388e+00 4.83e-35 8.55e-08 -9.0 1.71e-05 -2.3 1.00e+00 1.00e+00f 1 73 1.0901388e+00 1.78e-15 4.78e-06 -9.0 2.22e-02 - 6.77e-01 1.00e+00f 1 74 1.0901388e+00 2.66e-15 4.78e-06 -9.0 3.21e-05 -2.8 1.00e+00 1.00e+00h 1 75 1.0901388e+00 1.78e-15 8.95e-06 -9.0 1.18e-01 - 3.17e-01 1.00e+00h 1 76 1.0901388e+00 8.88e-16 7.82e-08 -9.0 1.37e-04 -3.3 1.00e+00 1.00e+00h 1 77 1.0901388e+00 8.88e-16 7.86e-08 -9.0 4.24e-04 -3.7 1.00e+00 1.00e+00h 1 78 1.0901388e+00 1.78e-15 7.94e-08 -9.0 1.29e-03 -4.2 1.00e+00 1.00e+00h 1 79 1.0901388e+00 5.64e-38 8.19e-08 -9.0 3.98e-03 -4.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.0901388e+00 1.78e-15 2.48e-07 -9.0 1.32e-02 -5.2 1.00e+00 1.00e+00f 1 81 1.0901388e+00 1.78e-15 5.08e-06 -9.0 6.04e-02 -5.6 1.00e+00 1.00e+00h 1 82 1.0901388e+00 2.18e-35 3.76e-06 -9.0 3.57e-02 -5.2 1.00e+00 1.00e+00h 1 83 1.0901388e+00 2.22e-37 1.57e-06 -9.0 1.88e-02 -4.8 1.00e+00 1.00e+00f 1 84 1.0901386e+00 8.88e-16 5.52e-05 -9.0 3.08e-01 -5.3 9.42e-01 6.53e-01f 1 85 1.0901363e+00 8.88e-16 4.79e-04 -9.0 4.44e-01 - 1.00e+00 1.25e-01f 4 86 1.0940399e+00 6.69e-28 2.80e-02 -4.0 4.28e+00 -3.0 1.00e+00 9.21e-02f 2 87 1.0920610e+00 8.88e-16 1.55e-02 -4.3 8.51e-02 -0.8 1.00e+00 1.00e+00f 1 88 1.0906752e+00 4.82e-33 6.46e-04 -4.3 2.06e-01 -1.3 1.00e+00 8.01e-01f 1 89 1.0907072e+00 8.88e-16 9.32e-03 -4.3 4.29e+00 - 4.56e-02 2.50e-01f 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.0906670e+00 8.88e-16 2.29e-03 -4.3 9.87e-03 -1.8 1.00e+00 5.00e-01f 2 91 1.0906758e+00 8.88e-16 1.43e-04 -4.3 2.43e-02 -2.2 1.00e+00 1.00e+00f 1 92 1.0901423e+00 8.88e-16 1.11e-04 -6.4 1.61e-02 -2.7 9.97e-01 1.00e+00f 1 93 1.0901341e+00 5.14e-37 1.17e-03 -6.4 3.20e-01 - 9.77e-01 1.00e+00f 1 94 1.0903344e+00 2.89e-28 2.85e-02 -4.0 1.20e+01 -3.2 1.00e+00 4.39e-02f 4 95 1.0912856e+00 8.88e-16 2.22e-03 -3.9 3.36e-01 - 8.37e-01 1.00e+00f 1 96 1.0912571e+00 8.88e-16 1.18e-03 -3.9 1.08e-01 -1.9 1.00e+00 1.00e+00f 1 97 1.0901515e+00 2.68e-35 8.78e-08 -5.9 3.35e-04 - 1.00e+00 1.00e+00f 1 98 1.0901388e+00 1.78e-15 1.17e-06 -8.8 1.53e-02 - 9.56e-01 1.00e+00f 1 99 1.0901388e+00 1.78e-15 7.23e-07 -8.8 1.56e-04 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.0901388e+00 8.88e-16 7.35e-07 -8.8 4.77e-04 -2.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.0901387536294220e+00 1.0901387536294220e+00 Dual infeasibility......: 7.3484548593609219e-07 7.3484548593609219e-07 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 8.3736423437535956e-09 8.3736423437535956e-09 Complementarity.........: 1.6316941853784493e-09 1.6316941853784493e-09 Overall NLP error.......: 9.9998368631328493e-05 9.9998368631328493e-05 Number of objective function evaluations = 126 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 126 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.895 EXIT: Maximum Number of Iterations Exceeded. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.847s jacobian structure: 1600 nonzeros (2.911s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.032s 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 (4.083s) linear index maps built (0.0s) evaluator ready (total: 6.995s) evaluator created (7.021s) 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: 7.036s) 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 2.6284503e+00 2.85e+00 6.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7775747e+00 8.53e-02 1.79e+00 -0.9 1.75e+00 0.0 9.84e-01 1.00e+00h 1 Hello, world! 2 2.4581591e+00 1.54e-02 9.47e-01 -1.0 2.29e-01 0.4 7.99e-01 9.47e-01h 1 Hello, world! 3 2.4034546e+00 1.02e-03 2.67e-01 -1.6 8.16e-02 -0.1 9.70e-01 1.00e+00h 1 Hello, world! 4 2.1851354e+00 2.20e-03 9.10e-02 -2.1 8.01e-02 -0.5 9.83e-01 9.34e-01h 1 Hello, world! 5 2.1001594e+00 5.57e-04 4.10e-02 -3.5 5.09e-02 -1.0 9.95e-01 8.27e-01h 1 Hello, world! 6 2.0908770e+00 7.80e-06 4.58e-03 -4.0 4.77e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908392e+00 1.93e-08 1.26e-04 -4.0 1.15e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908353e+00 1.87e-10 5.35e-05 -4.0 1.46e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908323e+00 1.14e-10 1.49e-05 -4.0 1.23e-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 2.0908291e+00 4.34e-10 1.50e-05 -4.0 3.69e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908204e+00 3.73e-09 1.49e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0907948e+00 3.33e-08 1.47e-05 -4.0 3.27e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907181e+00 2.88e-07 6.38e-05 -4.0 9.72e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904164e+00 3.19e-06 1.06e-03 -4.0 3.20e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896740e+00 3.09e-05 2.33e-03 -4.0 9.62e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0891746e+00 1.03e-05 3.15e-03 -4.0 4.36e+00 -5.4 1.00e+00 9.72e-01h 1 Hello, world! 17 2.0884343e+00 4.50e-05 7.57e-03 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0875059e+00 7.06e-05 1.41e-01 -4.0 4.82e+01 -6.3 1.00e+00 1.85e-01h 1 Hello, world! 19 2.0840484e+00 1.33e-03 5.57e-02 -4.0 5.53e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827536e+00 4.61e-04 1.77e-02 -4.0 5.87e+01 -7.3 1.00e+00 6.17e-01h 1 Hello, world! 21 2.0825923e+00 1.32e-03 3.52e-02 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823827e+00 7.20e-04 1.28e-02 -4.0 8.18e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821669e+00 2.73e-04 3.44e-02 -4.0 1.04e+02 -7.8 6.15e-01 1.00e+00h 1 Hello, world! 24 2.0819728e+00 4.47e-04 3.56e-03 -4.0 4.38e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819039e+00 3.77e-04 3.45e-02 -4.0 7.59e+00 -6.0 8.01e-01 1.00e+00h 1 Hello, world! 26 2.0820508e+00 2.11e-04 2.41e-01 -4.0 4.09e+00 -4.7 3.41e-01 2.66e-01h 1 Hello, world! 27 2.0819382e+00 4.57e-05 2.77e-03 -4.0 5.75e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819844e+00 6.37e-05 7.27e-04 -4.0 1.38e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818075e+00 3.04e-05 5.83e-04 -4.1 1.44e+00 -6.1 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 2.0820047e+00 7.81e-05 2.47e-04 -4.0 3.63e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0817659e+00 2.09e-04 8.70e-04 -4.1 1.10e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819461e+00 4.81e-04 1.50e-03 -4.0 2.11e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0816340e+00 9.33e-04 1.60e-03 -4.1 3.84e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818528e+00 1.14e-03 2.06e-03 -4.0 4.84e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0815845e+00 6.65e-04 5.10e-04 -4.1 2.90e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818444e+00 2.06e-04 4.23e-05 -4.0 8.54e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0815838e+00 2.15e-04 1.37e-05 -4.1 9.80e+00 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818445e+00 2.14e-04 1.24e-05 -4.0 9.75e+00 -10.4 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815837e+00 2.16e-04 1.03e-05 -4.1 9.83e+00 -10.9 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 40 2.0818446e+00 2.16e-04 9.82e-06 -4.0 9.86e+00 -11.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0815837e+00 2.16e-04 9.44e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818446e+00 2.16e-04 9.54e-06 -4.0 9.87e+00 -12.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.3 9.77e-01 9.64e-01h 1 Hello, world! 45 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.8 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.7 9.76e-01 9.58e-01h 1 Hello, world! 48 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.7 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816804641221571e+00 2.0816804641221571e+00 Dual infeasibility......: 4.9574371569058708e-05 4.9574371569058708e-05 Constraint violation....: 9.6474424411197024e-04 9.6474424411197024e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0385060471838389e-04 1.0385060471838389e-04 Overall NLP error.......: 9.6474424411197024e-04 9.6474424411197024e-04 Number of objective function evaluations = 51 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 51 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 28.135 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: 0.003s) 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) 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 2.6284503e+00 2.85e+00 6.32e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7775747e+00 8.53e-02 1.79e+00 -0.9 1.75e+00 0.0 9.84e-01 1.00e+00h 1 Hello, world! 2 2.4581591e+00 1.54e-02 9.47e-01 -1.0 2.29e-01 0.4 7.99e-01 9.47e-01h 1 Hello, world! 3 2.4034546e+00 1.02e-03 2.67e-01 -1.6 8.16e-02 -0.1 9.70e-01 1.00e+00h 1 Hello, world! 4 2.1851354e+00 2.20e-03 9.10e-02 -2.1 8.01e-02 -0.5 9.83e-01 9.34e-01h 1 Hello, world! 5 2.1001594e+00 5.57e-04 4.10e-02 -3.5 5.09e-02 -1.0 9.95e-01 8.27e-01h 1 Hello, world! 6 2.0908770e+00 7.80e-06 4.58e-03 -4.0 4.77e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908392e+00 1.93e-08 1.26e-04 -4.0 1.15e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908353e+00 1.87e-10 5.35e-05 -4.0 1.46e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908323e+00 1.14e-10 1.49e-05 -4.0 1.23e-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 2.0908291e+00 4.34e-10 1.50e-05 -4.0 3.69e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908204e+00 3.73e-09 1.49e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0907948e+00 3.33e-08 1.47e-05 -4.0 3.27e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907181e+00 2.88e-07 6.38e-05 -4.0 9.72e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0904164e+00 3.19e-06 1.06e-03 -4.0 3.20e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896740e+00 3.09e-05 2.33e-03 -4.0 9.62e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0891746e+00 1.03e-05 3.15e-03 -4.0 4.36e+00 -5.4 1.00e+00 9.72e-01h 1 Hello, world! 17 2.0884343e+00 4.50e-05 7.57e-03 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0875059e+00 7.06e-05 1.41e-01 -4.0 4.82e+01 -6.3 1.00e+00 1.85e-01h 1 Hello, world! 19 2.0840484e+00 1.33e-03 5.57e-02 -4.0 5.53e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827536e+00 4.61e-04 1.77e-02 -4.0 5.87e+01 -7.3 1.00e+00 6.17e-01h 1 Hello, world! 21 2.0825923e+00 1.32e-03 3.52e-02 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0823827e+00 7.20e-04 1.28e-02 -4.0 8.18e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821669e+00 2.73e-04 3.44e-02 -4.0 1.04e+02 -7.8 6.15e-01 1.00e+00h 1 Hello, world! 24 2.0819728e+00 4.47e-04 3.56e-03 -4.0 4.38e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819039e+00 3.77e-04 3.45e-02 -4.0 7.59e+00 -6.0 8.01e-01 1.00e+00h 1 Hello, world! 26 2.0820508e+00 2.11e-04 2.41e-01 -4.0 4.09e+00 -4.7 3.41e-01 2.66e-01h 1 Hello, world! 27 2.0819382e+00 4.57e-05 2.77e-03 -4.0 5.75e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0819844e+00 6.37e-05 7.27e-04 -4.0 1.38e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0818075e+00 3.04e-05 5.83e-04 -4.1 1.44e+00 -6.1 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 2.0820047e+00 7.81e-05 2.47e-04 -4.0 3.63e+00 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0817659e+00 2.09e-04 8.70e-04 -4.1 1.10e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819461e+00 4.81e-04 1.50e-03 -4.0 2.11e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0816340e+00 9.33e-04 1.60e-03 -4.1 3.84e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818528e+00 1.14e-03 2.06e-03 -4.0 4.84e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0815845e+00 6.65e-04 5.10e-04 -4.1 2.90e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818444e+00 2.06e-04 4.23e-05 -4.0 8.54e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0815838e+00 2.15e-04 1.37e-05 -4.1 9.80e+00 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818445e+00 2.14e-04 1.24e-05 -4.0 9.75e+00 -10.4 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815837e+00 2.16e-04 1.03e-05 -4.1 9.83e+00 -10.9 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 40 2.0818446e+00 2.16e-04 9.82e-06 -4.0 9.86e+00 -11.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0815837e+00 2.16e-04 9.44e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818446e+00 2.16e-04 9.54e-06 -4.0 9.87e+00 -12.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.3 9.77e-01 9.64e-01h 1 Hello, world! 45 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.8 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.2 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.7 9.76e-01 9.58e-01h 1 Hello, world! 48 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.2 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.7 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0816804641221571e+00 2.0816804641221571e+00 Dual infeasibility......: 4.9574371569058708e-05 4.9574371569058708e-05 Constraint violation....: 9.6474424411197024e-04 9.6474424411197024e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0385060471838389e-04 1.0385060471838389e-04 Overall NLP error.......: 9.6474424411197024e-04 9.6474424411197024e-04 Number of objective function evaluations = 51 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 51 Number of inequality constraint evaluations = 51 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.888 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.715s jacobian structure: 1600 nonzeros (2.775s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.909s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.959s) linear index maps built (0.0s) evaluator ready (total: 6.735s) evaluator created (6.763s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.765s) 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 2.6054879e+00 1.49e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4849879e+00 1.68e-01 1.08e+00 -1.1 2.26e+00 -2.0 9.58e-01 1.00e+00h 1 2 2.3188986e+00 1.48e-01 3.67e-01 -1.5 2.12e+00 -2.5 9.51e-01 7.18e-01h 1 3 2.1818990e+00 2.35e-02 1.05e-01 -2.1 8.60e-01 -3.0 9.67e-01 1.00e+00h 1 4 2.0976922e+00 6.22e-03 2.45e-02 -3.1 7.15e-01 -3.4 9.98e-01 9.86e-01h 1 5 2.0909669e+00 2.90e-04 3.43e-03 -4.0 1.98e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908586e+00 7.55e-06 1.18e-04 -4.0 4.58e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907709e+00 3.73e-07 8.12e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905490e+00 3.52e-06 1.12e-03 -4.0 3.34e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0899104e+00 2.18e-05 6.20e-03 -4.0 8.84e+00 -5.8 1.00e+00 8.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889155e+00 8.02e-05 4.92e-02 -4.0 2.98e+01 -6.3 1.00e+00 5.00e-01f 2 11 2.0884314e+00 1.50e-05 3.02e-03 -4.0 2.07e+00 -5.0 1.00e+00 8.96e-01h 1 12 2.0882105e+00 3.40e-06 2.67e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0871628e+00 4.85e-05 7.56e-03 -4.0 1.30e+01 -5.9 1.00e+00 8.47e-01h 1 14 2.0853440e+00 2.94e-04 1.70e-02 -4.0 2.90e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0838122e+00 3.02e-04 5.82e-02 -4.0 4.59e+01 -6.9 1.00e+00 4.59e-01h 1 16 2.0826159e+00 8.22e-05 1.35e-02 -4.0 6.90e+01 -7.4 1.00e+00 7.07e-01h 1 17 2.0824143e+00 7.74e-04 2.50e-02 -4.0 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.3284119e+00 1.11e-03 4.32e+00 -4.0 4.58e+02 -7.4 3.75e-02 1.00e+00H 1 19 2.0857667e+00 3.28e-05 3.83e-01 -4.1 1.06e-01 0.4 1.00e+00 9.70e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0860165e+00 3.26e-05 3.15e+00 -4.0 8.08e-02 -0.0 1.00e+00 7.81e-03f 8 21 2.0860268e+00 1.90e-08 1.40e-03 -4.0 4.54e-03 -0.5 1.00e+00 1.00e+00h 1 22 2.0858574e+00 2.09e-08 1.35e-03 -4.0 1.31e-02 -1.0 1.00e+00 1.00e+00h 1 23 2.0857834e+00 9.91e-08 1.19e-03 -4.0 3.49e-02 -1.5 1.00e+00 1.00e+00h 1 24 2.0856646e+00 4.05e-07 7.26e-04 -4.0 6.37e-02 -1.9 1.00e+00 1.00e+00h 1 25 2.0856543e+00 6.45e-08 5.16e-05 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0856542926650885e+00 2.0856542926650885e+00 Dual infeasibility......: 5.1593028243350318e-05 5.1593028243350318e-05 Constraint violation....: 6.4495177422643768e-08 6.4495177422643768e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999956474e-05 9.9999999999956474e-05 Overall NLP error.......: 5.1593028243350318e-05 5.1593028243350318e-05 Number of objective function evaluations = 39 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 39 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 29.729 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6054879e+00 1.49e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4849879e+00 1.68e-01 1.08e+00 -1.1 2.26e+00 -2.0 9.58e-01 1.00e+00h 1 2 2.3188986e+00 1.48e-01 3.67e-01 -1.5 2.12e+00 -2.5 9.51e-01 7.18e-01h 1 3 2.1818990e+00 2.35e-02 1.05e-01 -2.1 8.60e-01 -3.0 9.67e-01 1.00e+00h 1 4 2.0976922e+00 6.22e-03 2.45e-02 -3.1 7.15e-01 -3.4 9.98e-01 9.86e-01h 1 5 2.0909669e+00 2.90e-04 3.43e-03 -4.0 1.98e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908586e+00 7.55e-06 1.18e-04 -4.0 4.58e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907709e+00 3.73e-07 8.12e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905490e+00 3.52e-06 1.12e-03 -4.0 3.34e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0899104e+00 2.18e-05 6.20e-03 -4.0 8.84e+00 -5.8 1.00e+00 8.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889155e+00 8.02e-05 4.92e-02 -4.0 2.98e+01 -6.3 1.00e+00 5.00e-01f 2 11 2.0884314e+00 1.50e-05 3.02e-03 -4.0 2.07e+00 -5.0 1.00e+00 8.96e-01h 1 12 2.0882105e+00 3.40e-06 2.67e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0871628e+00 4.85e-05 7.56e-03 -4.0 1.30e+01 -5.9 1.00e+00 8.47e-01h 1 14 2.0853440e+00 2.94e-04 1.70e-02 -4.0 2.90e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0838122e+00 3.02e-04 5.82e-02 -4.0 4.59e+01 -6.9 1.00e+00 4.59e-01h 1 16 2.0826159e+00 8.22e-05 1.35e-02 -4.0 6.90e+01 -7.4 1.00e+00 7.07e-01h 1 17 2.0824143e+00 7.74e-04 2.50e-02 -4.0 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.3284119e+00 1.11e-03 4.32e+00 -4.0 4.58e+02 -7.4 3.75e-02 1.00e+00H 1 19 2.0857667e+00 3.28e-05 3.83e-01 -4.1 1.06e-01 0.4 1.00e+00 9.70e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0860165e+00 3.26e-05 3.15e+00 -4.0 8.08e-02 -0.0 1.00e+00 7.81e-03f 8 21 2.0860268e+00 1.90e-08 1.40e-03 -4.0 4.54e-03 -0.5 1.00e+00 1.00e+00h 1 22 2.0858574e+00 2.09e-08 1.35e-03 -4.0 1.31e-02 -1.0 1.00e+00 1.00e+00h 1 23 2.0857834e+00 9.91e-08 1.19e-03 -4.0 3.49e-02 -1.5 1.00e+00 1.00e+00h 1 24 2.0856646e+00 4.05e-07 7.26e-04 -4.0 6.37e-02 -1.9 1.00e+00 1.00e+00h 1 25 2.0856543e+00 6.45e-08 5.16e-05 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 26 2.0856623e+00 1.15e-08 1.30e-05 -4.0 1.02e-02 -2.9 1.00e+00 1.00e+00h 1 27 2.0856599e+00 4.93e-10 1.30e-05 -4.0 3.07e-02 -3.4 1.00e+00 1.00e+00h 1 28 2.0856526e+00 3.67e-09 1.29e-05 -4.0 9.19e-02 -3.9 1.00e+00 1.00e+00h 1 29 2.0856309e+00 3.28e-08 1.29e-05 -4.0 2.74e-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 2.0855675e+00 2.84e-07 2.29e-05 -4.0 8.11e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0853917e+00 2.22e-06 1.90e-04 -4.0 2.33e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0849836e+00 1.41e-05 1.28e-03 -4.0 6.10e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0844202e+00 5.86e-05 4.22e-03 -4.0 1.49e+01 -6.2 1.00e+00 1.00e+00h 1 34 2.0837266e+00 1.59e-04 6.47e-03 -4.0 3.64e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0826838e+00 7.00e-04 2.06e-02 -4.0 7.55e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0817201e+00 1.34e-03 1.23e-02 -4.1 1.09e+02 -7.7 7.80e-01 1.00e+00h 1 37 2.0821014e+00 1.03e-03 3.85e-02 -4.0 2.88e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.0840536e+00 8.81e-03 3.10e-02 -3.5 5.51e+01 -6.8 8.12e-01 1.00e+00h 1 39 2.1121038e+00 7.41e-03 1.39e-01 -3.6 3.09e+02 -7.3 2.01e-02 1.06e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0898322e+00 1.20e-03 4.99e-01 -3.6 1.45e+01 -7.8 8.24e-03 1.00e+00f 1 41 2.0872931e+00 2.25e-08 4.92e-02 -3.6 4.11e-02 0.1 1.00e+00 1.00e+00h 1 42 2.0847155e+00 1.13e-08 2.61e-02 -3.6 6.56e-02 -0.4 1.00e+00 1.00e+00f 1 43 2.0832964e+00 6.73e-07 7.02e-03 -4.0 5.60e-02 -0.9 1.00e+00 1.00e+00f 1 44 2.0828363e+00 1.84e-06 1.16e-03 -4.0 2.65e-02 -1.4 1.00e+00 1.00e+00h 1 45 2.0826706e+00 5.22e-07 2.36e-04 -4.0 1.61e-02 -1.8 1.00e+00 1.00e+00h 1 46 2.0826721e+00 6.02e-09 2.03e-05 -4.0 4.16e-03 -2.3 1.00e+00 1.00e+00h 1 47 2.0826715e+00 3.21e-09 8.98e-06 -4.0 5.52e-03 -2.8 1.00e+00 1.00e+00h 1 48 2.0826705e+00 4.76e-10 8.97e-06 -4.0 1.65e-02 -3.3 1.00e+00 1.00e+00h 1 49 2.0826676e+00 7.24e-10 8.95e-06 -4.0 4.96e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0826587e+00 6.36e-09 8.91e-06 -4.0 1.48e-01 -4.2 1.00e+00 1.00e+00h 1 51 2.0826325e+00 5.66e-08 8.79e-06 -4.0 4.38e-01 -4.7 1.00e+00 1.00e+00h 1 52 2.0825566e+00 4.89e-07 5.42e-05 -4.0 1.26e+00 -5.2 1.00e+00 1.00e+00h 1 53 2.0823524e+00 4.97e-06 4.16e-04 -4.0 3.30e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0819130e+00 8.05e-05 2.11e-03 -4.0 7.51e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0818705e+00 9.58e-05 9.33e-01 -4.0 1.31e+01 -5.7 1.00e+00 1.58e-01h 3 56 2.0818749e+00 2.74e-05 2.58e-03 -4.0 1.45e+00 -6.2 1.00e+00 1.00e+00h 1 57 2.0818724e+00 5.27e-05 6.11e-04 -4.0 3.29e+00 -6.7 1.00e+00 1.00e+00h 1 58 2.0818749e+00 3.00e-06 2.99e-04 -4.0 5.17e+00 -7.1 1.00e+00 1.00e+00h 1 59 2.0818653e+00 5.23e-06 1.84e-04 -4.0 1.04e+01 -7.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818541e+00 9.55e-06 2.70e-04 -4.0 2.00e+01 -8.1 1.00e+00 1.00e+00h 1 61 2.0818461e+00 1.08e-05 3.33e-04 -4.0 2.38e+01 -8.6 1.00e+00 1.00e+00h 1 62 2.0818437e+00 3.43e-06 1.11e-04 -4.0 1.36e+01 -9.0 1.00e+00 1.00e+00h 1 63 2.0818434e+00 1.55e-07 6.03e-06 -4.0 3.11e+00 -9.5 1.00e+00 1.00e+00h 1 64 2.0818434e+00 8.94e-10 4.35e-08 -4.0 2.60e-01 -10.0 1.00e+00 1.00e+00h 1 65 2.0818434e+00 6.55e-13 1.00e-09 -4.0 7.61e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 65 (scaled) (unscaled) Objective...............: 2.0818434105342334e+00 2.0818434105342334e+00 Dual infeasibility......: 1.0000000040408458e-09 1.0000000040408458e-09 Constraint violation....: 6.5458749531899230e-13 6.5458749531899230e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 1.0000000040408458e-09 1.0000000040408458e-09 Number of objective function evaluations = 83 Number of objective gradient evaluations = 66 Number of equality constraint evaluations = 83 Number of inequality constraint evaluations = 83 Number of equality constraint Jacobian evaluations = 66 Number of inequality constraint Jacobian evaluations = 66 Number of Lagrangian Hessian evaluations = 65 Total seconds in IPOPT = 0.894 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) 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 2.6054879e+00 1.49e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4849879e+00 1.68e-01 1.08e+00 -1.1 2.26e+00 -2.0 9.58e-01 1.00e+00h 1 2 2.3188986e+00 1.48e-01 3.67e-01 -1.5 2.12e+00 -2.5 9.51e-01 7.18e-01h 1 3 2.1818990e+00 2.35e-02 1.05e-01 -2.1 8.60e-01 -3.0 9.67e-01 1.00e+00h 1 4 2.0976922e+00 6.22e-03 2.45e-02 -3.1 7.15e-01 -3.4 9.98e-01 9.86e-01h 1 5 2.0909669e+00 2.90e-04 3.43e-03 -4.0 1.98e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908586e+00 7.55e-06 1.18e-04 -4.0 4.58e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907709e+00 3.73e-07 8.12e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0905490e+00 3.52e-06 1.12e-03 -4.0 3.34e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0899104e+00 2.18e-05 6.20e-03 -4.0 8.84e+00 -5.8 1.00e+00 8.64e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0889155e+00 8.02e-05 4.92e-02 -4.0 2.98e+01 -6.3 1.00e+00 5.00e-01f 2 11 2.0884314e+00 1.50e-05 3.02e-03 -4.0 2.07e+00 -5.0 1.00e+00 8.96e-01h 1 12 2.0882105e+00 3.40e-06 2.67e-03 -4.0 4.43e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0871628e+00 4.85e-05 7.56e-03 -4.0 1.30e+01 -5.9 1.00e+00 8.47e-01h 1 14 2.0853440e+00 2.94e-04 1.70e-02 -4.0 2.90e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0838122e+00 3.02e-04 5.82e-02 -4.0 4.59e+01 -6.9 1.00e+00 4.59e-01h 1 16 2.0826159e+00 8.22e-05 1.35e-02 -4.0 6.90e+01 -7.4 1.00e+00 7.07e-01h 1 17 2.0824143e+00 7.74e-04 2.50e-02 -4.0 1.40e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.3284119e+00 1.11e-03 4.32e+00 -4.0 4.58e+02 -7.4 3.75e-02 1.00e+00H 1 19 2.0857667e+00 3.28e-05 3.83e-01 -4.1 1.06e-01 0.4 1.00e+00 9.70e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0860165e+00 3.26e-05 3.15e+00 -4.0 8.08e-02 -0.0 1.00e+00 7.81e-03f 8 21 2.0860268e+00 1.90e-08 1.40e-03 -4.0 4.54e-03 -0.5 1.00e+00 1.00e+00h 1 22 2.0858574e+00 2.09e-08 1.35e-03 -4.0 1.31e-02 -1.0 1.00e+00 1.00e+00h 1 23 2.0857834e+00 9.91e-08 1.19e-03 -4.0 3.49e-02 -1.5 1.00e+00 1.00e+00h 1 24 2.0856646e+00 4.05e-07 7.26e-04 -4.0 6.37e-02 -1.9 1.00e+00 1.00e+00h 1 25 2.0856543e+00 6.45e-08 5.16e-05 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0856542926650885e+00 2.0856542926650885e+00 Dual infeasibility......: 5.1593028243350318e-05 5.1593028243350318e-05 Constraint violation....: 6.4495177422643768e-08 6.4495177422643768e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999956474e-05 9.9999999999956474e-05 Overall NLP error.......: 5.1593028243350318e-05 5.1593028243350318e-05 Number of objective function evaluations = 39 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 39 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.327 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.514s jacobian structure: 1600 nonzeros (2.571s) integrator 1 hessian structure: 0.042s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.446s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.489s) linear index maps built (0.0s) evaluator ready (total: 6.061s) evaluator created (6.086s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.087s) 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 2.5776911e+00 2.13e+00 7.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2901146e+00 5.43e-01 1.40e+00 -1.0 1.86e+00 0.0 9.33e-01 7.46e-01h 1 Hello, world! 2 2.3952647e+00 2.30e-01 1.53e+00 -1.1 7.70e-01 -0.5 9.17e-01 5.66e-01h 1 Hello, world! 3 2.3557255e+00 6.69e-02 3.34e-01 -1.4 2.54e-01 -0.1 1.00e+00 7.02e-01h 1 Hello, world! 4 2.2978556e+00 4.29e-02 8.69e-01 -1.5 3.26e-01 -0.5 9.30e-01 3.58e-01h 1 Hello, world! 5 2.1472671e+00 1.58e-02 2.73e-01 -2.2 1.29e-01 -1.0 9.99e-01 6.38e-01h 1 Hello, world! 6 2.0990726e+00 2.84e-03 8.97e-02 -3.3 1.01e-01 -1.5 1.00e+00 8.13e-01h 1 Hello, world! 7 2.0908892e+00 2.68e-05 1.35e-02 -4.0 1.17e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908362e+00 1.25e-07 1.84e-04 -4.0 4.55e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908350e+00 3.91e-09 1.66e-05 -4.0 1.36e-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 2.0908318e+00 4.95e-10 1.65e-05 -4.0 4.05e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908224e+00 4.20e-09 1.61e-05 -4.0 1.19e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0907964e+00 3.31e-08 4.80e-05 -4.0 3.38e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907245e+00 3.05e-07 1.99e-04 -4.0 9.50e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905091e+00 2.78e-06 3.28e-04 -4.0 2.78e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904218e+00 4.46e-07 3.18e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0902574e+00 1.33e-06 8.52e-03 -4.0 4.07e+00 -5.4 1.00e+00 4.10e-01h 2 Hello, world! 17 2.0893420e+00 3.51e-05 3.42e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.48e-01h 1 Hello, world! 18 2.0876493e+00 3.02e-04 3.38e-02 -4.0 2.92e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0864038e+00 2.68e-04 1.33e-01 -4.0 3.29e+01 -5.9 1.00e+00 2.63e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848979e+00 2.18e-04 2.38e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827780e+00 2.05e-04 2.68e-02 -4.0 3.64e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831159e+00 1.17e-03 3.49e-02 -4.0 5.54e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821853e+00 1.15e-03 7.72e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0922452e+00 1.05e-05 4.88e-01 -4.0 4.42e+02 -8.3 1.28e-01 1.00e+00H 1 Hello, world! 25 2.0835407e+00 5.47e-03 3.38e+00 -4.2 2.53e+01 -5.1 6.07e-02 3.13e-01f 1 Hello, world! 26 2.0827464e+00 7.11e-03 3.38e+00 -4.2 1.60e+03 -5.6 7.69e-06 1.24e-03f 1 Hello, world! 27 2.0827807e+00 7.17e-03 3.40e+00 -4.2 1.86e+04 -6.1 1.25e-07 4.04e-05f 2 Hello, world! 28 2.0828089e+00 6.45e-03 3.98e+00 -4.2 4.99e-01 -2.9 1.00e+00 9.95e-02h 1 Hello, world! 29 2.0828859e+00 1.13e-06 8.52e-04 -4.2 3.91e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831138e+00 2.18e-06 1.23e-04 -4.0 5.70e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0829275e+00 5.05e-06 2.82e-05 -4.1 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821832e+00 9.62e-05 7.67e-03 -6.1 9.73e-01 -4.9 9.27e-01 1.00e+00h 1 Hello, world! 33 2.0830087e+00 2.22e-04 2.27e-03 -4.0 1.59e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825020e+00 1.68e-04 8.71e-04 -4.1 3.70e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822736e+00 2.35e-05 1.77e-03 -4.1 8.68e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0823549e+00 4.67e-04 1.84e-03 -4.0 2.07e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818348e+00 8.28e-04 7.30e-03 -4.1 4.55e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0817954e+00 2.24e-03 5.97e-03 -4.0 1.06e+02 -7.7 6.68e-01 1.00e+00h 1 Hello, world! 39 2.0912857e+00 1.85e-03 2.32e-01 -4.0 1.04e+05 -7.3 4.42e-05 8.33e-04h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0903810e+00 1.85e-03 1.27e+00 -4.1 2.02e+01 -3.3 6.27e-03 2.59e-03h 1 Hello, world! 41 2.0863359e+00 1.50e-03 2.09e+00 -4.1 6.43e-01 -1.9 2.76e-01 1.86e-01f 1 Hello, world! 42 2.0824032e+00 3.53e-04 8.24e-02 -4.1 6.09e-02 -2.4 8.95e-01 7.63e-01f 1 Hello, world! 43 2.0818024e+00 1.28e-04 9.21e-01 -4.1 2.17e-01 -2.9 3.60e-01 6.42e-01f 1 Hello, world! 44 2.0818166e+00 7.97e-05 5.29e-01 -4.0 1.31e-01 -3.4 1.00e+00 3.90e-01f 1 Hello, world! 45 2.0818270e+00 8.67e-06 9.33e-04 -4.0 5.87e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818332e+00 6.70e-07 9.12e-06 -4.0 1.68e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818569e+00 7.16e-07 4.59e-05 -4.0 4.42e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0817466e+00 7.89e-06 3.11e-04 -4.1 5.51e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819568e+00 4.59e-05 2.76e-04 -4.0 2.22e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817908e+00 7.08e-05 5.90e-04 -4.1 3.91e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817908348322769e+00 2.0817908348322769e+00 Dual infeasibility......: 5.9023105276782503e-04 5.9023105276782503e-04 Constraint violation....: 7.0837624735808902e-05 7.0837624735808902e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0988420119279037e-05 8.0988420119279037e-05 Overall NLP error.......: 5.9023105276782503e-04 5.9023105276782503e-04 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 28.060 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5776911e+00 2.13e+00 7.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2901146e+00 5.43e-01 1.40e+00 -1.0 1.86e+00 0.0 9.33e-01 7.46e-01h 1 Hello, world! 2 2.3952647e+00 2.30e-01 1.53e+00 -1.1 7.70e-01 -0.5 9.17e-01 5.66e-01h 1 Hello, world! 3 2.3557255e+00 6.69e-02 3.34e-01 -1.4 2.54e-01 -0.1 1.00e+00 7.02e-01h 1 Hello, world! 4 2.2978556e+00 4.29e-02 8.69e-01 -1.5 3.26e-01 -0.5 9.30e-01 3.58e-01h 1 Hello, world! 5 2.1472671e+00 1.58e-02 2.73e-01 -2.2 1.29e-01 -1.0 9.99e-01 6.38e-01h 1 Hello, world! 6 2.0990726e+00 2.84e-03 8.97e-02 -3.3 1.01e-01 -1.5 1.00e+00 8.13e-01h 1 Hello, world! 7 2.0908892e+00 2.68e-05 1.35e-02 -4.0 1.17e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908362e+00 1.25e-07 1.84e-04 -4.0 4.55e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908350e+00 3.91e-09 1.66e-05 -4.0 1.36e-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 2.0908318e+00 4.95e-10 1.65e-05 -4.0 4.05e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908224e+00 4.20e-09 1.61e-05 -4.0 1.19e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0907964e+00 3.31e-08 4.80e-05 -4.0 3.38e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907245e+00 3.05e-07 1.99e-04 -4.0 9.50e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905091e+00 2.78e-06 3.28e-04 -4.0 2.78e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904218e+00 4.46e-07 3.18e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0902574e+00 1.33e-06 8.52e-03 -4.0 4.07e+00 -5.4 1.00e+00 4.10e-01h 2 Hello, world! 17 2.0893420e+00 3.51e-05 3.42e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.48e-01h 1 Hello, world! 18 2.0876493e+00 3.02e-04 3.38e-02 -4.0 2.92e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0864038e+00 2.68e-04 1.33e-01 -4.0 3.29e+01 -5.9 1.00e+00 2.63e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848979e+00 2.18e-04 2.38e-02 -4.0 2.45e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0827780e+00 2.05e-04 2.68e-02 -4.0 3.64e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0831159e+00 1.17e-03 3.49e-02 -4.0 5.54e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0821853e+00 1.15e-03 7.72e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0922452e+00 1.05e-05 4.88e-01 -4.0 4.42e+02 -8.3 1.28e-01 1.00e+00H 1 Hello, world! 25 2.0835407e+00 5.47e-03 3.38e+00 -4.2 2.53e+01 -5.1 6.07e-02 3.13e-01f 1 Hello, world! 26 2.0827464e+00 7.11e-03 3.38e+00 -4.2 1.60e+03 -5.6 7.69e-06 1.24e-03f 1 Hello, world! 27 2.0827807e+00 7.17e-03 3.40e+00 -4.2 1.86e+04 -6.1 1.25e-07 4.04e-05f 2 Hello, world! 28 2.0828089e+00 6.45e-03 3.98e+00 -4.2 4.99e-01 -2.9 1.00e+00 9.95e-02h 1 Hello, world! 29 2.0828859e+00 1.13e-06 8.52e-04 -4.2 3.91e-02 -3.4 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0831138e+00 2.18e-06 1.23e-04 -4.0 5.70e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0829275e+00 5.05e-06 2.82e-05 -4.1 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821832e+00 9.62e-05 7.67e-03 -6.1 9.73e-01 -4.9 9.27e-01 1.00e+00h 1 Hello, world! 33 2.0830087e+00 2.22e-04 2.27e-03 -4.0 1.59e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825020e+00 1.68e-04 8.71e-04 -4.1 3.70e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822736e+00 2.35e-05 1.77e-03 -4.1 8.68e+00 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0823549e+00 4.67e-04 1.84e-03 -4.0 2.07e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818348e+00 8.28e-04 7.30e-03 -4.1 4.55e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0817954e+00 2.24e-03 5.97e-03 -4.0 1.06e+02 -7.7 6.68e-01 1.00e+00h 1 Hello, world! 39 2.0912857e+00 1.85e-03 2.32e-01 -4.0 1.04e+05 -7.3 4.42e-05 8.33e-04h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0903810e+00 1.85e-03 1.27e+00 -4.1 2.02e+01 -3.3 6.27e-03 2.59e-03h 1 Hello, world! 41 2.0863359e+00 1.50e-03 2.09e+00 -4.1 6.43e-01 -1.9 2.76e-01 1.86e-01f 1 Hello, world! 42 2.0824032e+00 3.53e-04 8.24e-02 -4.1 6.09e-02 -2.4 8.95e-01 7.63e-01f 1 Hello, world! 43 2.0818024e+00 1.28e-04 9.21e-01 -4.1 2.17e-01 -2.9 3.60e-01 6.42e-01f 1 Hello, world! 44 2.0818166e+00 7.97e-05 5.29e-01 -4.0 1.31e-01 -3.4 1.00e+00 3.90e-01f 1 Hello, world! 45 2.0818270e+00 8.67e-06 9.33e-04 -4.0 5.87e-02 -3.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818332e+00 6.70e-07 9.12e-06 -4.0 1.68e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818569e+00 7.16e-07 4.59e-05 -4.0 4.42e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0817466e+00 7.89e-06 3.11e-04 -4.1 5.51e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819568e+00 4.59e-05 2.76e-04 -4.0 2.22e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817908e+00 7.08e-05 5.90e-04 -4.1 3.91e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0817908348322769e+00 2.0817908348322769e+00 Dual infeasibility......: 5.9023105276782503e-04 5.9023105276782503e-04 Constraint violation....: 7.0837624735808902e-05 7.0837624735808902e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0988420119279037e-05 8.0988420119279037e-05 Overall NLP error.......: 5.9023105276782503e-04 5.9023105276782503e-04 Number of objective function evaluations = 59 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.657 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.845s jacobian structure: 1600 nonzeros (2.908s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.964s 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 (4.015s) linear index maps built (0.0s) evaluator ready (total: 6.924s) evaluator created (6.951s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.952s) 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 2.2946198e+00 3.30e+00 9.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6813413e+00 8.02e-02 2.11e+00 -1.1 1.95e+00 0.0 4.95e-01 9.77e-01h 1 2 2.6415944e+00 4.18e-02 1.21e+00 -0.8 1.21e+00 -0.5 9.99e-01 4.30e-01f 1 3 2.5217378e+00 7.61e-03 3.64e-01 -1.1 2.32e-01 -0.1 9.66e-01 1.00e+00f 1 4 2.3103525e+00 7.21e-03 1.86e-01 -1.8 9.77e-02 -0.5 9.35e-01 1.00e+00h 1 5 2.1455098e+00 1.80e-03 7.48e-02 -2.6 6.06e-02 -1.0 9.77e-01 7.90e-01h 1 6 2.0920773e+00 1.85e-04 1.75e-02 -3.9 2.70e-02 -1.5 1.00e+00 9.78e-01h 1 7 2.0908686e+00 9.67e-07 9.18e-04 -4.0 3.06e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908782e+00 2.76e-08 1.76e-05 -4.0 4.80e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908768e+00 6.63e-11 1.75e-05 -4.0 1.43e-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 2.0908729e+00 6.69e-10 1.73e-05 -4.0 4.25e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908622e+00 5.49e-09 1.67e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908343e+00 4.05e-08 5.71e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907615e+00 2.90e-07 2.56e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905485e+00 2.81e-06 3.05e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904610e+00 4.09e-07 3.21e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902978e+00 1.26e-06 7.99e-03 -4.0 4.02e+00 -5.4 1.00e+00 4.16e-01h 2 17 2.0894124e+00 3.25e-05 4.41e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.17e-01h 1 18 2.0877223e+00 3.04e-04 3.46e-02 -4.0 2.94e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864520e+00 2.84e-04 1.73e-01 -4.0 4.19e+01 -5.9 1.00e+00 2.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849223e+00 2.37e-04 2.52e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828097e+00 2.16e-04 2.71e-02 -4.0 3.66e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830663e+00 1.00e-03 3.09e-02 -4.0 5.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821623e+00 1.33e-03 8.33e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1017927e+00 6.50e-06 8.29e-01 -4.0 5.02e+02 -8.3 1.04e-01 1.00e+00H 1 25 2.0844767e+00 2.07e-03 6.56e+00 -4.2 6.19e+00 -4.2 2.87e-02 2.64e-01f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0844766833497466e+00 2.0844766833497466e+00 Dual infeasibility......: 6.5551016557776016e+00 6.5551016557776016e+00 Constraint violation....: 2.0668274463666592e-03 2.0668274463666592e-03 Variable bound violation: 1.5170738432851438e-09 1.5170738432851438e-09 Complementarity.........: 1.3978959284393480e-04 1.3978959284393480e-04 Overall NLP error.......: 6.5551016557776016e+00 6.5551016557776016e+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 = 27.410 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: 0.003s) 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 2.2946198e+00 3.30e+00 9.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6813413e+00 8.02e-02 2.11e+00 -1.1 1.95e+00 0.0 4.95e-01 9.77e-01h 1 2 2.6415944e+00 4.18e-02 1.21e+00 -0.8 1.21e+00 -0.5 9.99e-01 4.30e-01f 1 3 2.5217378e+00 7.61e-03 3.64e-01 -1.1 2.32e-01 -0.1 9.66e-01 1.00e+00f 1 4 2.3103525e+00 7.21e-03 1.86e-01 -1.8 9.77e-02 -0.5 9.35e-01 1.00e+00h 1 5 2.1455098e+00 1.80e-03 7.48e-02 -2.6 6.06e-02 -1.0 9.77e-01 7.90e-01h 1 6 2.0920773e+00 1.85e-04 1.75e-02 -3.9 2.70e-02 -1.5 1.00e+00 9.78e-01h 1 7 2.0908686e+00 9.67e-07 9.18e-04 -4.0 3.06e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908782e+00 2.76e-08 1.76e-05 -4.0 4.80e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908768e+00 6.63e-11 1.75e-05 -4.0 1.43e-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 2.0908729e+00 6.69e-10 1.73e-05 -4.0 4.25e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908622e+00 5.49e-09 1.67e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908343e+00 4.05e-08 5.71e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907615e+00 2.90e-07 2.56e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905485e+00 2.81e-06 3.05e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904610e+00 4.09e-07 3.21e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902978e+00 1.26e-06 7.99e-03 -4.0 4.02e+00 -5.4 1.00e+00 4.16e-01h 2 17 2.0894124e+00 3.25e-05 4.41e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.17e-01h 1 18 2.0877223e+00 3.04e-04 3.46e-02 -4.0 2.94e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864520e+00 2.84e-04 1.73e-01 -4.0 4.19e+01 -5.9 1.00e+00 2.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849223e+00 2.37e-04 2.52e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828097e+00 2.16e-04 2.71e-02 -4.0 3.66e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830663e+00 1.00e-03 3.09e-02 -4.0 5.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821623e+00 1.33e-03 8.33e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1017927e+00 6.50e-06 8.29e-01 -4.0 5.02e+02 -8.3 1.04e-01 1.00e+00H 1 25 2.0844767e+00 2.07e-03 6.56e+00 -4.2 6.19e+00 -4.2 2.87e-02 2.64e-01f 1 26 2.0840369e+00 1.68e-03 5.37e+00 -4.2 7.91e-01 -2.9 1.00e+00 1.86e-01f 1 27 2.0827536e+00 1.10e-03 3.54e+00 -4.2 2.61e+00 -3.4 1.00e+00 3.59e-01f 1 28 2.0840145e+00 1.45e-05 6.65e-03 -4.0 3.56e-01 -3.9 1.00e+00 1.00e+00f 1 29 2.0832884e+00 3.76e-05 4.11e-03 -4.0 2.94e-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 2.0831553e+00 1.43e-05 1.55e-04 -4.0 4.14e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0830832e+00 2.01e-06 7.42e-05 -4.0 1.19e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0829498e+00 8.04e-06 3.71e-04 -4.0 3.24e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0827839e+00 1.82e-05 8.47e-04 -4.0 8.41e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825599e+00 4.06e-05 1.71e-03 -4.0 2.12e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0822097e+00 2.41e-04 7.18e-03 -4.0 4.94e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0818635e+00 7.27e-04 9.92e-03 -4.0 9.92e+01 -7.7 8.83e-01 1.00e+00h 1 37 2.0819368e+00 8.06e-04 1.70e-02 -4.0 1.94e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.0845397e+00 1.12e-02 7.04e-03 -3.4 6.16e+01 -6.8 8.81e-01 1.00e+00h 1 39 2.1135899e+00 8.46e-03 4.00e-01 -3.6 2.63e+02 -6.4 1.33e-02 8.61e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0895463e+00 1.36e-03 5.11e-01 -3.6 2.29e+01 -6.9 7.16e-03 1.00e+00f 1 41 2.0837708e+00 2.95e-04 4.65e-01 -3.6 1.99e-01 -1.0 1.00e+00 7.84e-01h 1 42 2.0857420e+00 1.47e-04 1.01e+00 -3.6 1.53e-01 -1.5 1.00e+00 5.00e-01f 2 43 2.0846635e+00 1.45e-05 5.46e-03 -3.6 1.76e-01 -2.0 1.00e+00 1.00e+00h 1 44 2.0840086e+00 3.98e-07 1.03e-03 -3.6 3.70e-02 -2.5 1.00e+00 1.00e+00h 1 45 2.0829194e+00 6.78e-06 2.43e-03 -4.0 6.11e-02 -2.9 1.00e+00 1.00e+00h 1 46 2.0827004e+00 7.33e-07 6.39e-05 -4.0 1.70e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0827019e+00 7.09e-08 6.58e-06 -4.0 5.06e-02 -3.9 1.00e+00 1.00e+00h 1 48 2.0826951e+00 8.53e-09 6.54e-06 -4.0 1.51e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0826752e+00 7.82e-08 6.44e-06 -4.0 4.46e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0826190e+00 6.55e-07 4.21e-05 -4.0 1.28e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0824776e+00 4.76e-06 2.99e-04 -4.0 3.32e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0822289e+00 2.27e-05 1.29e-03 -4.0 6.63e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0820260e+00 5.57e-05 1.71e-03 -4.0 1.93e+01 -6.7 1.00e+00 1.00e+00h 1 54 2.0820329e+00 2.03e-04 1.30e-03 -4.0 1.07e+01 -6.3 1.00e+00 1.00e+00h 1 55 2.0822026e+00 4.00e-07 3.41e-02 -4.1 2.19e+01 -6.8 5.09e-01 1.00e+00H 1 56 2.0820280e+00 1.65e-07 3.84e-03 -4.0 3.21e-02 -1.0 1.00e+00 1.00e+00h 1 57 2.0819184e+00 3.14e-08 1.65e-03 -4.0 4.16e-02 -1.4 1.00e+00 1.00e+00h 1 58 2.0818947e+00 8.30e-09 2.71e-04 -4.0 2.01e-02 -1.9 1.00e+00 1.00e+00h 1 59 2.0819012e+00 6.92e-09 1.51e-05 -4.0 3.73e-03 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819023e+00 2.28e-09 6.16e-06 -4.0 4.50e-03 -2.9 1.00e+00 1.00e+00h 1 61 2.0819019e+00 9.59e-10 6.18e-06 -4.0 1.35e-02 -3.3 1.00e+00 1.00e+00h 1 62 2.0819004e+00 6.31e-09 6.21e-06 -4.0 4.09e-02 -3.8 1.00e+00 1.00e+00h 1 63 2.0818959e+00 5.86e-08 6.33e-06 -4.0 1.25e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0817376e+00 7.46e-06 6.27e-05 -4.1 3.35e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0818340e+00 2.76e-05 1.81e-04 -4.0 1.40e+00 -5.2 1.00e+00 1.00e+00h 1 66 2.0819786e+00 1.52e-06 2.19e-01 -4.1 8.18e+00 -5.7 4.70e-01 1.00e+00H 1 67 2.0815666e+00 8.82e-07 1.78e-03 -4.1 4.20e-02 -1.7 1.00e+00 1.00e+00h 1 68 2.0816390e+00 4.40e-07 1.81e-03 -4.0 3.19e-02 -1.3 1.00e+00 1.00e+00h 1 69 2.0816202e+00 6.84e-08 3.12e-04 -4.0 1.57e-02 -1.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816221e+00 5.35e-08 4.59e-05 -4.0 1.49e-02 -2.2 1.00e+00 1.00e+00h 1 71 2.0815352e+00 1.17e-07 1.06e-04 -4.1 6.01e-03 -2.7 1.00e+00 1.00e+00h 1 72 2.0816355e+00 5.73e-07 1.05e-04 -4.0 3.59e-02 -3.2 1.00e+00 1.00e+00h 1 73 2.0815418e+00 1.18e-06 1.32e-04 -4.1 5.29e-02 -3.6 1.00e+00 1.00e+00h 1 74 2.0810882e+00 1.32e-05 1.10e-01 -6.1 1.52e-01 -4.1 7.05e-01 1.00e+00h 1 75 2.0810075e+00 1.28e-05 7.95e-01 -4.3 3.54e+01 -3.7 1.24e-02 2.54e-03h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0810075423021224e+00 2.0810075423021224e+00 Dual infeasibility......: 7.9486606239298985e-01 7.9486606239298985e-01 Constraint violation....: 1.2791775225784452e-05 1.2791775225784452e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.4859847154807090e-05 2.4859847154807090e-05 Overall NLP error.......: 7.9486606239298985e-01 7.9486606239298985e-01 Number of objective function evaluations = 83 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 83 Number of inequality constraint evaluations = 83 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 0.953 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2946198e+00 3.30e+00 9.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6813413e+00 8.02e-02 2.11e+00 -1.1 1.95e+00 0.0 4.95e-01 9.77e-01h 1 2 2.6415944e+00 4.18e-02 1.21e+00 -0.8 1.21e+00 -0.5 9.99e-01 4.30e-01f 1 3 2.5217378e+00 7.61e-03 3.64e-01 -1.1 2.32e-01 -0.1 9.66e-01 1.00e+00f 1 4 2.3103525e+00 7.21e-03 1.86e-01 -1.8 9.77e-02 -0.5 9.35e-01 1.00e+00h 1 5 2.1455098e+00 1.80e-03 7.48e-02 -2.6 6.06e-02 -1.0 9.77e-01 7.90e-01h 1 6 2.0920773e+00 1.85e-04 1.75e-02 -3.9 2.70e-02 -1.5 1.00e+00 9.78e-01h 1 7 2.0908686e+00 9.67e-07 9.18e-04 -4.0 3.06e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908782e+00 2.76e-08 1.76e-05 -4.0 4.80e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908768e+00 6.63e-11 1.75e-05 -4.0 1.43e-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 2.0908729e+00 6.69e-10 1.73e-05 -4.0 4.25e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908622e+00 5.49e-09 1.67e-05 -4.0 1.24e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908343e+00 4.05e-08 5.71e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907615e+00 2.90e-07 2.56e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905485e+00 2.81e-06 3.05e-04 -4.0 2.84e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904610e+00 4.09e-07 3.21e-04 -4.0 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902978e+00 1.26e-06 7.99e-03 -4.0 4.02e+00 -5.4 1.00e+00 4.16e-01h 2 17 2.0894124e+00 3.25e-05 4.41e-03 -4.0 1.07e+01 -5.8 1.00e+00 9.17e-01h 1 18 2.0877223e+00 3.04e-04 3.46e-02 -4.0 2.94e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0864520e+00 2.84e-04 1.73e-01 -4.0 4.19e+01 -5.9 1.00e+00 2.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0849223e+00 2.37e-04 2.52e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0828097e+00 2.16e-04 2.71e-02 -4.0 3.66e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0830663e+00 1.00e-03 3.09e-02 -4.0 5.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0821623e+00 1.33e-03 8.33e-03 -4.1 1.33e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1017927e+00 6.50e-06 8.29e-01 -4.0 5.02e+02 -8.3 1.04e-01 1.00e+00H 1 25 2.0844767e+00 2.07e-03 6.56e+00 -4.2 6.19e+00 -4.2 2.87e-02 2.64e-01f 1 26 2.0840369e+00 1.68e-03 5.37e+00 -4.2 7.91e-01 -2.9 1.00e+00 1.86e-01f 1 27 2.0827536e+00 1.10e-03 3.54e+00 -4.2 2.61e+00 -3.4 1.00e+00 3.59e-01f 1 28 2.0840145e+00 1.45e-05 6.65e-03 -4.0 3.56e-01 -3.9 1.00e+00 1.00e+00f 1 29 2.0832884e+00 3.76e-05 4.11e-03 -4.0 2.94e-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 2.0831553e+00 1.43e-05 1.55e-04 -4.0 4.14e-01 -4.8 1.00e+00 1.00e+00h 1 31 2.0830832e+00 2.01e-06 7.42e-05 -4.0 1.19e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0829498e+00 8.04e-06 3.71e-04 -4.0 3.24e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0827839e+00 1.82e-05 8.47e-04 -4.0 8.41e+00 -6.2 1.00e+00 1.00e+00h 1 34 2.0825599e+00 4.06e-05 1.71e-03 -4.0 2.12e+01 -6.7 1.00e+00 1.00e+00h 1 35 2.0822097e+00 2.41e-04 7.18e-03 -4.0 4.94e+01 -7.2 1.00e+00 1.00e+00h 1 36 2.0818635e+00 7.27e-04 9.92e-03 -4.0 9.92e+01 -7.7 8.83e-01 1.00e+00h 1 37 2.0819368e+00 8.06e-04 1.70e-02 -4.0 1.94e+01 -6.3 1.00e+00 1.00e+00h 1 38 2.0845397e+00 1.12e-02 7.04e-03 -3.4 6.16e+01 -6.8 8.81e-01 1.00e+00h 1 39 2.1135899e+00 8.46e-03 4.00e-01 -3.6 2.63e+02 -6.4 1.33e-02 8.61e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0895463e+00 1.36e-03 5.11e-01 -3.6 2.29e+01 -6.9 7.16e-03 1.00e+00f 1 41 2.0837708e+00 2.95e-04 4.65e-01 -3.6 1.99e-01 -1.0 1.00e+00 7.84e-01h 1 42 2.0857420e+00 1.47e-04 1.01e+00 -3.6 1.53e-01 -1.5 1.00e+00 5.00e-01f 2 43 2.0846635e+00 1.45e-05 5.46e-03 -3.6 1.76e-01 -2.0 1.00e+00 1.00e+00h 1 44 2.0840086e+00 3.98e-07 1.03e-03 -3.6 3.70e-02 -2.5 1.00e+00 1.00e+00h 1 45 2.0829194e+00 6.78e-06 2.43e-03 -4.0 6.11e-02 -2.9 1.00e+00 1.00e+00h 1 46 2.0827004e+00 7.33e-07 6.39e-05 -4.0 1.70e-02 -3.4 1.00e+00 1.00e+00h 1 47 2.0827019e+00 7.09e-08 6.58e-06 -4.0 5.06e-02 -3.9 1.00e+00 1.00e+00h 1 48 2.0826951e+00 8.53e-09 6.54e-06 -4.0 1.51e-01 -4.4 1.00e+00 1.00e+00h 1 49 2.0826752e+00 7.82e-08 6.44e-06 -4.0 4.46e-01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0826190e+00 6.55e-07 4.21e-05 -4.0 1.28e+00 -5.3 1.00e+00 1.00e+00h 1 51 2.0824776e+00 4.76e-06 2.99e-04 -4.0 3.32e+00 -5.8 1.00e+00 1.00e+00h 1 52 2.0822289e+00 2.27e-05 1.29e-03 -4.0 6.63e+00 -6.3 1.00e+00 1.00e+00h 1 53 2.0820260e+00 5.57e-05 1.71e-03 -4.0 1.93e+01 -6.7 1.00e+00 1.00e+00h 1 54 2.0820329e+00 2.03e-04 1.30e-03 -4.0 1.07e+01 -6.3 1.00e+00 1.00e+00h 1 55 2.0822026e+00 4.00e-07 3.41e-02 -4.1 2.19e+01 -6.8 5.09e-01 1.00e+00H 1 56 2.0820280e+00 1.65e-07 3.84e-03 -4.0 3.21e-02 -1.0 1.00e+00 1.00e+00h 1 57 2.0819184e+00 3.14e-08 1.65e-03 -4.0 4.16e-02 -1.4 1.00e+00 1.00e+00h 1 58 2.0818947e+00 8.30e-09 2.71e-04 -4.0 2.01e-02 -1.9 1.00e+00 1.00e+00h 1 59 2.0819012e+00 6.92e-09 1.51e-05 -4.0 3.73e-03 -2.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819023e+00 2.28e-09 6.16e-06 -4.0 4.50e-03 -2.9 1.00e+00 1.00e+00h 1 61 2.0819019e+00 9.59e-10 6.18e-06 -4.0 1.35e-02 -3.3 1.00e+00 1.00e+00h 1 62 2.0819004e+00 6.31e-09 6.21e-06 -4.0 4.09e-02 -3.8 1.00e+00 1.00e+00h 1 63 2.0818959e+00 5.86e-08 6.33e-06 -4.0 1.25e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0817376e+00 7.46e-06 6.27e-05 -4.1 3.35e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0818340e+00 2.76e-05 1.81e-04 -4.0 1.40e+00 -5.2 1.00e+00 1.00e+00h 1 66 2.0819786e+00 1.52e-06 2.19e-01 -4.1 8.18e+00 -5.7 4.70e-01 1.00e+00H 1 67 2.0815666e+00 8.82e-07 1.78e-03 -4.1 4.20e-02 -1.7 1.00e+00 1.00e+00h 1 68 2.0816390e+00 4.40e-07 1.81e-03 -4.0 3.19e-02 -1.3 1.00e+00 1.00e+00h 1 69 2.0816202e+00 6.84e-08 3.12e-04 -4.0 1.57e-02 -1.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816221e+00 5.35e-08 4.59e-05 -4.0 1.49e-02 -2.2 1.00e+00 1.00e+00h 1 71 2.0815352e+00 1.17e-07 1.06e-04 -4.1 6.01e-03 -2.7 1.00e+00 1.00e+00h 1 72 2.0816355e+00 5.73e-07 1.05e-04 -4.0 3.59e-02 -3.2 1.00e+00 1.00e+00h 1 73 2.0815418e+00 1.18e-06 1.32e-04 -4.1 5.29e-02 -3.6 1.00e+00 1.00e+00h 1 74 2.0810882e+00 1.32e-05 1.10e-01 -6.1 1.52e-01 -4.1 7.05e-01 1.00e+00h 1 75 2.0810075e+00 1.28e-05 7.95e-01 -4.3 3.54e+01 -3.7 1.24e-02 2.54e-03h 1 76 2.0817874e+00 9.19e-06 3.64e-03 -4.0 7.57e-02 -4.2 1.00e+00 1.00e+00f 1 77 2.0814890e+00 3.80e-05 4.15e-04 -4.1 4.63e-01 -4.7 1.00e+00 1.00e+00h 1 78 2.0811001e+00 4.56e-05 1.97e-02 -6.1 1.42e+00 -5.1 7.06e-01 6.44e-01h 1 79 2.0808114e+00 8.42e-05 5.70e-02 -6.1 3.42e+00 -5.6 1.00e+00 7.62e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0806984e+00 5.63e-05 4.08e-02 -5.4 5.95e+00 -6.1 1.00e+00 3.91e-01h 1 81 2.0830708e+00 2.15e-03 1.31e-01 -4.0 1.68e+01 -6.6 3.07e-01 1.00e+00f 1 82 2.0819567e+00 6.70e-04 1.69e-01 -4.4 1.27e-01 -1.6 5.76e-01 6.89e-01h 1 83 2.0817154e+00 2.16e-04 1.09e-01 -4.4 1.68e-01 -2.1 1.00e+00 6.78e-01f 1 84 2.0818666e+00 2.89e-06 4.91e-04 -4.4 1.26e-01 -2.6 1.00e+00 1.00e+00f 1 85 2.0817321e+00 8.26e-07 8.79e-05 -4.4 7.54e-02 -3.1 1.00e+00 1.00e+00h 1 86 2.0813512e+00 1.96e-06 4.47e-03 -6.6 3.99e-02 -3.5 9.25e-01 1.00e+00h 1 87 2.0823637e+00 9.78e-06 1.54e-03 -4.0 7.74e-02 -4.0 1.00e+00 1.00e+00f 1 88 2.0820593e+00 6.07e-06 1.32e-04 -4.1 2.25e-01 -4.5 1.00e+00 1.00e+00h 1 89 2.0813353e+00 1.09e-04 1.29e-02 -6.1 1.09e+00 -5.0 9.37e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0811196e+00 2.10e-05 3.75e-04 -6.1 3.03e+00 -5.4 1.00e+00 1.00e+00h 1 91 2.0807238e+00 2.12e-07 5.30e-03 -6.1 8.45e+00 -5.9 6.98e-01 1.00e+00h 1 92 2.0806658e+00 2.52e-06 3.08e+00 -4.0 6.06e+02 -6.4 2.29e-01 5.82e-03f 1 93 2.0830597e+00 1.07e-03 2.74e+00 -4.0 1.84e+02 -6.9 1.13e-01 9.99e-02f 2 94 2.0808404e+00 1.70e-03 1.97e+00 -4.5 6.83e+01 -7.3 2.81e-01 2.17e-01h 1 95 2.0809859e+00 5.34e-04 1.81e-02 -4.5 2.16e+01 -7.8 1.00e+00 1.00e+00h 1 96 2.0810988e+00 1.06e-04 8.73e-03 -4.5 1.61e+01 -8.3 1.00e+00 7.87e-01h 1 97 2.0809590e+00 4.58e-05 2.58e-03 -4.5 1.09e+01 -8.8 1.00e+00 1.00e+00f 1 98 2.0809261e+00 6.96e-06 4.03e-02 -4.5 3.70e-01 -3.8 9.15e-01 8.55e-01h 1 99 2.0809258e+00 3.18e-07 5.60e-04 -4.5 1.41e-01 -4.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0812106e+00 3.87e-05 1.69e-01 -4.0 1.95e+00 -4.8 7.84e-01 4.86e-01h 2 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0812106345762804e+00 2.0812106345762804e+00 Dual infeasibility......: 1.6940249304612384e-01 1.6940249304612384e-01 Constraint violation....: 3.8671709299553658e-05 3.8671709299553658e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.7319309941092033e-05 8.7319309941092033e-05 Overall NLP error.......: 1.6940249304612384e-01 1.6940249304612384e-01 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.296 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.725s jacobian structure: 1600 nonzeros (2.785s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.907s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.955s) linear index maps built (0.0s) evaluator ready (total: 6.741s) evaluator created (6.766s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.767s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 2.5871939e+00 3.12e+00 9.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9781335e+00 1.04e+00 3.02e+00 -0.9 1.96e+00 0.0 9.59e-01 6.68e-01f 1 2 1.9360246e+00 5.84e-01 4.29e+00 -0.5 6.87e-01 0.4 6.51e-01 4.37e-01h 1 3 2.1442098e+00 1.63e-01 6.70e+00 -0.8 7.09e-01 -0.1 9.17e-01 7.22e-01h 1 4 2.4607280e+00 4.66e-02 5.33e+00 -4.0 6.35e-01 -0.5 3.65e-01 1.00e+00h 1 5 2.3472503e+00 2.00e-02 5.50e-01 -1.3 2.61e-01 -1.0 1.00e+00 6.10e-01f 1 6 2.1796541e+00 5.47e-02 2.62e-01 -1.9 6.48e-01 -1.5 9.21e-01 1.00e+00h 1 7 2.1213826e+00 3.70e-03 5.21e-02 -2.5 1.03e-01 -2.0 1.00e+00 9.36e-01h 1 8 2.0916152e+00 1.51e-04 5.08e-03 -4.0 3.27e-02 -2.4 1.00e+00 9.80e-01h 1 9 2.0909469e+00 3.78e-06 5.42e-04 -4.0 1.81e-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 2.0909434e+00 4.87e-08 2.16e-05 -4.0 5.32e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909433580130989e+00 2.0909433580130989e+00 Dual infeasibility......: 2.1639222718856443e-05 2.1639222718856443e-05 Constraint violation....: 4.8693304902092116e-08 4.8693304902092116e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000209038403417e-04 1.0000209038403417e-04 Overall NLP error.......: 2.1639222718856443e-05 2.1639222718856443e-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 = 27.946 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: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.802s jacobian structure: 1600 nonzeros (2.871s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.874s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.922s) linear index maps built (0.0s) evaluator ready (total: 6.794s) evaluator created (6.823s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.825s) 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: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.732s jacobian structure: 1600 nonzeros (2.793s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 5.691s 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 (5.739s) linear index maps built (0.0s) evaluator ready (total: 8.532s) evaluator created (8.561s) 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: 8.561s) 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.804s jacobian structure: 1600 nonzeros (2.862s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.949s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.999s) linear index maps built (0.0s) evaluator ready (total: 6.861s) evaluator created (6.887s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.888s) ====================================================================================== 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 31 running 1 of 1 signal (10): User defined signal 1 _ZNK4llvm5Value30getPointerDereferenceableBytesERKNS_10DataLayoutERbS4_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZL20getMinimalExtentFromRKN4llvm5ValueERKNS_12LocationSizeERKNS_10DataLayoutEb at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13BasicAAResult10aliasCheckEPKNS_5ValueENS_12LocationSizeES3_S4_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13BasicAAResult5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm9AAResults5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults30getSimplePointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults24getPointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults23getNonLocalInfoForBlockEPNS_11InstructionERKNS_14MemoryLocationEbPNS_10BasicBlockEPSt6vectorINS_16NonLocalDepEntryESaIS9_EEjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults27getNonLocalPointerDepFromBBEPNS_11InstructionERKNS_12PHITransAddrERKNS_14MemoryLocationEbPNS_10BasicBlockERNS_15SmallVectorImplINS_17NonLocalDepResultEEERNS_13SmallDenseMapISA_PNS_5ValueELj16ENS_12DenseMapInfoISA_vEENS_6detail12DenseMapPairISA_SH_EEEEbb at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults28getNonLocalPointerDependencyEPNS_11InstructionERNS_15SmallVectorImplINS_17NonLocalDepResultEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass19processNonLocalLoadEPNS_8LoadInstE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass18processInstructionEPNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass12processBlockEPNS_10BasicBlockE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass17iterateOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass7runImplERNS_8FunctionERNS_15AssumptionCacheERNS_13DominatorTreeERKNS_17TargetLibraryInfoERNS_9AAResultsEPNS_23MemoryDependenceResultsERNS_8LoopInfoEPNS_25OptimizationRemarkEmitterEPNS_9MemorySSAE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/src/pipeline.cpp:989:12 operator() at /source/src/jitlayers.cpp:1271:17 operator() at /source/src/jitlayers.cpp:1409:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2360:18 materialize at /source/src/jitlayers.cpp:876:31 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:361:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2059:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:511:39 jl_compile_method_very_internal at /source/src/gf.c:3908:27 _jl_invoke at /source/src/gf.c:4318:16 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 optimize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1510:0 (pc: 432) unknown function (ip: 0x7162fbc98112) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 #_solve#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:54:0 (pc: 105) _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:13:0 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:202:0 [inlined] solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:195:0 (pc: 9) unknown function (ip: 0x71628c5b6750) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:933:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:0 [inlined] cd at ./file.jl:113:0 (pc: 19) unknown function (ip: 0x7162f9dd7d86) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x7162f9dd794e) at (unknown file) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:0 (pc: 1498) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 _include at ./loading.jl:3192:0 (pc: 122) include at ./Base.jl:326:0 (pc: 1) IncludeInto at ./Base.jl:327:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:259:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:757:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:947:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 426) _start at ./client.jl:596:0 (pc: 295) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] true_main at /source/src/jlapi.c:985:29 jl_repl_entrypoint at /source/src/jlapi.c:1152:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x7163191f8249) 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:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] start_task at /source/src/task.c:1276:19 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 0x0000754438b6f1c0 Total snapshots: 477. Utilization: 0% ╎477 @Base/task.jl:1170 wait_forever() 476╎ 477 @Base/task.jl:1248 wait() This is MadNLP version v0.9.2, running with MUMPS v5.8.2 [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:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) Allocations: 21477866 (Pool: 21477122; Big: 744); GC: 19 [31] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/MadNLPSolverExt.jl:53 operator* at /source/usr/include/llvm/ADT/ilist_iterator.h:322:5 [inlined] operator* at /source/usr/include/llvm/ADT/STLExtras.h:628:12 [inlined] operator() at /source/src/jitlayers.cpp:1591:55 optimizeDLSyms at /source/src/jitlayers.cpp:2400:16 [inlined] materialize at /source/src/jitlayers.cpp:871:27 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:361:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2059:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:511:39 jl_compile_method_very_internal at /source/src/gf.c:3908:27 _jl_invoke at /source/src/gf.c:4318:16 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:933:23 profile_printing_listener at ./Base.jl:359:0 (pc: 49) #start_profile_listener##0 at ./Base.jl:377:0 (pc: 2) jfptr_YY.start_profile_listenerYY.YY.0_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4326:23 [inlined] ijl_apply_generic at /source/src/gf.c:4564:12 jl_apply at /source/src/julia.h:2405:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) Allocations: 2069495529 (Pool: 2069429464; Big: 66065); GC: 850 PkgEval terminated after 2722.91s: test duration exceeded the time limit