Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2621 (b841d233e9*) started at 2026-07-10T01:39:03.178 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.48s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.7 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 v1.1.0 [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 v0.7.19 [c823fa1f] + DirectTrajOpt v0.9.7 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.21 [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 v1.10.0 [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 v0.6.5 [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 v2.33.0 ⌅ [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 v3.33.0 [19f34311] + SciMLJacobianOperators v0.1.14 [a6db7da4] + SciMLLogging v2.0.1 [c0aeaf25] + SciMLOperators v1.23.0 [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+2 [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 v8.21.0+0 [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 5.8s ################################################################################ # 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... ERROR: LoadError: MethodError: no method matching nteltype(::Core.SimpleVector) The function `nteltype` exists, but no method is defined for this combination of argument types. Closest candidates are: nteltype(!Matched::Type{NamedTuple{names, T}} where names) where T @ Base namedtuple.jl:233 nteltype(!Matched::Type) @ Base namedtuple.jl:232 Stacktrace: [1] prepare_call(f::Any, allargs::Vector{Any}; enter_generated::Bool, method_table::Nothing) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/construct.jl:256 [2] get_call_framecode(fargs::Vector{Any}, parentframe::JuliaInterpreter.FrameCode, idx::Int64; enter_generated::Bool, method_table::Nothing) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/localmethtable.jl:65 [3] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, fargs::Vector{Any}, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:277 [4] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:256 [5] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:249 [6] eval_rhs(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:406 [7] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Any, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:569 [8] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:627 [9] finish!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:14 [10] finish_and_return!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:30 [11] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, fargs::Vector{Any}, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:290 [12] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:256 [13] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:249 [14] eval_rhs(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:406 [15] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Any, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:569 [16] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:627 [17] finish!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:14 [18] finish_and_return!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:30 [19] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, fargs::Vector{Any}, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:290 [20] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:256 [21] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:249 [22] eval_rhs(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:406 [23] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Any, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:569 [24] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:627 [25] finish!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:14 [26] finish_and_return!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:30 [27] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, fargs::Vector{Any}, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:290 [28] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr, enter_generated::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:256 [29] evaluate_call!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, call_expr::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:249 [30] eval_rhs(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Expr) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:406 [31] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, node::Any, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:569 [32] step_expr!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/interpret.jl:627 [33] finish!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:14 [34] finish_and_return!(interp::JuliaInterpreter.RecursiveInterpreter, frame::JuliaInterpreter.Frame, istoplevel::Bool) @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/commands.jl:30 [35] macro expansion @ ~/.julia/packages/JuliaInterpreter/bSt3F/src/construct.jl:764 [inlined] [36] _precompile_() @ JuliaInterpreter ~/.julia/packages/JuliaInterpreter/bSt3F/src/precompile.jl:7 [37] top-level scope @ ~/.julia/packages/JuliaInterpreter/bSt3F/src/packagedef.jl:153 [38] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:326 [39] top-level scope @ ~/.julia/packages/JuliaInterpreter/bSt3F/src/JuliaInterpreter.jl:14 [40] include(mod::Module, _path::String) @ Base Base.jl:325 [41] 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 [42] top-level scope @ stdin:5 [43] eval(m::Module, e::Any) @ Core boot.jl:545 [44] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) @ Base loading.jl:3132 [45] include_string(m::Module, txt::String, fname::String) @ Base loading.jl:3142 [inlined] [46] exec_options(opts::Base.JLOptions) @ Base client.jl:353 [47] _start() @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/JuliaInterpreter/bSt3F/src/packagedef.jl:153 in expression starting at /home/pkgeval/.julia/packages/JuliaInterpreter/bSt3F/src/JuliaInterpreter.jl:1 in expression starting at stdin:5 ✗ JuliaInterpreter 52.5 s ✓ MadNLP 10.5 s ✓ NamedTrajectories 54.2 s ✓ Ipopt → IpoptMathOptInterfaceExt ERROR: LoadError: Precompiled image Base.PkgId(Base.UUID("aa1ae85d-cabe-5617-a682-6adf51b2e16a"), "JuliaInterpreter") not available with flags CacheFlags(; use_pkgimages=false, debug_level=1, check_bounds=1, inline=true, opt_level=0) Stacktrace: [1] error(s::String) @ Base error.jl:56 [2] __require_prelocked(pkg::Base.PkgId, env::String) @ Base loading.jl:2837 [3] _require_prelocked(uuidkey::Base.PkgId, env::String) @ Base loading.jl:2685 [4] macro expansion @ loading.jl:2599 [inlined] [5] macro expansion @ lock.jl:376 [inlined] [6] __require(into::Module, mod::Symbol) @ Base loading.jl:2563 [7] require(into::Module, mod::Symbol) @ Base loading.jl:2539 [inlined] [8] eval_import_path(at::Module, from::Nothing, path::Expr, keyword::String) @ Base module.jl:36 [inlined] [9] eval_import_path_all(at::Module, path::Expr, keyword::String) @ Base module.jl:60 [10] _eval_using(to::Module, path::Expr, flags::UInt8) @ Base module.jl:137 [inlined] [11] top-level scope @ ~/.julia/packages/LoweredCodeUtils/4qEJi/src/LoweredCodeUtils.jl:14 [12] include(mod::Module, _path::String) @ Base Base.jl:325 [13] 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 [14] top-level scope @ stdin:5 [15] eval(m::Module, e::Any) @ Core boot.jl:545 [16] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) @ Base loading.jl:3132 [17] include_string(m::Module, txt::String, fname::String) @ Base loading.jl:3142 [inlined] [18] exec_options(opts::Base.JLOptions) @ Base client.jl:353 [19] _start() @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/LoweredCodeUtils/4qEJi/src/LoweredCodeUtils.jl:1 in expression starting at stdin:5 ✗ LoweredCodeUtils 15.9 s ✓ MadNLP → MadNLPMOI 25.8 s ✓ DirectTrajOpt ERROR: LoadError: Precompiled image Base.PkgId(Base.UUID("aa1ae85d-cabe-5617-a682-6adf51b2e16a"), "JuliaInterpreter") not available with flags CacheFlags(; use_pkgimages=false, debug_level=1, check_bounds=1, inline=true, opt_level=0) Stacktrace: [1] error(s::String) @ Base error.jl:56 [2] __require_prelocked(pkg::Base.PkgId, env::String) @ Base loading.jl:2837 [3] _require_prelocked(uuidkey::Base.PkgId, env::String) @ Base loading.jl:2685 [4] macro expansion @ loading.jl:2599 [inlined] [5] macro expansion @ lock.jl:376 [inlined] [6] __require(into::Module, mod::Symbol) @ Base loading.jl:2563 [7] require(into::Module, mod::Symbol) @ Base loading.jl:2539 [inlined] [8] eval_import_path(at::Module, from::Nothing, path::Expr, keyword::String) @ Base module.jl:36 [inlined] [9] eval_import_path_all(at::Module, path::Expr, keyword::String) @ Base module.jl:60 [10] _eval_using(to::Module, path::Expr, flags::UInt8) @ Base module.jl:137 [inlined] [11] top-level scope @ ~/.julia/packages/Revise/m8c4M/src/Revise.jl:36 [12] include(mod::Module, _path::String) @ Base Base.jl:325 [13] 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 [14] top-level scope @ stdin:5 [15] eval(m::Module, e::Any) @ Core boot.jl:545 [16] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) @ Base loading.jl:3132 [17] include_string(m::Module, txt::String, fname::String) @ Base loading.jl:3142 [inlined] [18] exec_options(opts::Base.JLOptions) @ Base client.jl:353 [19] _start() @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/Revise/m8c4M/src/Revise.jl:1 in expression starting at stdin:5 ✗ Revise 27.1 s ✓ DirectTrajOpt → MadNLPSolverExt ERROR: LoadError: Precompiled image Base.PkgId(Base.UUID("295af30f-e4ad-537b-8983-00126c2a3abe"), "Revise") not available with flags CacheFlags(; use_pkgimages=false, debug_level=1, check_bounds=1, inline=true, opt_level=0) Stacktrace: [1] error(s::String) @ Base error.jl:56 [2] __require_prelocked(pkg::Base.PkgId, env::String) @ Base loading.jl:2837 [3] _require_prelocked(uuidkey::Base.PkgId, env::String) @ Base loading.jl:2685 [4] macro expansion @ loading.jl:2599 [inlined] [5] macro expansion @ lock.jl:376 [inlined] [6] __require(into::Module, mod::Symbol) @ Base loading.jl:2563 [7] require(into::Module, mod::Symbol) @ Base loading.jl:2539 [inlined] [8] eval_import_path(at::Module, from::Nothing, path::Expr, keyword::String) @ Base module.jl:36 [inlined] [9] _eval_import(imported::Bool, to::Module, from::Nothing, paths::Expr) @ Base module.jl:111 [10] top-level scope @ ~/.julia/packages/Revise/m8c4M/ext/DistributedExt.jl:5 [11] include(mod::Module, _path::String) @ Base Base.jl:325 [12] 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 [13] top-level scope @ stdin:5 [14] eval(m::Module, e::Any) @ Core boot.jl:545 [15] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) @ Base loading.jl:3132 [16] include_string(m::Module, txt::String, fname::String) @ Base loading.jl:3142 [inlined] [17] exec_options(opts::Base.JLOptions) @ Base client.jl:353 [18] _start() @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/Revise/m8c4M/ext/DistributedExt.jl:1 in expression starting at stdin:5 ✗ Revise → DistributedExt 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: Precompiled image Base.PkgId(Base.UUID("6f1432cf-f94c-5a45-995e-cdbf5db27b0b"), "LoweredCodeUtils") not available with flags CacheFlags(; use_pkgimages=false, debug_level=1, check_bounds=1, inline=true, opt_level=0) Stacktrace: [1] error(s::String) @ Base error.jl:56 [2] __require_prelocked(pkg::Base.PkgId, env::String) @ Base loading.jl:2837 [3] _require_prelocked(uuidkey::Base.PkgId, env::String) @ Base loading.jl:2685 [4] macro expansion @ loading.jl:2599 [inlined] [5] macro expansion @ lock.jl:376 [inlined] [6] __require(into::Module, mod::Symbol) @ Base loading.jl:2563 [7] require(into::Module, mod::Symbol) @ Base loading.jl:2539 [inlined] [8] eval_import_path(at::Module, from::Nothing, path::Expr, keyword::String) @ Base module.jl:36 [inlined] [9] eval_import_path_all(at::Module, path::Expr, keyword::String) @ Base module.jl:60 [10] _eval_import(::Bool, ::Module, ::Expr, ::Expr, ::Vararg{Expr}) @ Base module.jl:101 [11] top-level scope @ ~/.julia/packages/JET/ofYLk/src/JETBase.jl:42 [12] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:326 [13] top-level scope @ ~/.julia/packages/JET/ofYLk/src/JET.jl:43 [14] include(mod::Module, _path::String) @ Base Base.jl:325 [15] 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 [16] top-level scope @ stdin:5 [17] eval(m::Module, e::Any) @ Core boot.jl:545 [18] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String) @ Base loading.jl:3132 [19] include_string(m::Module, txt::String, fname::String) @ Base loading.jl:3142 [inlined] [20] exec_options(opts::Base.JLOptions) @ Base client.jl:353 [21] _start() @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JETBase.jl:42 in expression starting at /home/pkgeval/.julia/packages/JET/ofYLk/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 6 dependencies successfully precompiled in 233 seconds. 219 already precompiled. Precompilation completed after 259.54s ################################################################################ # 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_mVEi3k/Project.toml` [4c88cf16] + Aqua v0.8.16 [c823fa1f] + DirectTrajOpt v0.9.7 [c3a54625] + JET v0.11.5 ⌅ [2621e9c9] + MadNLP v0.9.2 Updating `/tmp/jl_mVEi3k/Manifest.toml` [14f7f29c] + AMD v0.5.3 [4c88cf16] + Aqua v0.8.16 [da1fd8a2] + CodeTracking v3.0.2 [807dbc54] + Compiler v0.1.1 [c823fa1f] + DirectTrajOpt v0.9.7 [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_mVEi3k/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.7 [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 v3.33.0 [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_mVEi3k/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 v1.1.0 [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 v0.7.19 [c823fa1f] DirectTrajOpt v0.9.7 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.21 [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 v1.10.0 [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 v0.6.5 [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 v2.33.0 ⌅ [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 v3.33.0 [19f34311] SciMLJacobianOperators v0.1.14 [a6db7da4] SciMLLogging v2.0.1 [c0aeaf25] SciMLOperators v1.23.0 [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+2 [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 v8.21.0+0 [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, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 2.368s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 5.072s jacobian structure: 1600 nonzeros (7.526s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.59s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 2.417s sub-objective 2 (QuadraticRegularizer): 1.516s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.023s objective hessian structure: 4.069s hessian structure: 1749 nonzeros (8.762s) linear index maps built (0.0s) evaluator ready (total: 16.767s) evaluator created (17.443s) NL constraint bounds extracted (0.229s) NLP block data built (0.0s) MadNLP optimizer configured (0.406s) variables set (0.821s) 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 (3.022s) optimizer initialization complete (total: 22.142s) 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 5.4827824e+00 2.40e+00 5.70e-01 9.59e-01 -1.0 - 0.00e+00 1 0 1 2.7562442e+00 4.04e-01 2.93e+00 7.37e-01 -1.0 0.0 8.32e-01 1 1h 2 2.8400740e+00 2.93e-02 7.54e-01 1.29e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3447501e+00 1.69e-02 1.17e-01 4.19e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1511766e+00 3.07e-03 3.63e-02 1.11e-02 -2.5 -1.4 8.45e-01 2 1h 5 2.1142017e+00 5.91e-04 1.35e-02 2.92e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0915779e+00 2.63e-04 3.83e-03 1.94e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0913356e+00 5.19e-07 2.11e-05 1.50e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899954e+00 1.25e-05 6.44e-05 7.04e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0899810e+00 1.27e-05 1.04e-04 2.77e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899415e+00 6.37e-05 1.26e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 11 2.0898339e+00 3.79e-05 1.44e-04 3.01e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0897524e+00 3.17e-05 1.48e-02 1.91e-06 -5.7 -5.2 1.70e-01 1 1h 13 2.0888226e+00 3.08e-05 2.00e-03 2.77e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0885343e+00 2.75e-05 8.81e-02 2.27e-06 -5.7 -6.2 1.08e-01 1 1h 15 2.0840162e+00 2.76e-05 4.49e-02 5.45e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0832008e+00 2.39e-05 1.44e-01 2.93e-06 -5.7 -7.2 1.73e-01 1 1h 17 2.0816853e+00 2.26e-05 1.44e-01 3.33e-06 -5.7 -7.6 2.90e-01 2 1h 18 2.0813983e+00 3.34e-05 1.95e-01 4.79e-05 -5.7 -8.1 3.03e-01 1 1h 19 2.0806742e+00 3.94e-05 1.35e-01 2.25e-05 -5.7 -8.6 8.97e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0915982e+00 3.41e-07 3.23e-01 3.51e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0875315e+00 8.09e-05 2.29e+00 2.48e-04 -5.7 -5.0 1.14e-01 1 2h 22 2.0819462e+00 5.21e-05 1.51e+00 7.87e-05 -5.7 -1.9 3.64e-01 1 1h 23 2.0814613e+00 1.17e-05 1.32e-01 2.02e-05 -5.7 -2.4 1.00e+00 2 1h 24 2.0811984e+00 1.22e-05 1.24e-01 2.09e-06 -5.7 -2.8 2.51e-01 2 1h 25 2.0811989e+00 2.14e-06 1.39e-01 5.96e-06 -5.7 -3.3 8.24e-01 1 1h 26 2.0811931e+00 5.75e-08 1.10e-05 1.85e-06 -5.7 -3.8 1.00e+00 2 1h 27 2.0811633e+00 5.44e-07 1.13e-05 8.39e-08 -8.6 -4.3 1.00e+00 2 1h 28 2.0811289e+00 1.19e-08 1.13e-05 1.54e-08 -8.6 -4.8 1.00e+00 1 1h 29 2.0810290e+00 9.36e-10 3.93e-05 3.83e-09 -8.6 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809935e+00 9.39e-10 1.26e-02 5.03e-09 -8.6 -5.7 1.26e-01 2 1h 31 2.0809689e+00 1.61e-09 2.39e-02 2.31e-06 -8.6 -6.2 8.76e-01 1 1h 32 2.0808972e+00 8.59e-09 9.21e-04 7.68e-07 -8.6 -6.7 1.00e+00 2 1h 33 2.0807561e+00 1.15e-08 2.07e-03 3.52e-08 -8.6 -7.1 9.93e-01 2 1h 34 2.0805982e+00 7.93e-09 5.22e-03 7.71e-09 -8.6 -7.6 1.00e+00 1 1h 35 2.0805980e+00 7.75e-09 2.73e-01 4.42e-06 -8.6 -7.2 2.38e-02 1 1h 36 2.0805663e+00 2.98e-09 4.72e-02 1.64e-07 -8.6 -7.7 7.03e-01 2 1h 37 2.0805660e+00 2.92e-09 8.27e-02 5.30e-08 -8.6 -7.2 2.09e-02 1 1h 38 2.0805656e+00 2.88e-09 8.24e-02 5.24e-08 -8.6 -7.7 1.08e-02 2 1h 39 2.0805656e+00 2.88e-09 1.97e-01 5.35e-08 -8.6 -7.3 7.83e-05 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805656e+00 2.88e-09 1.90e-01 5.34e-08 -8.6 -7.8 3.89e-04 2 1h 41 2.0805570e+00 3.36e-09 2.35e-01 4.06e-07 -8.6 -7.3 2.99e-03 1 2h 42 2.0805641e+00 3.26e-09 2.08e-01 9.46e-06 -8.6 -7.8 3.52e-02 2 4h 43 2.0805641e+00 3.26e-09 7.05e-02 8.24e-06 -8.6 -8.3 4.70e-04 2 1h 44 2.0805388e+00 8.63e-09 6.07e-03 7.36e-07 -8.6 -8.8 1.00e+00 1 1h 45 2.0805386e+00 7.28e-09 8.11e-03 6.02e-07 -8.6 -7.4 1.57e-01 1 1h 46 2.0805373e+00 2.90e-10 4.70e-05 2.68e-09 -8.6 -7.9 9.61e-01 2 1h 47 2.0805367e+00 3.74e-11 3.85e-05 2.56e-09 -8.6 -8.4 1.00e+00 1 1h 48 2.0805365e+00 3.81e-11 9.41e-04 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 49 2.0805413e+00 8.88e-16 1.10e-03 5.90e-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 2.0805365e+00 1.47e-10 5.64e-01 3.92e-09 -8.6 -4.4 7.06e-01 1 1H 51 2.0805365e+00 3.06e-12 5.22e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 52 2.0805365e+00 1.74e-12 2.32e-03 2.56e-09 -8.6 -5.4 3.83e-01 2 1h 53 2.0805365e+00 1.84e-12 5.23e-07 4.56e-09 -8.6 -5.8 1.00e+00 2 1h 54 2.0805365e+00 6.50e-12 2.44e-08 2.56e-09 -8.6 -6.3 1.00e+00 2 1h 55 2.0805365e+00 2.59e-10 5.03e-08 1.16e-09 -9.0 -6.8 1.00e+00 2 1h 56 2.0805365e+00 1.61e-11 1.56e-07 9.09e-10 -9.0 -7.3 1.00e+00 2 1h 57 2.0805365e+00 3.42e-12 4.78e-05 9.13e-10 -9.0 -7.8 1.00e+00 2 1h 58 2.0805365e+00 4.56e-13 8.05e-08 2.20e-09 -9.0 -6.4 1.00e+00 1 1h 59 2.0805365e+00 3.32e-13 2.67e-06 9.09e-10 -9.0 -6.9 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 2.01e-13 2.62e-05 4.69e-09 -9.0 -6.5 1.00e+00 1 1h 61 2.0805365e+00 2.92e-13 4.28e-07 1.02e-09 -9.0 -5.1 1.00e+00 1 1h 62 2.0805365e+00 1.71e-13 9.29e-07 9.09e-10 -9.0 -5.6 1.00e+00 2 1h 63 2.0805365e+00 3.82e-14 6.07e-07 9.09e-10 -9.0 -6.1 1.00e+00 1 1h 64 2.0805365e+00 1.15e-14 3.95e-08 9.09e-10 -9.0 -6.6 1.00e+00 1 1h 65 2.0805365e+00 1.20e-14 1.84e-08 9.09e-10 -9.0 -7.1 1.00e+00 1 1h 66 2.0805365e+00 5.63e-14 2.51e-08 9.09e-10 -9.0 -7.5 1.00e+00 2 1h 67 2.0805365e+00 2.28e-13 9.38e-08 9.09e-10 -9.0 -8.0 1.00e+00 2 1h 68 2.0805365e+00 5.53e-13 2.04e-07 9.09e-10 -9.0 -8.5 1.00e+00 1 1h 69 2.0805365e+00 3.82e-13 1.15e-07 9.09e-10 -9.0 -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 4.66e-14 1.09e-08 9.09e-10 -9.0 -9.4 1.00e+00 1 1h 71 2.0805365e+00 9.99e-16 1.38e-10 9.09e-10 -9.0 -9.9 1.00e+00 1 1h Number of Iterations....: 71 (scaled) (unscaled) Objective...............: 2.0805364595436493e+00 2.0805364595436493e+00 Dual infeasibility......: 1.3790174557826163e-10 1.3790174557826163e-10 Constraint violation....: 9.9920072216264089e-16 9.9920072216264089e-16 Complementarity.........: 9.0909090969967164e-10 9.0909090969967164e-10 Overall NLP error.......: 9.0909090969967164e-10 9.0909090969967164e-10 Number of objective function evaluations = 82 Number of objective gradient evaluations = 72 Number of constraint evaluations = 82 Number of constraint Jacobian evaluations = 72 Number of Lagrangian Hessian evaluations = 71 Number of KKT factorizations = 171 Number of KKT backsolves = 110 Total wall secs in initialization = 21.648 s Total wall secs in linear solver = 0.089 s Total wall secs in NLP function evaluations = 33.963 s Total wall secs in solver (w/o init./fun./lin. alg.) = 71.173 s Total wall secs = 126.873 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 7.398s jacobian structure: 1680 nonzeros (7.508s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.052s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.743s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.319s sub-objective 2 (QuadraticRegularizer): 0.125s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.018s sub-objective 5 (GlobalObjective): 0.594s objective hessian structure: 1.153s hessian structure: 1964 nonzeros (13.002s) linear index maps built (0.0s) evaluator ready (total: 20.51s) evaluator created (20.697s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.087s) 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 (4.435s) optimizer initialization complete (total: 25.221s) 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 1.9448311e+01 3.98e+00 5.12e+00 1.79e+00 -1.0 - 0.00e+00 1 0 1 5.2958330e+00 4.81e-01 4.44e+00 5.85e-01 -1.0 0.0 8.80e-01 1 1h 2 4.6811031e+00 3.76e-01 5.42e+00 5.57e-01 -1.0 0.4 2.19e-01 1 1h 3 3.1610761e+00 1.75e-01 4.80e+00 4.84e-01 -1.0 -0.1 4.96e-01 2 1h 4 2.5410399e+00 7.70e-02 3.06e+00 1.34e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.3908659e+00 3.47e-02 1.47e+00 1.04e-01 -1.0 -1.0 1.00e+00 2 1h 6 2.5818466e+00 8.11e-03 2.43e-01 1.00e-01 -1.0 -1.5 1.00e+00 2 1h 7 2.3458164e+00 7.22e-03 3.31e-02 3.12e-02 -1.7 -2.0 1.00e+00 2 1h 8 2.1270812e+00 6.30e-03 1.06e-02 4.95e-03 -2.5 -2.4 1.00e+00 2 1h 9 2.0910196e+00 6.38e-04 4.71e-03 2.00e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0913164e+00 5.70e-06 1.58e-04 1.52e-04 -3.8 -3.4 1.00e+00 2 1h 11 2.0899715e+00 1.69e-05 2.60e-05 1.97e-05 -5.7 -3.9 1.00e+00 2 1h 12 2.0899224e+00 1.41e-05 1.01e-03 3.22e-06 -5.7 -4.3 7.21e-01 2 1h 13 2.0897958e+00 1.28e-05 2.06e-04 1.88e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0896708e+00 9.90e-06 9.71e-03 1.89e-06 -5.7 -5.3 3.25e-01 1 1h 15 2.0886507e+00 7.74e-06 2.10e-03 5.42e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0882956e+00 6.89e-06 9.90e-02 2.33e-06 -5.7 -6.3 1.17e-01 1 1h 17 2.0836145e+00 3.21e-05 5.16e-02 4.99e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0827023e+00 2.69e-05 1.30e-01 2.70e-06 -5.7 -7.2 2.07e-01 1 1h 19 2.0816932e+00 2.35e-05 1.34e-01 4.14e-06 -5.7 -7.7 2.10e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814374e+00 2.80e-05 2.01e-01 2.18e-05 -5.7 -8.2 2.36e-01 1 1h 21 2.0806650e+00 4.33e-05 1.47e-01 1.16e-05 -5.7 -8.6 8.70e-01 1 1h 22 2.0806675e+00 3.67e-05 1.17e-01 2.64e-05 -5.7 -6.4 1.52e-01 1 1h 23 2.0806552e+00 1.79e-05 8.14e-03 8.73e-06 -5.7 -6.9 5.12e-01 1 1h 24 2.0806305e+00 2.20e-06 5.08e-04 3.18e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805973e+00 9.58e-07 1.05e-03 2.37e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805719e+00 2.85e-06 8.69e-03 2.74e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0863424e+00 4.39e-09 1.52e-01 8.71e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0856441e+00 6.30e-07 5.85e-01 8.17e-05 -5.7 -3.9 4.95e-02 1 3h 29 2.0813586e+00 8.16e-09 2.08e-02 1.89e-05 -5.7 -0.7 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806418e+00 7.00e-08 3.51e-03 1.84e-06 -5.7 -1.2 1.00e+00 2 1h 31 2.0806106e+00 5.54e-08 4.56e-02 1.86e-06 -5.7 -1.7 4.57e-01 2 1h 32 2.0806043e+00 5.44e-08 5.05e-01 2.18e-06 -5.7 -2.1 9.85e-02 2 1h 33 2.0806084e+00 6.58e-08 5.24e-06 2.64e-06 -5.7 -2.6 1.00e+00 1 1h 34 2.0805921e+00 3.37e-08 3.27e-02 3.78e-07 -8.6 -3.1 1.00e+00 2 1h 35 2.0805886e+00 1.13e-08 1.03e-05 1.74e-08 -8.6 -3.6 1.00e+00 1 1h 36 2.0805836e+00 5.03e-10 1.03e-05 5.64e-09 -8.6 -4.1 1.00e+00 2 1h 37 2.0805823e+00 4.56e-10 2.48e-03 1.36e-08 -8.6 -4.5 9.27e-02 2 1h 38 2.0805815e+00 1.06e-10 1.80e-04 2.77e-07 -8.6 -5.0 1.00e+00 1 1h 39 2.0805793e+00 7.47e-11 6.13e-04 8.56e-08 -8.6 -5.5 7.01e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805777e+00 1.98e-10 1.65e-04 5.00e-07 -8.6 -6.0 1.00e+00 1 1h 41 2.0805717e+00 6.19e-10 1.31e-04 5.99e-08 -8.6 -6.4 9.68e-01 1 1h 42 2.0805679e+00 5.56e-10 4.09e-03 4.37e-08 -8.6 -6.9 2.76e-01 2 1h 43 2.0805539e+00 1.06e-09 5.21e-03 8.43e-08 -8.6 -7.4 5.79e-01 1 1h 44 2.0805433e+00 1.19e-09 1.26e-02 1.25e-07 -8.6 -7.9 1.00e+00 1 1h 45 2.0805433e+00 1.15e-09 1.34e-02 8.05e-08 -8.6 -6.5 2.70e-02 1 1h 46 2.0805412e+00 5.36e-10 4.88e-03 5.92e-09 -8.6 -7.0 5.45e-01 1 1h 47 2.0805409e+00 8.93e-11 8.19e-06 2.76e-08 -8.6 -6.6 1.00e+00 1 1h 48 2.0805401e+00 8.92e-11 7.98e-06 3.95e-09 -8.6 -7.1 1.00e+00 1 1h 49 2.0805389e+00 9.26e-11 1.14e-03 2.68e-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 50 2.0805387e+00 1.06e-10 1.25e-05 1.33e-07 -8.6 -7.1 1.00e+00 1 1h 51 2.0805382e+00 1.16e-10 6.39e-04 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 52 2.0805382e+00 8.96e-11 3.07e-06 2.51e-09 -8.6 -4.5 1.00e+00 1 1h 53 2.0805381e+00 8.92e-11 5.82e-06 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 54 2.0805381e+00 8.90e-11 4.54e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805381e+00 9.17e-11 6.52e-07 2.60e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805393e+00 8.88e-16 6.51e-03 2.54e-09 -8.6 -6.4 1.00e+00 1 1H 57 2.0805386e+00 7.43e-15 1.19e-02 2.68e-09 -8.6 -4.1 1.00e+00 1 1H 58 2.0805383e+00 9.39e-12 6.96e-02 2.75e-09 -8.6 -4.6 5.46e-01 1 1h 59 2.0805380e+00 9.26e-11 1.49e-01 7.62e-09 -8.6 -5.1 4.18e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805381e+00 2.22e-16 1.24e-05 1.22e-07 -8.6 -5.6 1.00e+00 1 1H 61 2.0805380e+00 9.04e-11 3.49e-06 2.97e-08 -8.6 -6.1 1.00e+00 1 1h 62 2.0805379e+00 9.81e-11 3.81e-07 4.79e-09 -8.6 -6.5 1.00e+00 1 1h 63 2.0805378e+00 1.48e-10 1.11e-06 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 64 2.0805375e+00 1.28e-10 5.96e-06 3.65e-09 -8.6 -7.5 1.00e+00 1 1h 65 2.0805370e+00 9.17e-11 1.81e-05 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 66 2.0805366e+00 9.54e-11 2.71e-05 2.51e-09 -8.6 -8.4 1.00e+00 1 1h 67 2.0805365e+00 9.37e-11 1.13e-03 2.51e-09 -8.6 -8.9 1.00e+00 1 1h 68 2.0805370e+00 6.38e-11 1.23e-02 2.56e-07 -8.6 -6.7 3.21e-01 1 2h 69 2.0805367e+00 8.84e-11 2.09e-05 4.34e-08 -8.6 -4.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805366e+00 8.92e-11 2.75e-05 1.20e-08 -8.6 -4.9 1.00e+00 1 1h 71 2.0805365e+00 6.85e-11 9.71e-02 2.75e-09 -8.6 -5.4 2.33e-01 1 1h 72 2.0805365e+00 8.92e-11 2.78e-07 2.53e-09 -8.6 -5.9 1.00e+00 1 1h 73 2.0805365e+00 8.92e-11 1.31e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 1.04e-10 5.10e-08 1.15e-09 -9.0 -6.8 1.00e+00 1 1h 75 2.0805365e+00 3.24e-11 6.79e-08 9.09e-10 -9.0 -7.3 1.00e+00 1 1h 76 2.0805366e+00 6.66e-16 5.16e-04 9.14e-10 -9.0 -7.8 1.00e+00 1 1H 77 2.0805365e+00 3.01e-12 2.53e-02 9.47e-10 -9.0 -5.6 4.80e-01 1 1h 78 2.0805365e+00 5.63e-12 2.60e-02 6.10e-08 -9.0 -6.0 2.09e-01 1 3h 79 2.0805365e+00 6.66e-16 1.66e-06 9.83e-09 -9.0 -6.5 1.00e+00 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 8.88e-16 2.07e-07 2.44e-09 -9.0 -7.0 1.00e+00 1 1H 81 2.0805365e+00 3.24e-11 3.39e-04 9.09e-10 -9.0 -7.5 1.00e+00 1 1h 82 2.0805365e+00 1.70e-11 1.40e-03 9.26e-10 -9.0 -6.1 4.75e-01 1 1h 83 2.0805365e+00 3.24e-11 9.07e-07 8.93e-09 -9.0 -6.6 1.00e+00 1 1h 84 2.0805365e+00 3.24e-11 4.20e-05 9.09e-10 -9.0 -7.1 1.00e+00 1 1h 85 2.0805365e+00 3.24e-11 6.25e-08 1.07e-09 -9.0 -5.8 1.00e+00 1 1h 86 2.0805365e+00 3.24e-11 6.34e-07 9.09e-10 -9.0 -6.2 1.00e+00 1 1h 87 2.0805365e+00 3.24e-11 1.23e-06 9.09e-10 -9.0 -6.7 1.00e+00 1 1h 88 2.0805365e+00 3.24e-11 2.52e-06 9.09e-10 -9.0 -7.2 1.00e+00 1 1h 89 2.0805365e+00 3.24e-11 7.82e-06 9.09e-10 -9.0 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 90 2.0805365e+00 2.71e-11 2.01e-05 9.09e-10 -9.0 -8.1 1.63e-01 1 1h 91 2.0805365e+00 3.24e-11 5.37e-06 9.09e-10 -9.0 -8.6 1.00e+00 1 1h 92 2.0805365e+00 3.24e-11 1.47e-06 9.10e-10 -9.0 -9.1 1.00e+00 1 1h 93 2.0805365e+00 3.24e-11 1.20e-06 9.24e-10 -9.0 -9.6 1.00e+00 1 1h 94 2.0805365e+00 3.24e-11 1.30e-07 9.09e-10 -9.0 -10.1 1.00e+00 1 1h 95 2.0805365e+00 3.24e-11 1.81e-09 9.09e-10 -9.0 -10.5 1.00e+00 1 1h Number of Iterations....: 95 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 1.8148663890017355e-09 1.8148663890017355e-09 Constraint violation....: 3.2354341428231237e-11 3.2354341428231237e-11 Complementarity.........: 9.0909090971185322e-10 9.0909090971185322e-10 Overall NLP error.......: 1.8148663890017355e-09 1.8148663890017355e-09 Number of objective function evaluations = 111 Number of objective gradient evaluations = 96 Number of constraint evaluations = 111 Number of constraint Jacobian evaluations = 96 Number of Lagrangian Hessian evaluations = 95 Number of KKT factorizations = 231 Number of KKT backsolves = 126 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.117 s Total wall secs in NLP function evaluations = 31.076 s Total wall secs in solver (w/o init./fun./lin. alg.) = 14.158 s Total wall secs = 45.353 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.112s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.202s jacobian structure: 1600 nonzeros (2.314s) integrator 1 hessian structure: 0.067s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.516s 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 (3.584s) linear index maps built (0.0s) evaluator ready (total: 5.899s) evaluator created (5.924s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.106s) variables set (0.576s) 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 (2.649s) optimizer initialization complete (total: 9.372s) ****************************************************************************** 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...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3257742e+01 3.71e+00 9.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0807069e+01 2.09e-01 1.84e+00 -1.3 2.28e+00 -4.0 2.55e-01 9.61e-01f 1 2 1.0240672e+01 3.92e-02 1.82e-01 -0.9 4.42e-01 -4.5 9.97e-01 1.00e+00f 1 3 9.7995119e+00 5.64e-03 5.64e-02 -1.7 2.17e-01 -5.0 8.59e-01 1.00e+00h 1 4 9.5571711e+00 5.14e-03 1.98e-02 -2.3 1.30e-01 -5.4 9.95e-01 1.00e+00h 1 5 9.4497036e+00 1.38e-03 2.59e-02 -4.0 9.26e-02 -5.9 9.04e-01 1.00e+00h 1 6 9.4288704e+00 1.91e-04 9.60e-04 -4.0 3.27e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259773e+00 2.26e-05 1.04e-04 -4.0 8.09e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258101e+00 3.31e-07 1.34e-06 -4.0 8.59e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 7.50e-11 1.00e-09 -4.0 2.51e-05 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086228213340e+00 9.4258086228213340e+00 Dual infeasibility......: 9.9999972523825715e-10 9.9999972523825715e-10 Constraint violation....: 7.4963812934925045e-11 7.4963812934925045e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000099369089135e-04 1.0000099369089135e-04 Overall NLP error.......: 9.9999972523825715e-10 9.9999972523825715e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 27.281 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) 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: 0.005s) 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 2.3257742e+01 3.71e+00 9.13e-01 9.65e-01 -1.0 - 0.00e+00 1 0 1 1.1027921e+01 4.87e-01 1.63e+00 7.54e-01 -1.0 -4.0 8.69e-01 2 1h 2 1.0273598e+01 6.25e-02 5.59e-01 2.17e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7541842e+00 2.70e-02 6.99e-02 4.31e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5177823e+00 4.19e-03 1.70e-02 1.10e-02 -2.5 -5.4 1.00e+00 2 1h 5 9.4411753e+00 8.77e-04 9.80e-03 2.44e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4279091e+00 1.46e-04 5.80e-04 5.48e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246739e+00 2.25e-05 1.77e-04 5.00e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245379e+00 4.80e-07 9.56e-07 2.63e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.16e-09 2.94e-09 4.95e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129864894679e+00 9.4245129864894679e+00 Dual infeasibility......: 2.9434681358964099e-09 2.9434681358964099e-09 Constraint violation....: 1.1581317016506887e-09 1.1581317016506887e-09 Complementarity.........: 4.9484087917572820e-09 4.9484087917572820e-09 Overall NLP error.......: 4.9484087917572820e-09 4.9484087917572820e-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 = 0.008 s Total wall secs in NLP function evaluations = 0.149 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.007 s Total wall secs = 0.166 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:438 [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.023s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.136s jacobian structure: 1600 nonzeros (2.16s) integrator 1 hessian structure: 0.132s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.29s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (3.423s) linear index maps built (0.0s) evaluator ready (total: 5.584s) evaluator created (5.597s) 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: 5.668s) 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 1.4386952e+00 2.86e+00 7.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4273876e+00 1.05e-01 2.19e+00 -0.9 1.80e+00 0.0 1.00e+00 9.69e-01h 1 Hello, world! 2 3.0681065e+00 6.81e-02 3.73e+00 -0.6 7.09e-01 -0.5 6.18e-01 1.00e+00f 1 Hello, world! 3 2.6268966e+00 3.01e-02 1.00e+00 -1.4 3.25e-01 -1.0 9.95e-01 1.00e+00h 1 Hello, world! 4 2.2659651e+00 6.11e-02 3.67e-01 -2.0 8.67e-01 -1.4 9.88e-01 8.78e-01h 1 Hello, world! 5 2.1510372e+00 2.57e-03 5.70e-02 -2.3 1.62e-01 -1.9 9.88e-01 1.00e+00h 1 Hello, world! 6 2.0944572e+00 2.62e-04 7.37e-03 -3.8 2.82e-02 -2.4 9.98e-01 9.58e-01h 1 Hello, world! 7 2.0909476e+00 7.67e-06 2.22e-03 -4.0 1.40e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909432e+00 3.55e-08 2.34e-05 -4.0 4.26e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909321e+00 5.83e-09 1.87e-05 -4.0 1.23e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909051e+00 3.83e-08 9.98e-05 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908405e+00 2.19e-07 1.31e-03 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906578e+00 2.25e-06 7.34e-04 -4.0 2.63e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901243e+00 1.23e-05 6.29e-03 -4.0 7.50e+00 -5.7 1.00e+00 8.21e-01h 1 Hello, world! 14 2.0904026e+00 2.10e-04 5.41e-02 -4.0 2.54e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0875995e+00 1.66e-04 2.14e-01 -4.1 1.19e+01 -4.9 1.00e+00 4.37e-01h 1 Hello, world! 16 2.0876183e+00 1.88e-05 1.29e-02 -4.0 3.28e+00 -5.4 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0866640e+00 4.14e-05 5.75e-03 -4.0 9.75e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851552e+00 1.78e-04 8.81e-03 -4.0 2.30e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829731e+00 3.80e-04 2.62e-02 -4.0 3.77e+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 2.0827714e+00 5.00e-04 1.42e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823249e+00 6.22e-04 8.71e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.2665543e+00 1.37e-04 4.85e+00 -4.0 7.98e+02 -8.2 5.33e-02 1.00e+00H 1 Hello, world! 23 2.0858465e+00 2.04e-05 6.53e-01 -4.1 1.08e-01 -0.4 9.65e-01 8.51e-01f 1 Hello, world! 24 2.0861608e+00 2.03e-05 3.90e+00 -4.0 7.71e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0861564e+00 9.78e-08 1.28e-03 -4.0 2.70e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0858459e+00 1.21e-07 1.10e-03 -4.0 6.94e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0856575e+00 6.00e-07 6.34e-04 -4.0 1.20e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0857077e+00 1.04e-07 3.21e-05 -4.0 1.83e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0856966e+00 9.84e-08 1.06e-05 -4.0 1.81e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0856921e+00 1.28e-08 1.07e-05 -4.0 5.45e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0856799e+00 2.89e-08 1.06e-05 -4.0 1.63e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0856446e+00 2.48e-07 1.32e-05 -4.0 4.83e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0855493e+00 1.88e-06 1.01e-04 -4.0 1.41e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0853392e+00 1.12e-05 5.60e-04 -4.0 3.92e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0850154e+00 3.01e-05 1.55e-03 -4.0 1.04e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0844684e+00 7.26e-05 3.35e-03 -4.0 2.70e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0835062e+00 4.19e-04 1.60e-02 -4.0 6.62e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824167e+00 1.57e-03 4.33e-02 -4.0 1.31e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815739e+00 1.87e-03 4.04e-02 -4.1 1.89e+02 -8.0 6.20e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0840643e+00 1.43e-03 4.57e-01 -4.0 1.06e+02 -6.7 1.00e+00 7.63e-01H 1 Hello, world! 41 2.0825374e+00 5.01e-04 1.36e+00 -3.8 8.52e+00 -5.3 6.59e-01 1.00e+00h 1 Hello, world! 42 2.0834573e+00 3.51e-04 7.63e-01 -3.8 1.80e+00 -2.2 2.08e-01 3.00e-01h 1 Hello, world! 43 2.0826532e+00 2.26e-04 2.58e+00 -3.8 1.17e-01 -0.9 1.00e+00 3.57e-01f 1 Hello, world! 44 2.0825302e+00 1.49e-05 9.19e-03 -3.5 1.91e-01 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0821967e+00 8.04e-07 1.35e-03 -4.0 2.03e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820617e+00 1.34e-07 2.10e-04 -4.0 4.34e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820571e+00 1.66e-07 1.91e-04 -4.0 5.94e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820287e+00 1.69e-06 7.69e-04 -4.0 1.04e-01 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819761e+00 1.58e-06 2.93e-01 -4.0 8.70e-01 -2.8 4.64e-01 6.19e-02h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818163e+00 7.41e-06 5.56e-04 -4.0 1.88e-01 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818163053033456e+00 2.0818163053033456e+00 Dual infeasibility......: 5.5598309266035467e-04 5.5598309266035467e-04 Constraint violation....: 7.4083481686817998e-06 7.4083481686817998e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3451605375242680e-04 1.3451605375242680e-04 Overall NLP error.......: 5.5598309266035467e-04 5.5598309266035467e-04 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 24.321 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: 0.023s) 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 1.4386952e+00 2.86e+00 7.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4273876e+00 1.05e-01 2.19e+00 -0.9 1.80e+00 0.0 1.00e+00 9.69e-01h 1 Hello, world! 2 3.0681065e+00 6.81e-02 3.73e+00 -0.6 7.09e-01 -0.5 6.18e-01 1.00e+00f 1 Hello, world! 3 2.6268966e+00 3.01e-02 1.00e+00 -1.4 3.25e-01 -1.0 9.95e-01 1.00e+00h 1 Hello, world! 4 2.2659651e+00 6.11e-02 3.67e-01 -2.0 8.67e-01 -1.4 9.88e-01 8.78e-01h 1 Hello, world! 5 2.1510372e+00 2.57e-03 5.70e-02 -2.3 1.62e-01 -1.9 9.88e-01 1.00e+00h 1 Hello, world! 6 2.0944572e+00 2.62e-04 7.37e-03 -3.8 2.82e-02 -2.4 9.98e-01 9.58e-01h 1 Hello, world! 7 2.0909476e+00 7.67e-06 2.22e-03 -4.0 1.40e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909432e+00 3.55e-08 2.34e-05 -4.0 4.26e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909321e+00 5.83e-09 1.87e-05 -4.0 1.23e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909051e+00 3.83e-08 9.98e-05 -4.0 3.34e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908405e+00 2.19e-07 1.31e-03 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906578e+00 2.25e-06 7.34e-04 -4.0 2.63e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901243e+00 1.23e-05 6.29e-03 -4.0 7.50e+00 -5.7 1.00e+00 8.21e-01h 1 Hello, world! 14 2.0904026e+00 2.10e-04 5.41e-02 -4.0 2.54e+01 -6.2 1.00e+00 1.00e+00f 1 Hello, world! 15 2.0875995e+00 1.66e-04 2.14e-01 -4.1 1.19e+01 -4.9 1.00e+00 4.37e-01h 1 Hello, world! 16 2.0876183e+00 1.88e-05 1.29e-02 -4.0 3.28e+00 -5.4 1.00e+00 1.00e+00f 1 Hello, world! 17 2.0866640e+00 4.14e-05 5.75e-03 -4.0 9.75e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0851552e+00 1.78e-04 8.81e-03 -4.0 2.30e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0829731e+00 3.80e-04 2.62e-02 -4.0 3.77e+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 2.0827714e+00 5.00e-04 1.42e-02 -4.0 5.34e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823249e+00 6.22e-04 8.71e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.2665543e+00 1.37e-04 4.85e+00 -4.0 7.98e+02 -8.2 5.33e-02 1.00e+00H 1 Hello, world! 23 2.0858465e+00 2.04e-05 6.53e-01 -4.1 1.08e-01 -0.4 9.65e-01 8.51e-01f 1 Hello, world! 24 2.0861608e+00 2.03e-05 3.90e+00 -4.0 7.71e-02 -0.8 1.00e+00 7.81e-03f 8 Hello, world! 25 2.0861564e+00 9.78e-08 1.28e-03 -4.0 2.70e-02 -1.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0858459e+00 1.21e-07 1.10e-03 -4.0 6.94e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0856575e+00 6.00e-07 6.34e-04 -4.0 1.20e-01 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0857077e+00 1.04e-07 3.21e-05 -4.0 1.83e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0856966e+00 9.84e-08 1.06e-05 -4.0 1.81e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0856921e+00 1.28e-08 1.07e-05 -4.0 5.45e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0856799e+00 2.89e-08 1.06e-05 -4.0 1.63e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0856446e+00 2.48e-07 1.32e-05 -4.0 4.83e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0855493e+00 1.88e-06 1.01e-04 -4.0 1.41e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0853392e+00 1.12e-05 5.60e-04 -4.0 3.92e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0850154e+00 3.01e-05 1.55e-03 -4.0 1.04e+01 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0844684e+00 7.26e-05 3.35e-03 -4.0 2.70e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0835062e+00 4.19e-04 1.60e-02 -4.0 6.62e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0824167e+00 1.57e-03 4.33e-02 -4.0 1.31e+02 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815739e+00 1.87e-03 4.04e-02 -4.1 1.89e+02 -8.0 6.20e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0840643e+00 1.43e-03 4.57e-01 -4.0 1.06e+02 -6.7 1.00e+00 7.63e-01H 1 Hello, world! 41 2.0825374e+00 5.01e-04 1.36e+00 -3.8 8.52e+00 -5.3 6.59e-01 1.00e+00h 1 Hello, world! 42 2.0834573e+00 3.51e-04 7.63e-01 -3.8 1.80e+00 -2.2 2.08e-01 3.00e-01h 1 Hello, world! 43 2.0826532e+00 2.26e-04 2.58e+00 -3.8 1.17e-01 -0.9 1.00e+00 3.57e-01f 1 Hello, world! 44 2.0825302e+00 1.49e-05 9.19e-03 -3.5 1.91e-01 -1.4 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0821967e+00 8.04e-07 1.35e-03 -4.0 2.03e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0820617e+00 1.34e-07 2.10e-04 -4.0 4.34e-02 -2.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0820571e+00 1.66e-07 1.91e-04 -4.0 5.94e-02 -2.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0820287e+00 1.69e-06 7.69e-04 -4.0 1.04e-01 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0819761e+00 1.58e-06 2.93e-01 -4.0 8.70e-01 -2.8 4.64e-01 6.19e-02h 2 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818163e+00 7.41e-06 5.56e-04 -4.0 1.88e-01 -3.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818163053033456e+00 2.0818163053033456e+00 Dual infeasibility......: 5.5598309266035467e-04 5.5598309266035467e-04 Constraint violation....: 7.4083481686817998e-06 7.4083481686817998e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3451605375242680e-04 1.3451605375242680e-04 Overall NLP error.......: 5.5598309266035467e-04 5.5598309266035467e-04 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.818 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: 0.025s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.107s jacobian structure: 1600 nonzeros (2.132s) integrator 1 hessian structure: 0.02s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.425s 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 (3.446s) linear index maps built (0.0s) evaluator ready (total: 5.579s) evaluator created (5.593s) 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: 5.606s) 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 1.1598097e+00 3.41e+00 5.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6846094e+00 6.65e-02 3.58e+00 -0.9 1.83e+00 0.0 9.48e-01 1.00e+00h 1 2 2.7024110e+00 1.54e-02 3.84e+00 -0.6 2.43e-01 0.4 9.65e-01 1.00e+00f 1 3 2.6178413e+00 1.17e-03 5.99e-01 -1.2 5.38e-02 -0.1 9.95e-01 1.00e+00h 1 4 2.3385409e+00 1.53e-02 1.25e-01 -1.7 1.41e-01 -0.5 9.86e-01 9.08e-01f 1 5 2.1761247e+00 2.48e-03 5.51e-02 -2.3 1.18e-01 -1.0 8.95e-01 1.00e+00h 1 6 2.0985117e+00 5.43e-04 3.10e-02 -3.6 4.65e-02 -1.5 9.98e-01 8.56e-01h 1 7 2.0908771e+00 2.49e-06 1.84e-03 -4.0 1.32e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908357e+00 4.72e-08 1.06e-04 -4.0 2.90e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908310e+00 1.99e-10 2.17e-05 -4.0 1.79e-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 2.0908275e+00 4.53e-10 1.49e-05 -4.0 3.66e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908191e+00 3.95e-09 1.48e-05 -4.0 1.09e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907941e+00 3.49e-08 1.47e-05 -4.0 3.25e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907187e+00 2.97e-07 6.53e-05 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904371e+00 2.85e-06 8.74e-04 -4.0 3.10e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895957e+00 3.02e-05 2.89e-03 -4.0 9.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0879223e+00 1.41e-04 2.70e-02 -4.0 2.69e+01 -6.3 1.00e+00 7.21e-01h 1 17 2.0848430e+00 1.04e-03 4.97e-02 -4.0 5.35e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0836467e+00 4.92e-04 2.16e-02 -4.0 1.88e+01 -6.3 1.00e+00 5.62e-01h 1 19 2.0827976e+00 1.49e-04 1.60e-02 -4.0 2.10e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827995e+00 2.67e-04 1.08e-02 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820814e+00 2.14e-03 9.10e-03 -4.1 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.9991359e+00 1.07e-03 1.64e+01 -4.0 1.10e+03 -8.2 3.62e-02 1.00e+00H 1 23 2.0908036e+00 1.51e-04 1.54e+00 -4.2 3.83e-01 -0.4 4.64e-01 8.59e-01f 1 24 2.0909213e+00 1.50e-04 6.00e+00 -4.2 8.05e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0907384e+00 2.05e-07 1.79e-03 -4.2 3.77e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0907384253823342e+00 2.0907384253823342e+00 Dual infeasibility......: 1.7916417170569616e-03 1.7916417170569616e-03 Constraint violation....: 2.0501154389396259e-07 2.0501154389396259e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1641649770431962e-04 1.1641649770431962e-04 Overall NLP error.......: 1.7916417170569616e-03 1.7916417170569616e-03 Number of objective function evaluations = 36 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 25.676 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.005s) 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 1.1598097e+00 3.41e+00 5.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6846094e+00 6.65e-02 3.58e+00 -0.9 1.83e+00 0.0 9.48e-01 1.00e+00h 1 2 2.7024110e+00 1.54e-02 3.84e+00 -0.6 2.43e-01 0.4 9.65e-01 1.00e+00f 1 3 2.6178413e+00 1.17e-03 5.99e-01 -1.2 5.38e-02 -0.1 9.95e-01 1.00e+00h 1 4 2.3385409e+00 1.53e-02 1.25e-01 -1.7 1.41e-01 -0.5 9.86e-01 9.08e-01f 1 5 2.1761247e+00 2.48e-03 5.51e-02 -2.3 1.18e-01 -1.0 8.95e-01 1.00e+00h 1 6 2.0985117e+00 5.43e-04 3.10e-02 -3.6 4.65e-02 -1.5 9.98e-01 8.56e-01h 1 7 2.0908771e+00 2.49e-06 1.84e-03 -4.0 1.32e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908357e+00 4.72e-08 1.06e-04 -4.0 2.90e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908310e+00 1.99e-10 2.17e-05 -4.0 1.79e-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 2.0908275e+00 4.53e-10 1.49e-05 -4.0 3.66e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908191e+00 3.95e-09 1.48e-05 -4.0 1.09e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907941e+00 3.49e-08 1.47e-05 -4.0 3.25e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907187e+00 2.97e-07 6.53e-05 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904371e+00 2.85e-06 8.74e-04 -4.0 3.10e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895957e+00 3.02e-05 2.89e-03 -4.0 9.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0879223e+00 1.41e-04 2.70e-02 -4.0 2.69e+01 -6.3 1.00e+00 7.21e-01h 1 17 2.0848430e+00 1.04e-03 4.97e-02 -4.0 5.35e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0836467e+00 4.92e-04 2.16e-02 -4.0 1.88e+01 -6.3 1.00e+00 5.62e-01h 1 19 2.0827976e+00 1.49e-04 1.60e-02 -4.0 2.10e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827995e+00 2.67e-04 1.08e-02 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820814e+00 2.14e-03 9.10e-03 -4.1 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.9991359e+00 1.07e-03 1.64e+01 -4.0 1.10e+03 -8.2 3.62e-02 1.00e+00H 1 23 2.0908036e+00 1.51e-04 1.54e+00 -4.2 3.83e-01 -0.4 4.64e-01 8.59e-01f 1 24 2.0909213e+00 1.50e-04 6.00e+00 -4.2 8.05e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0907384e+00 2.05e-07 1.79e-03 -4.2 3.77e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0906857e+00 3.71e-07 1.69e-03 -4.0 1.07e-01 -1.8 1.00e+00 1.00e+00h 1 27 2.0901629e+00 9.91e-07 1.49e-03 -4.0 2.83e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0899187e+00 7.26e-07 6.06e-01 -4.0 2.44e-01 -2.8 1.00e+00 5.70e-01H 1 29 2.0900612e+00 1.09e-06 6.16e-05 -4.0 6.18e-02 -3.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0898747e+00 1.66e-06 4.52e-05 -4.1 7.95e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0900097e+00 4.72e-06 9.22e-05 -4.0 2.31e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0897807e+00 1.58e-05 7.62e-05 -4.1 7.07e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0897777e+00 3.85e-05 5.13e-04 -4.0 2.01e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0894055e+00 3.09e-05 1.20e-03 -4.0 5.55e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0888232e+00 4.64e-05 2.94e-03 -4.0 1.47e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0876762e+00 1.76e-04 7.31e-03 -4.0 3.96e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0856335e+00 9.38e-04 3.45e-02 -4.0 9.83e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0830349e+00 1.09e-03 9.68e-02 -4.1 1.90e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0817266e+00 3.97e-03 4.27e-02 -4.1 2.62e+02 -8.0 7.61e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818575e+00 1.12e-05 1.40e-01 -4.0 9.05e+01 -6.7 1.00e+00 1.00e+00H 1 41 2.0827802e+00 4.20e-03 2.80e-02 -3.7 5.42e+01 -7.2 9.56e-01 1.00e+00f 1 42 2.0901437e+00 4.56e-03 1.10e-01 -3.8 7.82e+01 -7.6 3.36e-01 1.00e+00h 1 43 2.0881533e+00 6.94e-08 5.00e-02 -3.8 3.01e-02 0.2 1.00e+00 1.00e+00h 1 44 2.0852493e+00 1.16e-07 3.38e-02 -4.0 5.99e-02 -0.3 1.00e+00 1.00e+00f 1 45 2.0829651e+00 2.24e-07 1.55e-02 -4.0 8.80e-02 -0.7 1.00e+00 1.00e+00f 1 46 2.0822640e+00 3.55e-07 2.37e-03 -4.0 5.65e-02 -1.2 1.00e+00 1.00e+00h 1 47 2.0822746e+00 1.14e-07 4.23e-04 -4.0 1.58e-02 -1.7 1.00e+00 1.00e+00h 1 48 2.0822298e+00 8.18e-08 9.60e-05 -4.0 1.29e-02 -2.2 1.00e+00 1.00e+00h 1 49 2.0822264e+00 1.29e-08 1.35e-05 -4.0 5.88e-03 -2.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0822267e+00 9.18e-09 3.42e-06 -4.0 4.54e-03 -3.1 1.00e+00 1.00e+00h 1 51 2.0822263e+00 1.94e-09 3.43e-06 -4.0 1.37e-02 -3.6 1.00e+00 1.00e+00h 1 52 2.0822252e+00 8.09e-10 3.43e-06 -4.0 4.10e-02 -4.1 1.00e+00 1.00e+00h 1 53 2.0822217e+00 6.99e-09 3.43e-06 -4.0 1.23e-01 -4.6 1.00e+00 1.00e+00h 1 54 2.0822120e+00 6.13e-08 3.45e-06 -4.0 3.71e-01 -5.0 1.00e+00 1.00e+00h 1 55 2.0821873e+00 5.14e-07 2.16e-05 -4.0 1.13e+00 -5.5 1.00e+00 1.00e+00h 1 56 2.0821396e+00 9.94e-06 1.09e-04 -4.0 3.67e+00 -6.0 1.00e+00 1.00e+00h 1 57 2.0818257e+00 2.28e-04 3.99e-04 -4.1 1.28e+01 -6.5 1.00e+00 1.00e+00h 1 58 2.0827739e+00 7.83e-06 2.05e-01 -4.0 1.24e+01 -6.0 5.15e-01 1.00e+00H 1 59 2.0822551e+00 1.58e-07 4.09e-03 -4.1 4.28e-02 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820029e+00 7.61e-08 1.45e-03 -4.1 3.93e-02 -1.6 1.00e+00 1.00e+00h 1 61 2.0821346e+00 1.20e-06 5.31e-04 -4.0 5.05e-02 -2.1 1.00e+00 1.00e+00h 1 62 2.0820340e+00 8.38e-08 5.18e-05 -4.1 1.24e-02 -2.5 1.00e+00 1.00e+00h 1 63 2.0813779e+00 3.73e-06 5.20e-02 -6.1 6.31e-02 -3.0 8.66e-01 9.70e-01h 1 64 2.0822704e+00 6.64e-06 2.13e-03 -4.0 7.63e-02 -3.5 1.00e+00 1.00e+00f 1 65 2.0820359e+00 3.82e-06 5.63e-05 -4.1 9.25e-02 -4.0 1.00e+00 1.00e+00h 1 66 2.0813887e+00 2.54e-05 2.18e-02 -6.1 3.11e-01 -4.4 8.62e-01 8.99e-01h 1 67 2.0812538e+00 1.11e-05 3.22e-04 -6.1 9.29e-01 -4.9 1.00e+00 9.93e-01h 1 68 2.0811344e+00 3.24e-06 7.95e-05 -5.8 2.73e+00 -5.4 1.00e+00 1.00e+00h 1 69 2.0810780e+00 3.59e-06 8.87e-01 -5.3 1.40e+01 -5.9 1.00e+00 1.06e-01h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0810871e+00 4.20e-06 1.54e+00 -4.8 1.32e+00 -4.5 8.95e-01 2.17e-01h 1 71 2.0812485e+00 5.72e-09 7.97e-04 -5.0 9.54e-01 -5.0 1.00e+00 1.00e+00H 1 72 2.0817039e+00 1.51e-04 3.23e-01 -4.0 9.21e-01 -4.6 6.07e-01 8.79e-01f 1 73 2.0814564e+00 5.12e-05 1.13e-03 -4.3 8.55e-01 -5.1 1.00e+00 1.00e+00h 1 74 2.0814348e+00 2.98e-05 7.26e-04 -4.3 1.36e+00 -5.5 1.00e+00 1.00e+00h 1 75 2.0813444e+00 5.79e-05 4.58e-04 -4.3 2.50e+00 -6.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0813443596221228e+00 2.0813443596221228e+00 Dual infeasibility......: 4.5832787572311850e-04 4.5832787572311850e-04 Constraint violation....: 5.7879148971373695e-05 5.7879148971373695e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3727063952975154e-05 5.3727063952975154e-05 Overall NLP error.......: 4.5832787572311850e-04 4.5832787572311850e-04 Number of objective function evaluations = 94 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 94 Number of inequality constraint evaluations = 94 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 0.989 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 (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) 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 1.1598097e+00 3.41e+00 5.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6846094e+00 6.65e-02 3.58e+00 -0.9 1.83e+00 0.0 9.48e-01 1.00e+00h 1 2 2.7024110e+00 1.54e-02 3.84e+00 -0.6 2.43e-01 0.4 9.65e-01 1.00e+00f 1 3 2.6178413e+00 1.17e-03 5.99e-01 -1.2 5.38e-02 -0.1 9.95e-01 1.00e+00h 1 4 2.3385409e+00 1.53e-02 1.25e-01 -1.7 1.41e-01 -0.5 9.86e-01 9.08e-01f 1 5 2.1761247e+00 2.48e-03 5.51e-02 -2.3 1.18e-01 -1.0 8.95e-01 1.00e+00h 1 6 2.0985117e+00 5.43e-04 3.10e-02 -3.6 4.65e-02 -1.5 9.98e-01 8.56e-01h 1 7 2.0908771e+00 2.49e-06 1.84e-03 -4.0 1.32e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0908357e+00 4.72e-08 1.06e-04 -4.0 2.90e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908310e+00 1.99e-10 2.17e-05 -4.0 1.79e-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 2.0908275e+00 4.53e-10 1.49e-05 -4.0 3.66e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908191e+00 3.95e-09 1.48e-05 -4.0 1.09e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907941e+00 3.49e-08 1.47e-05 -4.0 3.25e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907187e+00 2.97e-07 6.53e-05 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904371e+00 2.85e-06 8.74e-04 -4.0 3.10e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0895957e+00 3.02e-05 2.89e-03 -4.0 9.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0879223e+00 1.41e-04 2.70e-02 -4.0 2.69e+01 -6.3 1.00e+00 7.21e-01h 1 17 2.0848430e+00 1.04e-03 4.97e-02 -4.0 5.35e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0836467e+00 4.92e-04 2.16e-02 -4.0 1.88e+01 -6.3 1.00e+00 5.62e-01h 1 19 2.0827976e+00 1.49e-04 1.60e-02 -4.0 2.10e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827995e+00 2.67e-04 1.08e-02 -4.0 5.32e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0820814e+00 2.14e-03 9.10e-03 -4.1 1.21e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.9991359e+00 1.07e-03 1.64e+01 -4.0 1.10e+03 -8.2 3.62e-02 1.00e+00H 1 23 2.0908036e+00 1.51e-04 1.54e+00 -4.2 3.83e-01 -0.4 4.64e-01 8.59e-01f 1 24 2.0909213e+00 1.50e-04 6.00e+00 -4.2 8.05e-02 -0.8 1.00e+00 1.95e-03f 10 25 2.0907384e+00 2.05e-07 1.79e-03 -4.2 3.77e-02 -1.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0907384253823342e+00 2.0907384253823342e+00 Dual infeasibility......: 1.7916417170569616e-03 1.7916417170569616e-03 Constraint violation....: 2.0501154389396259e-07 2.0501154389396259e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1641649770431962e-04 1.1641649770431962e-04 Overall NLP error.......: 1.7916417170569616e-03 1.7916417170569616e-03 Number of objective function evaluations = 36 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 36 Number of inequality constraint evaluations = 36 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.341 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: 0.027s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.103s jacobian structure: 1600 nonzeros (2.13s) integrator 1 hessian structure: 0.021s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.413s 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 (3.435s) linear index maps built (0.0s) evaluator ready (total: 5.566s) evaluator created (5.583s) 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: 5.584s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5716634e+00 2.16e+00 6.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7562125e+00 2.05e-01 1.79e+00 -1.1 2.54e+00 -2.0 9.53e-01 1.00e+00h 1 Hello, world! 2 2.5403169e+00 8.06e-02 5.29e-01 -1.1 1.30e+00 -1.6 7.07e-01 5.78e-01h 1 Hello, world! 3 2.2540084e+00 3.57e-02 8.93e-02 -2.0 4.18e-01 -2.1 9.19e-01 1.00e+00h 1 Hello, world! 4 2.1125636e+00 5.67e-03 2.26e-02 -2.7 2.38e-01 -2.5 9.38e-01 1.00e+00h 1 Hello, world! 5 2.0913586e+00 1.97e-04 3.58e-03 -4.0 6.25e-02 -3.0 9.98e-01 9.62e-01h 1 Hello, world! 6 2.0909302e+00 7.33e-06 5.82e-05 -4.0 5.51e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909168e+00 3.39e-08 1.73e-05 -4.0 1.58e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908829e+00 6.92e-08 1.10e-04 -4.0 4.31e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0907948e+00 4.13e-07 3.74e-04 -4.0 1.16e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905354e+00 4.30e-06 3.70e-04 -4.0 3.58e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0904251e+00 6.31e-07 4.79e-04 -4.0 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0902750e+00 1.36e-06 1.53e-02 -4.0 5.46e+00 -5.4 1.00e+00 2.71e-01h 2 Hello, world! 13 2.0891814e+00 5.29e-05 1.83e-03 -4.0 1.26e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0867291e+00 3.85e-04 1.80e-02 -4.0 3.37e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0858464e+00 1.68e-04 1.44e-02 -4.0 1.32e+01 -6.0 1.00e+00 6.70e-01h 1 Hello, world! 16 2.0843538e+00 2.25e-04 1.41e-02 -4.0 2.66e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0827109e+00 1.47e-04 1.88e-02 -4.0 3.21e+01 -6.9 1.00e+00 8.29e-01h 1 Hello, world! 18 2.0829288e+00 1.09e-03 3.33e-02 -4.0 6.48e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0820360e+00 1.82e-03 9.90e-03 -4.1 1.51e+02 -7.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826757e+00 6.63e-04 1.22e-01 -4.0 1.50e+03 -7.5 9.08e-03 6.25e-02h 5 Hello, world! 21 2.0823865e+00 2.17e-04 1.13e-01 -4.0 2.37e+00 -5.2 1.00e+00 6.73e-01h 1 Hello, world! 22 2.0823258e+00 3.33e-04 2.72e-01 -4.0 3.52e+00 -5.7 1.00e+00 5.89e-01h 1 Hello, world! 23 2.0822014e+00 4.91e-04 1.69e-03 -4.0 7.38e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0820259e+00 2.36e-04 5.79e-02 -4.0 3.06e+01 -6.7 5.51e-01 1.00e+00h 1 Hello, world! 25 2.0820860e+00 3.67e-04 7.36e-03 -4.0 4.45e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0819128e+00 2.06e-05 2.37e-02 -4.1 4.15e+00 -5.8 1.00e+00 9.42e-01H 1 Hello, world! 27 2.0820879e+00 1.43e-04 2.52e-02 -4.0 7.53e+00 -6.3 4.28e-01 3.51e-01f 2 Hello, world! 28 2.0819488e+00 1.86e-07 4.79e-02 -4.2 2.34e-01 -3.1 7.42e-01 1.00e+00h 1 Hello, world! 29 2.0821417e+00 6.53e-06 1.54e-03 -4.0 2.29e-01 -3.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820239e+00 5.70e-06 3.77e-04 -4.1 2.08e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0813992e+00 6.72e-05 5.67e-02 -6.1 6.35e-01 -4.6 8.34e-01 1.00e+00h 1 Hello, world! 32 2.0816085e+00 4.25e-05 7.31e-01 -3.9 3.36e+00 -5.1 1.00e+00 1.82e-01h 1 Hello, world! 33 2.0821369e+00 6.29e-05 1.22e-03 -4.0 8.17e-01 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819055e+00 5.72e-05 2.75e-04 -4.1 1.28e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0810084e+00 9.70e-04 7.63e-03 -6.1 1.23e+01 -6.5 9.82e-01 1.00e+00h 1 Hello, world! 36 2.0810248e+00 6.62e-07 6.53e-05 -5.2 1.48e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0813218e+00 3.23e-05 5.53e-01 -4.0 2.46e+00 -4.7 1.00e+00 3.31e-01f 1 Hello, world! 38 2.0815363e+00 5.13e-05 2.12e-03 -4.1 1.44e+00 -5.2 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0816686e+00 2.68e-05 1.09e-03 -4.1 1.95e+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 40 2.0817439e+00 9.62e-06 6.24e-04 -4.1 2.37e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0809582e+00 7.73e-04 5.59e-03 -6.2 1.13e+01 -6.6 9.96e-01 1.00e+00h 1 Hello, world! 42 2.0810598e+00 6.44e-06 9.12e-05 -4.8 3.86e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0810277e+00 2.86e-06 1.14e-04 -4.9 9.53e-01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0808808e+00 4.85e-05 4.38e-04 -7.3 3.38e+00 -6.3 9.84e-01 9.53e-01h 1 Hello, world! 45 2.0808956e+00 4.76e-05 2.60e-01 -4.0 2.16e+01 -4.9 5.63e-02 1.29e-02f 1 Hello, world! 46 2.0809229e+00 3.15e-06 1.89e-01 -5.4 1.27e+00 -5.4 6.48e-01 1.00e+00h 1 Hello, world! 47 2.0811639e+00 1.19e-04 1.58e-01 -4.0 1.90e+01 -5.9 1.94e-01 2.32e-01f 1 Hello, world! 48 2.0812013e+00 2.98e-05 3.64e-03 -4.7 4.24e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0810958e+00 1.71e-05 7.94e-01 -4.7 3.14e-01 -3.2 8.10e-01 4.27e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810548e+00 4.99e-08 1.38e-04 -4.7 3.56e-02 -3.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0810547508372670e+00 2.0810547508372670e+00 Dual infeasibility......: 1.3829341063771521e-04 1.3829341063771521e-04 Constraint violation....: 4.9913173927329524e-08 4.9913173927329524e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1462720595006061e-05 2.1462720595006061e-05 Overall NLP error.......: 1.3829341063771521e-04 1.3829341063771521e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 25.799 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: 0.003s) 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 3.5716634e+00 2.16e+00 6.21e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7562125e+00 2.05e-01 1.79e+00 -1.1 2.54e+00 -2.0 9.53e-01 1.00e+00h 1 Hello, world! 2 2.5403169e+00 8.06e-02 5.29e-01 -1.1 1.30e+00 -1.6 7.07e-01 5.78e-01h 1 Hello, world! 3 2.2540084e+00 3.57e-02 8.93e-02 -2.0 4.18e-01 -2.1 9.19e-01 1.00e+00h 1 Hello, world! 4 2.1125636e+00 5.67e-03 2.26e-02 -2.7 2.38e-01 -2.5 9.38e-01 1.00e+00h 1 Hello, world! 5 2.0913586e+00 1.97e-04 3.58e-03 -4.0 6.25e-02 -3.0 9.98e-01 9.62e-01h 1 Hello, world! 6 2.0909302e+00 7.33e-06 5.82e-05 -4.0 5.51e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909168e+00 3.39e-08 1.73e-05 -4.0 1.58e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908829e+00 6.92e-08 1.10e-04 -4.0 4.31e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0907948e+00 4.13e-07 3.74e-04 -4.0 1.16e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905354e+00 4.30e-06 3.70e-04 -4.0 3.58e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0904251e+00 6.31e-07 4.79e-04 -4.0 1.39e+00 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0902750e+00 1.36e-06 1.53e-02 -4.0 5.46e+00 -5.4 1.00e+00 2.71e-01h 2 Hello, world! 13 2.0891814e+00 5.29e-05 1.83e-03 -4.0 1.26e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0867291e+00 3.85e-04 1.80e-02 -4.0 3.37e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0858464e+00 1.68e-04 1.44e-02 -4.0 1.32e+01 -6.0 1.00e+00 6.70e-01h 1 Hello, world! 16 2.0843538e+00 2.25e-04 1.41e-02 -4.0 2.66e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0827109e+00 1.47e-04 1.88e-02 -4.0 3.21e+01 -6.9 1.00e+00 8.29e-01h 1 Hello, world! 18 2.0829288e+00 1.09e-03 3.33e-02 -4.0 6.48e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0820360e+00 1.82e-03 9.90e-03 -4.1 1.51e+02 -7.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826757e+00 6.63e-04 1.22e-01 -4.0 1.50e+03 -7.5 9.08e-03 6.25e-02h 5 Hello, world! 21 2.0823865e+00 2.17e-04 1.13e-01 -4.0 2.37e+00 -5.2 1.00e+00 6.73e-01h 1 Hello, world! 22 2.0823258e+00 3.33e-04 2.72e-01 -4.0 3.52e+00 -5.7 1.00e+00 5.89e-01h 1 Hello, world! 23 2.0822014e+00 4.91e-04 1.69e-03 -4.0 7.38e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0820259e+00 2.36e-04 5.79e-02 -4.0 3.06e+01 -6.7 5.51e-01 1.00e+00h 1 Hello, world! 25 2.0820860e+00 3.67e-04 7.36e-03 -4.0 4.45e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0819128e+00 2.06e-05 2.37e-02 -4.1 4.15e+00 -5.8 1.00e+00 9.42e-01H 1 Hello, world! 27 2.0820879e+00 1.43e-04 2.52e-02 -4.0 7.53e+00 -6.3 4.28e-01 3.51e-01f 2 Hello, world! 28 2.0819488e+00 1.86e-07 4.79e-02 -4.2 2.34e-01 -3.1 7.42e-01 1.00e+00h 1 Hello, world! 29 2.0821417e+00 6.53e-06 1.54e-03 -4.0 2.29e-01 -3.6 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820239e+00 5.70e-06 3.77e-04 -4.1 2.08e-01 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0813992e+00 6.72e-05 5.67e-02 -6.1 6.35e-01 -4.6 8.34e-01 1.00e+00h 1 Hello, world! 32 2.0816085e+00 4.25e-05 7.31e-01 -3.9 3.36e+00 -5.1 1.00e+00 1.82e-01h 1 Hello, world! 33 2.0821369e+00 6.29e-05 1.22e-03 -4.0 8.17e-01 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819055e+00 5.72e-05 2.75e-04 -4.1 1.28e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0810084e+00 9.70e-04 7.63e-03 -6.1 1.23e+01 -6.5 9.82e-01 1.00e+00h 1 Hello, world! 36 2.0810248e+00 6.62e-07 6.53e-05 -5.2 1.48e-01 -4.2 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0813218e+00 3.23e-05 5.53e-01 -4.0 2.46e+00 -4.7 1.00e+00 3.31e-01f 1 Hello, world! 38 2.0815363e+00 5.13e-05 2.12e-03 -4.1 1.44e+00 -5.2 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0816686e+00 2.68e-05 1.09e-03 -4.1 1.95e+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 40 2.0817439e+00 9.62e-06 6.24e-04 -4.1 2.37e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0809582e+00 7.73e-04 5.59e-03 -6.2 1.13e+01 -6.6 9.96e-01 1.00e+00h 1 Hello, world! 42 2.0810598e+00 6.44e-06 9.12e-05 -4.8 3.86e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0810277e+00 2.86e-06 1.14e-04 -4.9 9.53e-01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0808808e+00 4.85e-05 4.38e-04 -7.3 3.38e+00 -6.3 9.84e-01 9.53e-01h 1 Hello, world! 45 2.0808956e+00 4.76e-05 2.60e-01 -4.0 2.16e+01 -4.9 5.63e-02 1.29e-02f 1 Hello, world! 46 2.0809229e+00 3.15e-06 1.89e-01 -5.4 1.27e+00 -5.4 6.48e-01 1.00e+00h 1 Hello, world! 47 2.0811639e+00 1.19e-04 1.58e-01 -4.0 1.90e+01 -5.9 1.94e-01 2.32e-01f 1 Hello, world! 48 2.0812013e+00 2.98e-05 3.64e-03 -4.7 4.24e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0810958e+00 1.71e-05 7.94e-01 -4.7 3.14e-01 -3.2 8.10e-01 4.27e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810548e+00 4.99e-08 1.38e-04 -4.7 3.56e-02 -3.7 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0810547508372670e+00 2.0810547508372670e+00 Dual infeasibility......: 1.3829341063771521e-04 1.3829341063771521e-04 Constraint violation....: 4.9913173927329524e-08 4.9913173927329524e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.1462720595006061e-05 2.1462720595006061e-05 Overall NLP error.......: 1.3829341063771521e-04 1.3829341063771521e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.690 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: 0.027s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.09s jacobian structure: 1600 nonzeros (1.118s) integrator 1 hessian structure: 0.02s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 1.314s 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 (1.337s) linear index maps built (0.0s) evaluator ready (total: 2.456s) evaluator created (2.472s) 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: 2.473s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7077768e+00 3.91e+00 6.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6787553e+00 5.30e-02 4.70e+00 -1.0 2.61e+00 0.0 9.70e-01 1.00e+00f 1 2 2.6256824e+00 6.19e-03 2.47e-01 -1.1 8.80e-02 0.4 9.86e-01 1.00e+00h 1 3 2.3706042e+00 1.29e-03 1.09e-01 -1.9 5.58e-02 -0.1 9.66e-01 1.00e+00h 1 4 2.1435627e+00 5.04e-03 4.83e-02 -2.6 1.11e-01 -0.5 9.93e-01 7.56e-01f 1 5 2.0972389e+00 2.36e-04 1.90e-02 -3.2 1.29e-02 -1.0 9.94e-01 9.53e-01h 1 6 2.0909340e+00 5.02e-06 1.32e-03 -4.0 4.40e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909410e+00 1.94e-08 3.26e-05 -4.0 2.97e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909405e+00 1.06e-10 2.40e-05 -4.0 6.55e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909383e+00 2.01e-10 2.39e-05 -4.0 1.96e-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 2.0909314e+00 1.92e-09 2.34e-05 -4.0 5.75e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909130e+00 1.55e-08 7.75e-05 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908740e+00 9.42e-08 7.20e-04 -4.0 4.11e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907977e+00 3.85e-07 7.74e-04 -4.0 9.90e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905962e+00 3.07e-06 1.03e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899772e+00 2.61e-05 1.05e-03 -4.0 8.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897445e+00 2.40e-05 7.39e-02 -4.0 2.76e+01 -6.3 1.00e+00 9.19e-02h 2 17 2.0859400e+00 1.11e-03 4.02e-02 -4.0 5.38e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0849125e+00 4.70e-04 2.87e-02 -4.0 2.27e+01 -6.3 1.00e+00 5.74e-01h 1 19 2.0830196e+00 4.41e-04 2.30e-02 -4.0 3.58e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827952e+00 5.24e-04 1.84e-02 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823022e+00 1.08e-03 1.02e-02 -4.0 1.47e+02 -7.7 7.07e-01 1.00e+00h 1 22 2.1010905e+00 8.84e-06 1.30e-01 -4.0 4.24e+01 -6.4 1.00e+00 1.00e+00H 1 23 2.0842107e+00 8.60e-07 3.73e-02 -4.1 2.06e-01 -0.6 1.00e+00 1.00e+00f 1 24 2.0829226e+00 3.62e-08 4.74e-03 -4.0 5.36e-02 -1.0 1.00e+00 1.00e+00f 1 25 2.0828676e+00 6.05e-07 1.71e-03 -4.0 5.55e-02 -1.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0828676300701998e+00 2.0828676300701998e+00 Dual infeasibility......: 1.7095573984278966e-03 1.7095573984278966e-03 Constraint violation....: 6.0474936109181088e-07 6.0474936109181088e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5446249986976953e-04 1.5446249986976953e-04 Overall NLP error.......: 1.7095573984278966e-03 1.7095573984278966e-03 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 = 25.737 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7077768e+00 3.91e+00 6.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6787553e+00 5.30e-02 4.70e+00 -1.0 2.61e+00 0.0 9.70e-01 1.00e+00f 1 2 2.6256824e+00 6.19e-03 2.47e-01 -1.1 8.80e-02 0.4 9.86e-01 1.00e+00h 1 3 2.3706042e+00 1.29e-03 1.09e-01 -1.9 5.58e-02 -0.1 9.66e-01 1.00e+00h 1 4 2.1435627e+00 5.04e-03 4.83e-02 -2.6 1.11e-01 -0.5 9.93e-01 7.56e-01f 1 5 2.0972389e+00 2.36e-04 1.90e-02 -3.2 1.29e-02 -1.0 9.94e-01 9.53e-01h 1 6 2.0909340e+00 5.02e-06 1.32e-03 -4.0 4.40e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909410e+00 1.94e-08 3.26e-05 -4.0 2.97e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909405e+00 1.06e-10 2.40e-05 -4.0 6.55e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909383e+00 2.01e-10 2.39e-05 -4.0 1.96e-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 2.0909314e+00 1.92e-09 2.34e-05 -4.0 5.75e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909130e+00 1.55e-08 7.75e-05 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908740e+00 9.42e-08 7.20e-04 -4.0 4.11e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907977e+00 3.85e-07 7.74e-04 -4.0 9.90e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905962e+00 3.07e-06 1.03e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899772e+00 2.61e-05 1.05e-03 -4.0 8.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897445e+00 2.40e-05 7.39e-02 -4.0 2.76e+01 -6.3 1.00e+00 9.19e-02h 2 17 2.0859400e+00 1.11e-03 4.02e-02 -4.0 5.38e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0849125e+00 4.70e-04 2.87e-02 -4.0 2.27e+01 -6.3 1.00e+00 5.74e-01h 1 19 2.0830196e+00 4.41e-04 2.30e-02 -4.0 3.58e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827952e+00 5.24e-04 1.84e-02 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823022e+00 1.08e-03 1.02e-02 -4.0 1.47e+02 -7.7 7.07e-01 1.00e+00h 1 22 2.1010905e+00 8.84e-06 1.30e-01 -4.0 4.24e+01 -6.4 1.00e+00 1.00e+00H 1 23 2.0842107e+00 8.60e-07 3.73e-02 -4.1 2.06e-01 -0.6 1.00e+00 1.00e+00f 1 24 2.0829226e+00 3.62e-08 4.74e-03 -4.0 5.36e-02 -1.0 1.00e+00 1.00e+00f 1 25 2.0828676e+00 6.05e-07 1.71e-03 -4.0 5.55e-02 -1.5 1.00e+00 1.00e+00h 1 26 2.0827045e+00 1.59e-06 7.20e-04 -4.0 7.07e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0827870e+00 7.61e-08 7.58e-05 -4.0 2.23e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0827733e+00 4.46e-08 7.48e-06 -4.0 6.64e-03 -2.9 1.00e+00 1.00e+00h 1 29 2.0827716e+00 6.66e-09 7.52e-06 -4.0 2.00e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827678e+00 2.08e-09 7.50e-06 -4.0 5.99e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0827566e+00 1.91e-08 7.43e-06 -4.0 1.78e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0827239e+00 1.63e-07 1.45e-05 -4.0 5.21e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0826349e+00 1.24e-06 1.13e-04 -4.0 1.48e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0824359e+00 7.85e-06 6.75e-04 -4.0 3.84e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0821633e+00 5.71e-05 1.57e-03 -4.0 1.10e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0821370e+00 1.14e-04 2.02e-02 -4.0 1.35e+02 -6.8 5.68e-02 8.63e-02h 4 37 2.0821048e+00 8.69e-05 2.80e-02 -4.0 9.29e-01 -4.5 9.76e-01 1.00e+00h 1 38 2.0821499e+00 6.11e-05 1.48e-03 -4.0 1.02e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0822032e+00 4.79e-06 5.50e-04 -4.0 8.66e-01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822096e+00 1.06e-05 1.80e-04 -4.0 9.91e-01 -6.0 1.00e+00 1.00e+00h 1 41 2.0822060e+00 5.76e-06 6.40e-05 -4.0 3.28e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0821686e+00 2.84e-06 1.21e-04 -4.0 9.80e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0820786e+00 1.96e-05 1.32e-03 -4.0 2.35e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819547e+00 8.39e-05 3.97e-03 -4.0 4.23e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0818712e+00 1.53e-04 4.63e-03 -4.0 5.91e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818469e+00 7.28e-05 1.56e-03 -4.0 4.57e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0818436e+00 5.94e-06 1.35e-04 -4.0 1.53e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818434e+00 6.97e-08 2.37e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0818434e+00 1.11e-10 5.28e-09 -4.0 9.06e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106249337e+00 2.0818434106249337e+00 Dual infeasibility......: 5.2794917164975582e-09 5.2794917164975582e-09 Constraint violation....: 1.1147527345656272e-10 1.1147527345656272e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 5.2794917164975582e-09 5.2794917164975582e-09 Number of objective function evaluations = 59 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 0.655 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.004s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) 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 3.7077768e+00 3.91e+00 6.31e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6787553e+00 5.30e-02 4.70e+00 -1.0 2.61e+00 0.0 9.70e-01 1.00e+00f 1 2 2.6256824e+00 6.19e-03 2.47e-01 -1.1 8.80e-02 0.4 9.86e-01 1.00e+00h 1 3 2.3706042e+00 1.29e-03 1.09e-01 -1.9 5.58e-02 -0.1 9.66e-01 1.00e+00h 1 4 2.1435627e+00 5.04e-03 4.83e-02 -2.6 1.11e-01 -0.5 9.93e-01 7.56e-01f 1 5 2.0972389e+00 2.36e-04 1.90e-02 -3.2 1.29e-02 -1.0 9.94e-01 9.53e-01h 1 6 2.0909340e+00 5.02e-06 1.32e-03 -4.0 4.40e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909410e+00 1.94e-08 3.26e-05 -4.0 2.97e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909405e+00 1.06e-10 2.40e-05 -4.0 6.55e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909383e+00 2.01e-10 2.39e-05 -4.0 1.96e-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 2.0909314e+00 1.92e-09 2.34e-05 -4.0 5.75e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909130e+00 1.55e-08 7.75e-05 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908740e+00 9.42e-08 7.20e-04 -4.0 4.11e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907977e+00 3.85e-07 7.74e-04 -4.0 9.90e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905962e+00 3.07e-06 1.03e-03 -4.0 3.03e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899772e+00 2.61e-05 1.05e-03 -4.0 8.63e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897445e+00 2.40e-05 7.39e-02 -4.0 2.76e+01 -6.3 1.00e+00 9.19e-02h 2 17 2.0859400e+00 1.11e-03 4.02e-02 -4.0 5.38e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0849125e+00 4.70e-04 2.87e-02 -4.0 2.27e+01 -6.3 1.00e+00 5.74e-01h 1 19 2.0830196e+00 4.41e-04 2.30e-02 -4.0 3.58e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827952e+00 5.24e-04 1.84e-02 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823022e+00 1.08e-03 1.02e-02 -4.0 1.47e+02 -7.7 7.07e-01 1.00e+00h 1 22 2.1010905e+00 8.84e-06 1.30e-01 -4.0 4.24e+01 -6.4 1.00e+00 1.00e+00H 1 23 2.0842107e+00 8.60e-07 3.73e-02 -4.1 2.06e-01 -0.6 1.00e+00 1.00e+00f 1 24 2.0829226e+00 3.62e-08 4.74e-03 -4.0 5.36e-02 -1.0 1.00e+00 1.00e+00f 1 25 2.0828676e+00 6.05e-07 1.71e-03 -4.0 5.55e-02 -1.5 1.00e+00 1.00e+00h 1 26 2.0827045e+00 1.59e-06 7.20e-04 -4.0 7.07e-02 -2.0 1.00e+00 1.00e+00h 1 27 2.0827870e+00 7.61e-08 7.58e-05 -4.0 2.23e-02 -2.5 1.00e+00 1.00e+00h 1 28 2.0827733e+00 4.46e-08 7.48e-06 -4.0 6.64e-03 -2.9 1.00e+00 1.00e+00h 1 29 2.0827716e+00 6.66e-09 7.52e-06 -4.0 2.00e-02 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0827678e+00 2.08e-09 7.50e-06 -4.0 5.99e-02 -3.9 1.00e+00 1.00e+00h 1 31 2.0827566e+00 1.91e-08 7.43e-06 -4.0 1.78e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0827239e+00 1.63e-07 1.45e-05 -4.0 5.21e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0826349e+00 1.24e-06 1.13e-04 -4.0 1.48e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0824359e+00 7.85e-06 6.75e-04 -4.0 3.84e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0821633e+00 5.71e-05 1.57e-03 -4.0 1.10e+01 -6.3 1.00e+00 1.00e+00h 1 36 2.0821370e+00 1.14e-04 2.02e-02 -4.0 1.35e+02 -6.8 5.68e-02 8.63e-02h 4 37 2.0821048e+00 8.69e-05 2.80e-02 -4.0 9.29e-01 -4.5 9.76e-01 1.00e+00h 1 38 2.0821499e+00 6.11e-05 1.48e-03 -4.0 1.02e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0822032e+00 4.79e-06 5.50e-04 -4.0 8.66e-01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822096e+00 1.06e-05 1.80e-04 -4.0 9.91e-01 -6.0 1.00e+00 1.00e+00h 1 41 2.0822060e+00 5.76e-06 6.40e-05 -4.0 3.28e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0821686e+00 2.84e-06 1.21e-04 -4.0 9.80e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0820786e+00 1.96e-05 1.32e-03 -4.0 2.35e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819547e+00 8.39e-05 3.97e-03 -4.0 4.23e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0818712e+00 1.53e-04 4.63e-03 -4.0 5.91e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818469e+00 7.28e-05 1.56e-03 -4.0 4.57e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0818436e+00 5.94e-06 1.35e-04 -4.0 1.53e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818434e+00 6.97e-08 2.37e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0818434e+00 1.11e-10 5.28e-09 -4.0 9.06e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106249337e+00 2.0818434106249337e+00 Dual infeasibility......: 5.2794917164975582e-09 5.2794917164975582e-09 Constraint violation....: 1.1147527345656272e-10 1.1147527345656272e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 5.2794917164975582e-09 5.2794917164975582e-09 Number of objective function evaluations = 59 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 59 Number of inequality constraint evaluations = 59 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 0.608 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.027s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.048s jacobian structure: 1600 nonzeros (1.075s) integrator 1 hessian structure: 0.022s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 1.449s 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 (1.473s) linear index maps built (0.0s) evaluator ready (total: 2.548s) evaluator created (2.565s) 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: 2.59s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2070336e+00 2.11e+00 6.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8274835e+00 9.37e-01 1.40e+00 -0.9 1.93e+00 0.0 8.85e-01 5.55e-01h 1 2 2.7385168e+00 2.88e-01 1.61e+00 -0.7 1.18e+00 -0.5 8.59e-01 6.92e-01f 1 3 2.6051351e+00 5.52e-03 3.47e-01 -1.4 3.26e-01 -1.0 9.67e-01 1.00e+00h 1 4 2.2308259e+00 1.04e-02 7.88e-02 -2.0 2.01e-01 -1.4 9.88e-01 8.72e-01f 1 5 2.1023164e+00 1.04e-03 8.66e-03 -3.3 6.47e-02 -1.9 9.93e-01 9.39e-01h 1 6 2.0909281e+00 1.90e-05 1.84e-03 -4.0 1.34e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908837e+00 1.45e-07 2.83e-05 -4.0 1.60e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908799e+00 8.24e-10 1.78e-05 -4.0 3.89e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908701e+00 5.13e-09 1.72e-05 -4.0 1.13e-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 2.0908448e+00 3.50e-08 5.85e-05 -4.0 3.15e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908448398274952e+00 2.0908448398274952e+00 Dual infeasibility......: 5.8471381916409349e-05 5.8471381916409349e-05 Constraint violation....: 3.4970525573420341e-08 3.4970525573420341e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999998677e-05 9.9999999999998677e-05 Overall NLP error.......: 5.8471381916409349e-05 5.8471381916409349e-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 = 25.207 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: 0.029s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.139s jacobian structure: 1600 nonzeros (1.169s) integrator 1 hessian structure: 0.025s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 1.411s 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 (1.438s) linear index maps built (0.0s) evaluator ready (total: 2.607s) evaluator created (2.627s) 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: 2.655s) 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: 0.029s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.114s jacobian structure: 1600 nonzeros (1.143s) integrator 1 hessian structure: 0.023s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 1.396s 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 (1.42s) linear index maps built (0.0s) evaluator ready (total: 2.564s) evaluator created (2.586s) 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: 2.612s) 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: 0.033s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.162s jacobian structure: 1600 nonzeros (1.195s) integrator 1 hessian structure: 0.025s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 1.693s 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 (1.719s) linear index maps built (0.0s) evaluator ready (total: 2.915s) evaluator created (2.94s) 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: 2.94s) [ Info: Setting fixed_variable_treatment = MadNLP.RelaxBound for AbstractIntermediateCallback (MadNLP's kkt_system default would otherwise eliminate fixed vars from solver.x) 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............................: 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 2.1208185e+00 2.76e+00 5.54e-01 9.45e-01 -1.0 - 0.00e+00 1 0 1 2.1208182e+00 2.76e+00 3.43e-04 1.07e-04 -1.0 -2.0 1.00e-07 1 2h 2 2.0145576e+00 2.66e+00 1.16e-03 6.09e-05 -1.0 -1.6 3.77e-02 1 1h 3 1.7988917e+00 1.19e+00 3.14e-03 4.76e-05 -1.0 -1.1 5.57e-01 1 1h 4 2.5282695e+00 1.57e-01 9.43e-04 3.63e-05 -1.0 -0.7 9.98e-01 1 1h 5 2.3445297e+00 7.21e-02 6.84e-04 3.56e-05 -2.5 -1.2 5.41e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.3445296737217385e+00 2.3445296737217385e+00 Dual infeasibility......: 6.8378593258374212e-04 6.8378593258374212e-04 Constraint violation....: 7.2069734764898197e-02 7.2069734764898197e-02 Complementarity.........: 3.5565829150676662e-05 3.5565829150676662e-05 Overall NLP error.......: 7.2069734764898197e-02 7.2069734764898197e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 15 Number of KKT backsolves = 6 Total wall secs in initialization = 2.550 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.167 s Total wall secs in solver (w/o init./fun./lin. alg.) = 20.797 s Total wall secs = 23.519 s EXIT: Maximum Number of Iterations Exceeded. ┌ 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/VOKy2/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: 0.124s hessian structure: 30 nonzeros (0.125s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.377s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.133s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (2.979s) optimizer initialization complete (total: 3.489s) 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 1.8498038e-02 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6197417e-02 5.25e-12 1.78e-02 -4.0 2.88e-02 -2.0 9.82e-01 1.00e+00f 1 2 6.7958154e-03 1.54e-12 9.24e-02 -3.1 7.09e-02 -1.6 9.94e-01 1.00e+00f 1 3 2.6719630e-04 7.29e-12 7.37e-02 -3.8 1.03e-01 -1.1 1.00e+00 8.14e-01f 1 4 2.7869241e-05 3.85e-12 1.43e-02 -3.2 4.78e-01 -1.6 1.00e+00 8.31e-01f 1 5 1.7324663e-04 3.14e-12 1.17e-02 -3.0 1.48e+00 -2.1 8.18e-01 4.88e-01f 2 6 1.7324663e-04 3.14e-12 9.35e-03 -3.2 2.57e+00 -2.6 4.18e-01 4.25e-15h 47 7 3.3776016e-04 2.17e-12 7.68e-03 -3.2 2.98e+00 -3.1 2.47e-01 2.47e-01S 62 8 3.2193558e-04 1.39e-12 9.65e-03 -3.2 3.89e-01 -3.5 1.00e+00 2.68e-01f 2 9 3.2193558e-04 1.39e-12 1.04e-02 -3.2 2.63e-01 -4.0 1.00e+00 5.68e-14h 45 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.1662815e-04 1.01e-12 1.29e-02 -3.2 3.74e-01 -4.5 1.00e+00 1.00e+00S 59 11 5.1662815e-04 1.01e-12 1.27e-02 -3.2 2.18e-01 -2.3 1.00e+00 3.58e-11h 35 12 4.0756424e-04 8.36e-13 1.85e-02 -3.2 1.50e-01 -2.7 1.00e+00 1.25e-01f 4 13 1.3892381e-04 5.80e-13 1.95e-02 -3.2 1.45e-01 -3.2 1.00e+00 2.50e-01f 3 14 1.3892379e-04 5.80e-13 2.05e-02 -3.2 7.51e-01 -3.7 1.00e+00 5.02e-08h 25 15 1.3892378e-04 5.80e-13 2.15e-02 -3.2 5.93e-01 -4.2 1.00e+00 1.86e-09h 30 16 1.3892377e-04 5.80e-13 2.25e-02 -3.2 5.55e-01 -4.6 1.00e+00 1.49e-08h 27 17 1.3892376e-04 5.80e-13 2.35e-02 -3.2 5.36e-01 -5.1 1.00e+00 1.49e-08h 27 18 1.3892376e-04 5.80e-13 2.45e-02 -3.2 5.25e-01 -5.6 1.00e+00 3.73e-09h 29 19 1.3892376e-04 5.80e-13 2.55e-02 -3.2 5.99e-01 -6.1 1.00e+00 2.33e-10h 33 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.3892375e-04 5.80e-13 2.66e-02 -3.2 6.82e-01 -6.5 1.00e+00 3.73e-09h 29 21 1.3892375e-04 5.80e-13 2.76e-02 -3.2 7.57e-01 -7.0 1.00e+00 4.66e-10h 32 22 1.3892375e-04 5.80e-13 2.86e-02 -3.2 8.25e-01 -7.5 1.00e+00 9.31e-10h 31 23 1.3892375e-04 5.80e-13 2.96e-02 -3.2 8.84e-01 -8.0 1.00e+00 4.66e-10h 32 24 1.3892375e-04 5.80e-13 3.06e-02 -3.2 9.34e-01 -8.5 1.00e+00 1.16e-10h 34 25 1.3892375e-04 5.80e-13 3.16e-02 -3.2 9.75e-01 -8.9 1.00e+00 1.16e-10h 34 26 1.3892375e-04 5.80e-13 3.26e-02 -3.2 1.01e+00 -9.4 1.00e+00 2.33e-10h 33 27 1.3892375e-04 5.80e-13 3.36e-02 -3.2 1.03e+00 -9.9 1.00e+00 9.31e-10h 31 28 1.3892375e-04 5.80e-13 3.46e-02 -3.2 1.05e+00 -10.4 1.00e+00 2.33e-10h 33 29 1.3892375e-04 5.80e-13 3.57e-02 -3.2 1.06e+00 -10.8 1.00e+00 4.66e-10h 32 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.3892375e-04 5.80e-13 3.73e-02 -3.2 1.08e+00 -11.3 1.00e+00 1.16e-10h 34 31 1.3150603e-04 5.78e-13 3.87e-02 -3.2 1.08e+00 -11.8 1.00e+00 3.91e-03f 9 32 1.3150603e-04 5.78e-13 4.02e-02 -3.2 1.09e+00 -12.3 1.00e+00 2.91e-11h 36 33 1.3150603e-04 5.78e-13 4.17e-02 -3.2 1.09e+00 -12.8 1.00e+00 2.33e-10h 33 34 1.3150603e-04 5.78e-13 4.32e-02 -3.2 1.09e+00 -13.2 1.00e+00 2.33e-10h 33 35 1.3150603e-04 5.78e-13 4.46e-02 -3.2 1.09e+00 -13.7 1.00e+00 2.33e-10h 33 36 1.3150603e-04 5.78e-13 4.61e-02 -3.2 1.10e+00 -14.2 1.00e+00 5.82e-11h 35 37 1.2748788e-04 5.77e-13 4.74e-02 -3.2 1.10e+00 -14.7 1.00e+00 1.95e-03f 10 38 1.2748788e-04 5.77e-13 4.88e-02 -3.2 1.10e+00 -15.1 1.00e+00 2.91e-11h 36 39 1.2748788e-04 5.77e-13 5.01e-02 -3.2 1.10e+00 -15.6 1.00e+00 5.82e-11h 35 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.2748788e-04 5.77e-13 5.15e-02 -3.2 1.10e+00 -16.1 1.00e+00 9.09e-13h 41 41 1.2748788e-04 5.77e-13 5.28e-02 -3.2 1.10e+00 -16.6 1.00e+00 1.16e-10h 34 42 1.2536741e-04 5.77e-13 5.41e-02 -3.2 1.10e+00 -17.0 1.00e+00 9.77e-04f 11 43 1.2536741e-04 5.77e-13 5.53e-02 -3.2 1.10e+00 -17.5 1.00e+00 1.16e-10h 34 44 1.2536740e-04 5.77e-13 5.66e-02 -3.2 1.10e+00 -18.0 1.00e+00 7.28e-12h 38 45 1.2536740e-04 5.77e-13 5.79e-02 -3.2 1.10e+00 -18.5 1.00e+00 1.46e-11h 37 46 1.2317637e-04 5.77e-13 5.90e-02 -3.2 1.10e+00 -19.0 1.00e+00 9.77e-04f 11 47 1.2317637e-04 5.76e-13 6.02e-02 -3.2 1.10e+00 -19.4 1.00e+00 1.46e-11h 37 48 1.2317637e-04 5.76e-13 6.14e-02 -3.2 1.10e+00 -19.9 1.00e+00 7.28e-12h 38 49 1.2317637e-04 5.76e-13 6.26e-02 -3.2 1.10e+00 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.2317637e-04 5.76e-13 6.37e-02 -3.2 1.10e+00 -20.0 1.00e+00 2.91e-11h 36 51 1.2091421e-04 5.76e-13 6.47e-02 -3.2 1.11e+00 -20.0 1.00e+00 9.77e-04f 11 52 1.2091421e-04 5.76e-13 6.58e-02 -3.2 1.10e+00 -20.0 1.00e+00 1.82e-12h 40 53 1.2091421e-04 5.76e-13 6.68e-02 -3.2 1.11e+00 -20.0 1.00e+00 7.28e-12h 38 54 1.2091421e-04 5.76e-13 6.78e-02 -3.2 1.10e+00 -20.0 1.00e+00 1.46e-11h 37 55 1.2091421e-04 5.76e-13 6.88e-02 -3.2 1.11e+00 -20.0 1.00e+00 1.82e-12h 40 56 1.2091421e-04 5.76e-13 6.97e-02 -3.2 1.10e+00 -20.0 1.00e+00 3.64e-12h 39 57 1.2091421e-04 5.76e-13 7.06e-02 -3.2 1.11e+00 -20.0 1.00e+00 2.91e-11h 36 58 1.1973181e-04 5.75e-13 7.15e-02 -3.2 1.10e+00 -20.0 1.00e+00 4.88e-04f 12 59 1.1973181e-04 5.75e-13 7.23e-02 -3.2 1.11e+00 -20.0 1.00e+00 1.82e-12h 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1973180e-04 5.75e-13 7.30e-02 -3.2 1.10e+00 -20.0 1.00e+00 1.46e-11h 37 61 1.1973180e-04 5.76e-13 7.38e-02 -3.2 1.11e+00 -20.0 1.00e+00 1.82e-12h 40 62 1.1973180e-04 5.76e-13 7.44e-02 -3.2 1.10e+00 -20.0 1.00e+00 2.91e-11h 36 63 1.1973180e-04 5.76e-13 7.50e-02 -3.2 1.12e+00 -20.0 1.00e+00 1.45e-11h 37 64 1.1973180e-04 5.76e-13 7.56e-02 -3.2 1.10e+00 -20.0 1.00e+00 1.44e-11h 37 65 1.1912443e-04 5.75e-13 7.61e-02 -3.2 1.12e+00 -20.0 1.00e+00 2.41e-04f 13 66 1.1912443e-04 5.75e-13 7.65e-02 -3.2 1.09e+00 -20.0 1.00e+00 1.43e-11h 37 67 1.1912443e-04 5.75e-13 7.69e-02 -3.2 1.13e+00 -20.0 1.00e+00 1.78e-12h 40 68 1.1912443e-04 5.75e-13 7.72e-02 -3.2 1.08e+00 -20.0 1.00e+00 1.42e-11h 37 69 1.1912443e-04 5.75e-13 7.75e-02 -3.2 1.14e+00 -20.0 1.00e+00 7.08e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1912443e-04 5.75e-13 7.79e-02 -3.2 1.07e+00 -20.0 8.29e-01 3.53e-12h 39 71 1.1912443e-04 5.75e-13 7.81e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.41e-11h 37 72 1.1912443e-04 5.75e-13 7.84e-02 -3.2 1.07e+00 -20.0 8.22e-01 7.03e-12h 38 73 1.1912443e-04 5.75e-13 7.84e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.40e-11h 37 74 1.1912443e-04 5.75e-13 7.86e-02 -3.2 1.08e+00 -20.0 8.21e-01 1.40e-11h 37 75 1.1912443e-04 5.75e-13 7.86e-02 -3.2 1.14e+00 -20.0 1.00e+00 7.01e-12h 38 76 1.1912443e-04 5.75e-13 7.87e-02 -3.2 1.08e+00 -20.0 8.20e-01 7.03e-12h 38 77 1.1912443e-04 5.75e-13 7.86e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.40e-11h 37 78 1.1912443e-04 5.75e-13 7.87e-02 -3.2 1.08e+00 -20.0 8.19e-01 7.04e-12h 38 79 1.1904578e-04 5.75e-13 7.86e-02 -3.2 1.14e+00 -20.0 1.00e+00 2.95e-05f 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1904578e-04 5.76e-13 7.87e-02 -3.2 1.08e+00 -20.0 8.18e-01 8.82e-13h 41 81 1.1896664e-04 5.76e-13 7.90e-02 -3.2 1.14e+00 -20.0 1.00e+00 2.96e-05f 16 82 1.1896664e-04 5.76e-13 7.98e-02 -3.2 1.08e+00 -20.0 8.17e-01 8.84e-13h 41 83 1.1864911e-04 5.76e-13 8.06e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.19e-04f 14 84 1.1864911e-04 5.76e-13 8.14e-02 -3.2 1.08e+00 -20.0 8.17e-01 8.86e-13h 41 85 1.1864911e-04 5.76e-13 8.22e-02 -3.2 1.14e+00 -20.0 1.00e+00 7.09e-12h 38 86 1.1864911e-04 5.76e-13 8.30e-02 -3.2 1.08e+00 -20.0 8.16e-01 7.10e-12h 38 87 1.1832925e-04 5.76e-13 8.37e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.19e-04f 14 88 1.1832925e-04 5.76e-13 8.45e-02 -3.2 1.08e+00 -20.0 8.16e-01 1.78e-12h 40 89 1.1800961e-04 5.76e-13 8.52e-02 -3.2 1.14e+00 -20.0 1.00e+00 1.19e-04f 14 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.1800961e-04 5.76e-13 8.60e-02 -3.2 1.08e+00 -20.0 8.15e-01 3.57e-12h 39 91 1.1784967e-04 5.76e-13 8.67e-02 -3.2 1.14e+00 -20.0 1.00e+00 5.98e-05f 15 92 1.1784967e-04 5.76e-13 8.74e-02 -3.2 1.08e+00 -20.0 8.15e-01 3.57e-12h 39 93 1.1721233e-04 5.75e-13 8.81e-02 -3.2 1.14e+00 -20.0 1.00e+00 2.40e-04f 13 94 1.1721233e-04 5.75e-13 8.88e-02 -3.2 1.08e+00 -20.0 8.14e-01 7.15e-12h 38 95 1.1721233e-04 5.75e-13 8.95e-02 -3.2 1.14e+00 -20.0 1.00e+00 7.15e-12h 38 96 1.1721233e-04 5.75e-13 9.02e-02 -3.2 1.08e+00 -20.0 8.14e-01 7.16e-12h 38 97 1.1657814e-04 5.75e-13 9.09e-02 -3.2 1.14e+00 -20.0 1.00e+00 2.40e-04f 13 98 1.1657814e-04 5.75e-13 9.15e-02 -3.2 1.09e+00 -20.0 8.14e-01 7.17e-12h 38 99 1.1642053e-04 5.75e-13 9.22e-02 -3.2 1.13e+00 -20.0 1.00e+00 6.00e-05f 15 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.1642053e-04 5.75e-13 9.28e-02 -3.2 1.09e+00 -20.0 8.14e-01 7.18e-12h 38 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.1642053261098164e-04 1.1642053261098164e-04 Dual infeasibility......: 9.2816112812814822e-02 9.2816112812814822e-02 Constraint violation....: 5.7509552675583109e-13 5.7509552675583109e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.9733277148622544e-02 4.9733277148622544e-02 Overall NLP error.......: 9.2816112812814822e-02 9.2816112812814822e-02 Number of objective function evaluations = 3032 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3032 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 = 3.202 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.126s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.233s hessian structure: 40 nonzeros (0.233s) linear index maps built (0.0s) evaluator ready (total: 0.234s) evaluator created (0.419s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.128s) 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 (2.734s) optimizer initialization complete (total: 3.282s) 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 2.5284311e+00 1.27e+00 9.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2681930e+00 4.01e-09 4.55e-01 -0.1 7.89e-01 -2.0 9.98e-01 1.00e+00f 1 2 5.6092169e-01 3.96e-09 6.37e-01 -4.0 1.61e+00 -1.6 6.98e-01 1.00e+00f 1 3 2.8261461e-01 2.49e-11 8.89e-02 -1.9 6.52e-01 -1.1 9.99e-01 1.00e+00f 1 4 6.8648560e-02 5.88e-11 7.36e-02 -2.6 1.10e+00 -1.6 9.96e-01 1.00e+00f 1 5 1.3459421e-02 5.15e-11 2.90e-02 -3.6 8.85e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.6614068e-03 1.11e-11 9.11e-03 -4.0 5.93e-01 -2.6 1.00e+00 1.00e+00f 1 7 7.2773347e-04 2.04e-12 2.76e-03 -4.0 3.39e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.2193445e-04 3.70e-13 6.67e-04 -4.0 1.11e-01 -3.5 1.00e+00 1.00e+00f 1 9 4.7957589e-04 5.34e-14 2.41e-04 -4.0 3.72e-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 2.9071724e-04 1.20e-14 4.92e-04 -4.1 9.13e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.6031387e-04 6.93e-15 3.84e-04 -4.0 2.08e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7195627e-04 4.77e-15 5.22e-04 -4.1 9.95e-02 -5.4 1.00e+00 1.00e+00f 1 13 4.6760044e-04 3.55e-15 4.69e-04 -4.0 2.48e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6272927e-04 2.55e-15 5.88e-04 -4.1 1.13e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6797329e-04 2.55e-15 5.06e-04 -4.0 2.67e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5965180e-04 2.00e-15 6.15e-04 -4.1 1.19e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6785255e-04 2.11e-15 5.22e-04 -4.0 2.77e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5863218e-04 1.60e-15 6.33e-04 -4.1 1.23e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6733872e-04 1.78e-15 5.31e-04 -4.0 2.83e-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 2.5832464e-04 1.44e-15 6.48e-04 -4.1 1.25e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6674153e-04 1.55e-15 5.37e-04 -4.0 2.87e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5824314e-04 1.26e-15 6.62e-04 -4.1 1.28e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6612701e-04 1.33e-15 5.42e-04 -4.0 2.91e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5823143e-04 1.15e-15 6.74e-04 -4.1 1.30e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6552247e-04 1.11e-15 5.47e-04 -4.0 2.95e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5823900e-04 1.01e-15 6.86e-04 -4.1 1.33e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0919535e-05 9.71e-15 8.59e-04 -6.2 3.67e-01 -12.6 9.69e-01 1.00e+00f 1 28 1.7517454e-03 2.66e-15 7.47e-03 -4.0 1.94e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4294368e-05 2.51e-14 2.79e-03 -4.1 9.86e-01 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5824661e-03 3.29e-14 7.78e-03 -4.0 9.56e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0003081e-05 1.93e-14 2.21e-03 -4.2 1.06e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6930418e-04 1.67e-15 2.71e-03 -4.0 1.35e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1901913e-04 3.22e-15 2.30e-04 -4.2 3.67e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0141234e-05 4.66e-15 7.80e-04 -6.4 4.00e-01 -15.9 9.65e-01 1.00e+00f 1 35 8.0999952e-06 3.44e-15 9.61e-05 -6.4 1.01e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5760488e-03 1.11e-15 5.47e-03 -4.0 9.41e+00 -16.9 1.00e+00 1.25e-01f 4 37 9.6093123e-05 5.61e-14 3.43e-03 -4.0 7.86e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.5538213e-04 3.80e-14 3.51e-03 -4.0 5.30e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8093730e-04 7.11e-15 4.25e-04 -4.0 4.13e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5513212e-05 5.77e-15 1.29e-03 -6.0 4.92e-01 -18.8 9.56e-01 1.00e+00f 1 41 1.4635815e-05 5.55e-15 1.56e-04 -6.0 1.22e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0364945e-06 8.88e-16 9.86e-05 -6.0 1.39e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.1305262e-03 6.66e-16 3.44e-03 -4.0 1.52e+01 -20.0 1.00e+00 7.89e-02f 4 44 1.5207278e-04 5.02e-14 2.96e-03 -4.0 6.11e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.9136090e-04 2.53e-14 2.91e-03 -4.0 4.36e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9105694e-04 4.66e-15 4.21e-04 -4.0 3.68e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5633925e-05 5.77e-15 1.42e-03 -6.0 5.34e-01 -20.0 9.51e-01 1.00e+00f 1 48 1.4793335e-05 5.00e-15 1.67e-04 -6.0 1.30e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9625664e-06 8.88e-16 1.08e-04 -6.0 1.53e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 9.1035717e-04 4.58e-16 2.42e-03 -4.0 1.64e+01 -20.0 1.00e+00 7.33e-02f 4 51 1.8685996e-04 4.30e-14 2.60e-03 -4.0 5.14e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.2972690e-04 1.78e-14 2.46e-03 -4.0 3.75e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8771793e-04 3.11e-15 4.06e-04 -4.0 3.33e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4745286e-05 5.66e-15 1.51e-03 -6.1 5.70e-01 -20.0 9.47e-01 1.00e+00f 1 55 1.4518132e-05 4.55e-15 1.74e-04 -6.1 1.37e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.8197547e-06 7.77e-16 1.14e-04 -6.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.4754054e-04 4.41e-16 1.50e-03 -4.0 1.77e+01 -20.0 1.00e+00 6.74e-02f 4 58 2.2307340e-04 3.77e-14 2.19e-03 -4.1 4.18e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.6874867e-04 1.22e-14 1.96e-03 -4.1 3.05e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8466615e-04 2.00e-15 3.73e-04 -4.1 2.83e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3742348e-05 5.33e-15 1.59e-03 -6.1 6.04e-01 -20.0 9.43e-01 1.00e+00f 1 62 1.4235154e-05 4.11e-15 1.78e-04 -6.1 1.42e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6981720e-06 6.66e-16 1.19e-04 -6.1 1.74e-01 -20.0 1.00e+00 1.00e+00f 1 64 6.2884881e-04 3.89e-16 7.01e-04 -4.0 1.91e+01 -20.0 1.00e+00 6.25e-02f 4 65 2.5617958e-04 3.35e-14 1.78e-03 -4.1 3.29e-01 -20.0 1.00e+00 1.00e+00f 1 66 5.1438483e-04 8.22e-15 1.48e-03 -4.1 2.35e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.8058807e-04 1.17e-15 3.27e-04 -4.1 2.31e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2651051e-05 5.22e-15 1.66e-03 -6.1 6.36e-01 -20.0 9.39e-01 1.00e+00f 1 69 1.3920466e-05 3.77e-15 1.81e-04 -6.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5866979e-06 6.11e-16 1.23e-04 -6.1 1.83e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.4089833e-04 3.33e-16 7.79e-05 -4.0 2.04e+01 -20.0 1.00e+00 5.84e-02f 4 72 2.8534311e-04 3.02e-14 1.37e-03 -4.1 2.50e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.6839132e-04 5.33e-15 1.04e-03 -4.1 1.69e-01 -20.0 1.00e+00 1.00e+00f 1 74 2.9808456e-04 3.77e-15 9.84e-04 -4.1 1.79e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.6144628e-04 2.73e-15 9.03e-04 -4.1 1.47e-01 -20.0 1.00e+00 1.00e+00f 1 76 3.0514858e-04 3.55e-15 8.90e-04 -4.1 1.61e-01 -20.0 1.00e+00 1.00e+00f 1 77 4.5453863e-04 2.66e-15 8.10e-04 -4.1 1.32e-01 -20.0 1.00e+00 1.00e+00f 1 78 2.3624614e-05 4.66e-15 1.82e-03 -6.1 7.69e-01 -20.0 9.25e-01 1.00e+00f 1 79 1.2305227e-05 3.89e-15 1.21e-04 -6.1 1.07e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.0770173e-06 4.44e-16 1.15e-04 -6.1 1.84e-01 -20.0 1.00e+00 1.00e+00f 1 81 4.9459291e-04 3.96e-16 5.38e-04 -4.0 2.31e+01 -20.0 1.00e+00 5.17e-02f 4 82 3.0946692e-04 2.93e-14 1.07e-03 -4.1 1.90e-01 -20.0 1.00e+00 1.00e+00f 1 83 4.4308071e-04 3.77e-15 7.27e-04 -4.1 1.20e-01 -20.0 1.00e+00 1.00e+00f 1 84 2.4329375e-05 4.44e-15 1.89e-03 -6.1 7.90e-01 -20.0 9.22e-01 1.00e+00f 1 85 1.2441190e-05 3.66e-15 1.32e-04 -6.1 1.16e-01 -20.0 1.00e+00 1.00e+00f 1 86 3.1171695e-06 4.44e-16 1.22e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 87 3.9804360e-06 2.22e-16 2.07e-05 -6.1 3.60e-02 -20.0 1.00e+00 1.00e+00f 1 88 3.4329020e-06 5.64e-17 5.91e-06 -6.1 1.06e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.6077337e-07 5.94e-17 5.28e-05 -9.0 2.35e-01 -20.0 9.77e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.4661606e-03 4.06e-16 1.21e-02 -4.0 1.04e+02 -20.0 1.00e+00 2.33e-02f 3 91 8.3760109e-05 4.86e-14 7.11e-03 -3.9 1.55e+00 -20.0 1.00e+00 1.00e+00f 1 92 7.7262647e-04 2.91e-14 5.39e-03 -3.9 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 93 4.3965821e-04 5.55e-15 7.72e-04 -3.9 5.37e-01 -20.0 1.00e+00 5.00e-01f 2 94 4.3446651e-05 4.22e-15 2.14e-03 -5.9 7.15e-01 -20.0 9.30e-01 1.00e+00f 1 95 1.7944052e-05 4.00e-15 2.62e-04 -5.9 1.86e-01 -20.0 1.00e+00 1.00e+00f 1 96 5.1354687e-06 6.66e-16 1.66e-04 -5.9 2.09e-01 -20.0 1.00e+00 1.00e+00f 1 97 5.8418036e-06 2.22e-16 1.76e-05 -5.9 2.50e-02 -20.0 1.00e+00 1.00e+00h 1 98 5.3954859e-06 7.03e-17 2.76e-06 -5.9 3.97e-03 -20.0 1.00e+00 1.00e+00h 1 99 3.8816480e-07 5.55e-17 7.97e-05 -8.9 2.86e-01 -20.0 9.71e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.5611831e-07 4.68e-17 8.37e-06 -8.9 6.34e-02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.5611830513594780e-07 1.5611830513594780e-07 Dual infeasibility......: 8.3729873169811694e-06 8.3729873169811694e-06 Constraint violation....: 4.6837533851373792e-17 4.6837533851373792e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 5.3775183651874590e-08 5.3775183651874590e-08 Overall NLP error.......: 9.9998664453020017e-05 9.9998664453020017e-05 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 = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.496 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.084s integrator 2 jacobian structure: 0.074s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.159s) integrator 1 hessian structure: 0.071s integrator 2 hessian structure: 0.072s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.385s sub-objective 2 (QuadraticRegularizer): 0.15s sub-objective 3 (LinearRegularizer): 0.136s sub-objective 4 (MinimumTimeObjective): 0.038s objective hessian structure: 0.829s hessian structure: 2431 nonzeros (0.973s) linear index maps built (0.0s) evaluator ready (total: 1.133s) evaluator created (1.368s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.138s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.297s) optimizer initialization complete (total: 4.804s) 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 5.1849045e+00 2.74e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.0579633e+00 1.64e+00 9.02e-01 -0.7 3.50e+01 -4.0 4.79e-01 2.27e-01f 1 2 2.5974683e+00 1.38e+00 3.05e+00 -1.5 1.23e+01 -2.7 6.36e-01 9.03e-01h 1 3 2.6909207e+00 1.36e-01 4.33e+00 -1.6 1.44e+00 -1.3 2.65e-01 1.00e+00h 1 4 2.4464891e+00 2.29e-01 2.74e+00 -2.0 4.21e+00 -1.8 4.20e-01 3.90e-01h 1 5 2.3963439e+00 1.35e-01 1.81e+00 -1.4 1.53e+00 -1.4 6.19e-01 4.39e-01f 1 6 2.2163717e+00 3.03e-02 4.39e-01 -2.2 1.13e+00 -1.9 6.85e-01 7.81e-01h 1 7 2.1010218e+00 2.47e-02 3.57e-01 -2.4 1.26e+00 -2.3 7.30e-01 5.28e-01h 1 8 2.0381277e+00 1.79e-02 2.74e-01 -4.0 9.38e-01 -2.8 6.17e-01 5.45e-01h 1 9 2.0227110e+00 1.48e-02 2.82e-01 -3.3 1.89e+00 -3.3 7.90e-01 3.41e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0015905e+00 2.18e-03 2.49e-02 -4.0 4.63e-01 -3.8 9.30e-01 8.94e-01h 1 11 2.0007848e+00 2.14e-05 6.73e-02 -4.0 1.07e+00 -4.3 8.95e-01 1.00e+00h 1 12 2.0010163e+00 9.61e-06 8.53e-02 -4.0 1.40e+00 -4.7 8.18e-01 1.00e+00h 1 13 2.0010027e+00 2.49e-07 2.53e-02 -4.0 2.27e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0011860e+00 2.84e-09 8.52e-02 -4.0 4.10e+00 -5.7 8.32e-01 1.00e+00f 1 15 2.0009882e+00 6.46e-09 1.04e-01 -4.0 6.19e+00 -6.2 1.00e+00 8.42e-01f 1 16 2.0013715e+00 2.55e-08 2.64e-01 -4.0 1.23e+01 -6.6 8.22e-01 1.00e+00f 1 17 2.0008251e+00 7.44e-08 1.43e-01 -4.1 1.19e+01 -7.1 1.00e+00 6.01e-01f 1 18 2.0016710e+00 3.99e-08 9.56e-01 -4.0 4.64e+01 -7.6 7.97e-01 1.00e+00f 1 19 2.0008711e+00 4.07e-07 3.90e-01 -4.1 3.23e+01 -8.1 1.00e+00 6.03e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0013474e+00 4.50e-08 1.89e+00 -4.1 9.25e+01 -8.5 8.97e-01 1.00e+00f 1 21 2.0008302e+00 2.06e-07 1.84e+00 -4.1 1.17e+02 -9.0 1.00e+00 7.85e-01f 1 22 2.0014334e+00 3.43e-08 5.01e+00 -4.1 2.38e+02 -9.5 8.59e-01 1.00e+00f 1 23 2.0008054e+00 1.59e-07 4.91e+00 -4.1 3.24e+02 -10.0 1.00e+00 7.59e-01f 1 24 2.0022381e+00 1.99e-08 1.82e+01 -4.0 8.56e+02 -10.5 7.76e-01 1.00e+00f 1 25 2.0003314e+00 4.18e-07 5.40e+00 -4.2 4.70e+02 -10.9 1.00e+00 5.75e-01f 1 26 2.0026029e+00 5.86e-08 5.38e+01 -4.0 2.65e+03 -11.4 8.50e-01 1.00e+00f 1 27 2.0013693e+00 9.82e-08 4.30e+00 -4.2 8.03e+02 -11.9 1.00e+00 2.68e-01f 2 28 2.0009025e+00 3.21e-08 5.54e+01 -4.2 2.77e+03 -12.4 1.00e+00 1.00e+00f 1 29 2.0007331e+00 3.78e-09 1.09e+02 -4.2 5.47e+03 -12.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0008655e+00 9.68e-10 2.06e+02 -4.2 1.03e+04 -13.3 1.00e+00 1.00e+00f 1 31 2.0005235e+00 2.07e-09 2.71e+02 -4.2 1.35e+04 -13.8 1.00e+00 1.00e+00f 1 32 2.0008262e+00 2.04e-11 3.68e+02 -4.2 1.84e+04 -14.3 1.00e+00 1.00e+00f 1 33 2.0004252e+00 5.41e-10 2.97e+02 -4.2 1.49e+04 -14.8 1.00e+00 1.00e+00f 1 34 2.0005862e+00 6.99e-13 2.79e+02 -4.2 1.40e+04 -15.2 1.00e+00 1.00e+00f 1 35 2.0004343e+00 8.41e-12 5.74e+01 -4.2 2.87e+03 -15.7 1.00e+00 1.00e+00f 1 36 2.0004666e+00 4.88e-15 7.97e+01 -4.2 3.99e+03 -16.2 1.00e+00 1.00e+00h 1 37 2.0004368e+00 2.30e-14 2.00e+00 -4.2 9.98e+01 -16.7 1.00e+00 1.00e+00h 1 38 2.0004422e+00 4.84e-15 1.47e+01 -4.2 7.37e+02 -17.1 1.00e+00 1.00e+00h 1 39 2.0004371e+00 3.49e-14 8.16e-01 -4.2 4.08e+01 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0004380e+00 6.93e-15 2.50e+00 -4.2 1.25e+02 -18.1 1.00e+00 1.00e+00h 1 41 2.0004371e+00 5.21e-14 1.51e-01 -4.2 7.55e+00 -18.6 1.00e+00 1.00e+00h 1 42 2.0008855e+00 2.72e-10 1.33e+02 -4.0 6.63e+03 -19.0 1.00e+00 1.00e+00f 1 43 2.0005467e+00 1.30e-10 1.93e+02 -4.1 9.65e+03 -19.5 1.00e+00 1.00e+00f 1 44 2.0006608e+00 5.13e-10 6.35e+01 -4.1 3.18e+03 -20.0 1.00e+00 1.00e+00h 1 45 2.0006292e+00 1.11e-10 3.05e+01 -4.1 1.52e+03 -20.0 1.00e+00 1.00e+00h 1 46 2.0006466e+00 8.54e-11 7.74e+00 -4.1 3.87e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0006413e+00 1.96e-11 5.17e+00 -4.1 2.59e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0006442e+00 1.42e-11 1.22e+00 -4.1 6.09e+01 -20.0 1.00e+00 1.00e+00h 1 49 2.0006433e+00 3.29e-12 8.63e-01 -4.1 4.31e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006438e+00 2.36e-12 2.01e-01 -4.1 1.00e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006436e+00 5.48e-13 1.44e-01 -4.1 7.19e+00 -20.0 1.00e+00 1.00e+00h 1 52 2.0006437e+00 3.93e-13 3.34e-02 -4.1 1.67e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006437e+00 9.12e-14 2.40e-02 -4.1 1.20e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006437e+00 6.53e-14 5.57e-03 -4.1 2.79e-01 -20.0 1.00e+00 1.00e+00h 1 55 2.0006437e+00 1.52e-14 3.99e-03 -4.1 2.00e-01 -20.0 1.00e+00 1.00e+00h 1 56 2.0006437e+00 1.09e-14 9.28e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006437e+00 2.53e-15 6.66e-04 -4.1 1.01e-01 -20.0 1.00e+00 1.00e+00h 1 58 1.9998552e+00 1.31e-08 2.26e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 59 2.0006770e+00 3.44e-09 2.05e+03 -4.0 2.05e+05 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0004314e+00 1.04e-10 2.22e+03 -3.9 1.11e+05 -20.0 1.00e+00 1.00e+00f 1 61 2.0009454e+00 3.30e-09 5.17e+02 -3.9 2.58e+04 -20.0 1.00e+00 1.00e+00f 1 62 2.0010254e+00 2.84e-09 1.03e+02 -3.9 5.17e+03 -20.0 1.00e+00 1.00e+00h 1 63 2.0010391e+00 7.41e-10 2.69e+01 -3.9 1.35e+03 -20.0 1.00e+00 1.00e+00h 1 64 2.0010555e+00 5.42e-10 6.42e+00 -3.9 3.21e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0010575e+00 1.32e-10 4.69e+00 -3.9 2.35e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0010602e+00 9.25e-11 1.12e+00 -3.9 5.58e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0010605e+00 2.23e-11 7.80e-01 -3.9 3.90e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0010610e+00 1.55e-11 1.87e-01 -3.9 9.37e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0010610e+00 3.72e-12 1.30e-01 -3.9 6.50e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010611e+00 2.57e-12 3.13e-02 -3.9 1.56e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010611e+00 6.19e-13 2.17e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010611e+00 4.29e-13 5.21e-03 -3.9 4.74e-01 -20.0 1.00e+00 1.00e+00h 1 73 2.0010611e+00 1.03e-13 3.61e-03 -3.9 4.74e-01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010611e+00 7.13e-14 8.69e-04 -3.9 4.74e-01 -20.0 1.00e+00 1.00e+00h 1 75 1.9998646e+00 8.25e-08 2.43e+02 -5.9 1.22e+04 -20.0 1.00e+00 1.00e+00f 1 76 1.9998447e+00 2.99e-13 2.20e+02 -5.9 1.19e+04 -20.0 9.28e-01 1.00e+00h 1 77 1.9763774e+00 2.78e-13 2.71e+05 -5.5 1.08e+08 -20.0 1.00e+00 1.25e-01f 4 78 1.9923704e+00 2.73e-13 1.81e+05 -4.0 1.13e+10 -20.0 1.00e+00 8.05e-04f 1 79 1.9999644e+00 4.76e-12 9.32e+04 -2.6 1.34e+08 -20.0 1.00e+00 3.49e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0030531e+00 8.42e-08 1.77e+03 -2.6 8.84e+04 -20.0 1.00e+00 1.00e+00f 1 81 2.0964283e+00 9.54e-03 1.82e+02 -2.6 1.82e+04 -20.0 1.00e+00 5.00e-01f 2 82 2.0092909e+00 6.42e-03 1.38e+03 -2.6 1.47e+05 -20.0 1.00e+00 1.00e+00H 1 83 2.0286587e+00 1.25e-02 7.56e+02 -2.6 3.78e+04 -20.0 1.00e+00 1.00e+00h 1 84 2.0230879e+00 1.28e-03 2.07e+02 -2.6 1.03e+04 -20.0 1.00e+00 1.00e+00h 1 85 2.0265304e+00 1.21e-03 9.09e+01 -2.6 8.12e+03 -20.0 1.00e+00 1.00e+00h 1 86 2.0245679e+00 7.49e-04 2.09e+01 -2.6 6.69e+03 -20.0 1.00e+00 1.00e+00h 1 87 2.0252188e+00 1.76e-04 2.06e+01 -2.6 7.13e+03 -20.0 1.00e+00 1.00e+00h 1 88 2.0248805e+00 1.28e-04 4.33e+00 -2.6 6.86e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0249893e+00 2.85e-05 3.44e+00 -2.6 6.91e+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 2.0249325e+00 2.13e-05 7.55e-01 -2.6 6.86e+03 -20.0 1.00e+00 1.00e+00h 1 91 2.0249506e+00 4.70e-06 5.74e-01 -2.6 6.86e+03 -20.0 1.00e+00 1.00e+00h 1 92 2.0249412e+00 3.53e-06 1.27e-01 -2.6 6.84e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0249442e+00 7.80e-07 9.55e-02 -2.6 6.83e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0249426e+00 5.86e-07 2.11e-02 -2.6 6.81e+03 -20.0 1.00e+00 1.00e+00h 1 95 2.0009201e+00 1.81e-02 2.62e+02 -3.9 1.31e+04 -20.0 1.00e+00 1.00e+00f 1 96 2.0011409e+00 5.66e-07 7.06e+01 -3.9 3.53e+03 -20.0 1.00e+00 1.00e+00h 1 97 2.0012500e+00 1.87e-09 1.88e+02 -3.9 9.41e+03 -20.0 1.00e+00 1.00e+00h 1 98 2.0010734e+00 5.34e-09 3.05e+00 -3.9 1.52e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0011172e+00 6.16e-10 3.96e+01 -3.9 1.98e+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 100 2.0010846e+00 9.43e-10 3.21e+00 -3.9 1.60e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0010846304429157e+00 2.0010846304429157e+00 Dual infeasibility......: 3.2052280220950706e+00 3.2052280220950706e+00 Constraint violation....: 9.4302069018198376e-10 9.4302069018198376e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.2582440814991696e-04 1.2582440814991696e-04 Overall NLP error.......: 3.2052280220950706e+00 3.2052280220950706e+00 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 = 50.605 EXIT: Maximum Number of Iterations Exceeded. WARNING: Method definition dense(Any, Any, Any) in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:17 overwritten on the same line (check for duplicate calls to `include`). ┌ Warning: Replacing docs for `Main.var"##178".dense :: Tuple{Any, Any, Any}` in module `Main.var"##178"` └ @ Base.Docs docs/Docs.jl:253 WARNING: Method definition show_diffs(Union{AbstractArray{T, 1}, AbstractArray{T, 2}} where T, Union{AbstractArray{T, 1}, AbstractArray{T, 2}} where T) in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:37 overwritten on the same line (check for duplicate calls to `include`). WARNING: Method definition kwcall(NamedTuple{names, T} where T<:Tuple where names, typeof(var"##178".show_diffs), Union{AbstractArray{T, 1}, AbstractArray{T, 2}} where T, Union{AbstractArray{T, 1}, AbstractArray{T, 2}} where T) in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:37 overwritten on the same line (check for duplicate calls to `include`). ┌ Warning: Replacing docs for `Main.var"##178".show_diffs :: Tuple{AbstractVecOrMat, AbstractVecOrMat}` in module `Main.var"##178"` └ @ Base.Docs docs/Docs.jl:253 WARNING: Method definition named_trajectory_type_1() in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:55 overwritten on the same line (check for duplicate calls to `include`). WARNING: Method definition kwcall(NamedTuple{names, T} where T<:Tuple where names, typeof(var"##178".named_trajectory_type_1)) in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:55 overwritten on the same line (check for duplicate calls to `include`). WARNING: Method definition bilinear_dynamics_and_trajectory() in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:113 overwritten on the same line (check for duplicate calls to `include`). WARNING: Method definition kwcall(NamedTuple{names, T} where T<:Tuple where names, typeof(var"##178".bilinear_dynamics_and_trajectory)) in module ##178 at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/test/test_utils.jl:113 overwritten on the same line (check for duplicate calls to `include`). initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.044s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.541s jacobian structure: 1600 nonzeros (1.585s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 2.297s 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 (2.337s) linear index maps built (0.0s) evaluator ready (total: 3.923s) evaluator created (3.954s) 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: 3.956s) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is MadNLP version v0.9.2, 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 2.1516287e+01 3.09e+00 7.63e-01 9.94e-01 -1.0 - 0.00e+00 1 0 1 1.0490207e+01 3.65e-01 1.43e+00 5.91e-01 -1.0 -4.0 9.21e-01 2 1h 2 1.0209719e+01 1.79e-01 2.48e-01 1.81e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7430469e+00 4.03e-03 2.39e-02 4.48e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5054220e+00 4.31e-03 7.39e-02 1.01e-02 -3.8 -5.4 1.00e+00 2 1h 5 9.4403446e+00 6.57e-04 2.91e-03 2.42e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4277483e+00 1.45e-04 6.25e-04 5.13e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246608e+00 2.11e-05 1.59e-04 4.47e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245377e+00 4.19e-07 8.12e-07 2.53e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.05e-09 2.74e-09 4.75e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129862077572e+00 9.4245129862077572e+00 Dual infeasibility......: 2.7397280000229784e-09 2.7397280000229784e-09 Constraint violation....: 1.0505503134083938e-09 1.0505503134083938e-09 Complementarity.........: 4.7522237225632325e-09 4.7522237225632325e-09 Overall NLP error.......: 4.7522237225632325e-09 4.7522237225632325e-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 = 0.011 s Total wall secs in NLP function evaluations = 0.210 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.005 s Total wall secs = 0.228 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.044s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.045s) integrator 1 hessian structure: 0.036s 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 (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.082s) evaluator created (0.082s) 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: 0.083s) 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 3.3002752e+00 2.25e+00 4.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5857748e+00 2.12e-01 9.89e-01 -1.0 2.40e+00 -2.0 9.94e-01 1.00e+00h 1 2 2.2804153e+00 6.22e-02 2.97e-01 -1.7 1.40e+00 -2.5 8.31e-01 1.00e+00h 1 3 2.1763396e+00 2.02e-02 5.64e-02 -2.1 1.05e+00 -3.0 9.59e-01 1.00e+00h 1 4 2.0999117e+00 7.79e-03 7.09e-02 -3.2 1.12e+00 -3.4 1.00e+00 9.03e-01h 1 5 2.0911856e+00 2.06e-04 1.73e-03 -4.0 1.61e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908498e+00 2.64e-05 9.33e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907025e+00 8.42e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902614e+00 7.76e-06 3.44e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889488e+00 7.11e-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 2.0851109e+00 6.73e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796453e+00 2.13e-03 1.76e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.39e-01h 1 12 2.0802574e+00 5.45e-04 1.87e-01 -4.0 6.82e+01 -7.2 1.00e+00 9.61e-01H 1 13 2.0774522e+00 8.45e-03 1.73e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.60e-01h 1 14 2.0769084e+00 1.54e-03 7.44e-02 -4.0 2.07e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762167e+00 2.83e-03 2.26e-02 -4.0 3.52e+02 -8.7 1.00e+00 8.16e-01h 1 16 2.0755193e+00 1.46e-03 3.69e-02 -4.0 5.70e+02 -9.2 1.00e+00 6.95e-01h 1 17 2.0757680e+00 3.04e-03 1.26e-02 -4.0 1.59e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0753779e+00 1.19e-03 5.19e-04 -4.1 8.16e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756723e+00 4.69e-04 5.65e-06 -4.0 2.12e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 5.77e-07 9.56e-07 -4.0 1.11e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 1.73e-09 6.36e-08 -4.0 3.88e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.51e-11 1.00e-09 -4.0 5.66e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121331602e+00 2.0756712121331602e+00 Dual infeasibility......: 1.0040707117196616e-09 1.0040707117196616e-09 Constraint violation....: 2.5096036360139351e-11 2.5096036360139351e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 1.0040707117196616e-09 1.0040707117196616e-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 = 30.408 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.047s) integrator 1 hessian structure: 0.04s 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 (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.089s) evaluator created (0.089s) 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 (0.094s) optimizer initialization complete (total: 0.183s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3003199e+00 3.40e+00 3.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2452458e+00 2.06e+00 1.18e+00 -1.0 2.29e+00 0.0 4.79e-01 3.93e-01f 1 2 2.6033086e+00 2.35e-01 1.51e+00 -1.0 1.58e+00 -0.5 1.00e+00 8.87e-01h 1 3 3.1640229e+00 2.33e-01 2.01e+00 1.0 4.15e+01 -0.1 1.99e-02 1.13e-02f 1 4 3.3074034e+00 8.67e-02 2.54e+00 -0.7 8.15e-01 -0.5 5.18e-01 1.00e+00f 1 5 2.9151358e+00 1.25e-01 1.15e+00 -1.1 9.15e-01 -1.0 7.05e-01 5.24e-01f 1 6 2.5603713e+00 1.29e-01 5.74e-01 -1.3 1.50e+00 -1.5 9.79e-01 9.37e-01f 1 7 2.4140467e+00 8.03e-02 4.15e-01 -1.6 3.65e-01 -1.1 8.50e-01 3.77e-01h 1 8 2.1643096e+00 1.73e-02 2.62e-01 -2.2 3.70e-01 -1.5 9.93e-01 1.00e+00h 1 9 2.1043503e+00 2.48e-03 4.29e-02 -3.2 9.49e-02 -2.0 9.99e-01 8.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0920113e+00 4.82e-04 7.85e-02 -4.0 2.69e-01 -2.5 1.00e+00 8.16e-01h 1 11 2.0909865e+00 5.80e-05 2.46e-03 -4.0 2.00e-01 -3.0 1.00e+00 1.00e+00h 1 12 2.0909319e+00 7.06e-07 1.25e-03 -4.0 6.14e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909155e+00 7.19e-08 4.01e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908650e+00 1.01e-07 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907139e+00 8.93e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902617e+00 8.09e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0889163e+00 7.41e-05 3.22e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849852e+00 7.04e-04 2.93e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796200e+00 2.10e-03 1.85e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.20e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0802025e+00 2.49e-04 1.76e-01 -4.0 6.54e+01 -7.3 1.00e+00 9.84e-01H 1 21 2.0773463e+00 8.58e-03 2.08e-02 -4.0 1.26e+02 -7.7 1.00e+00 9.69e-01h 1 22 2.0771383e+00 1.93e-03 7.69e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760250e+00 5.44e-03 2.09e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.19e-01h 1 24 2.0768990e+00 2.50e-02 2.39e-02 -3.7 2.59e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764456e+00 4.42e-03 2.02e-03 -3.8 7.01e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764378e+00 7.03e-05 3.20e-05 -3.8 1.58e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756779e+00 1.73e-03 3.58e-06 -4.0 3.06e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756713e+00 6.53e-06 1.40e-06 -4.0 2.17e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756713e+00 4.11e-09 1.63e-07 -4.0 5.49e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756713e+00 5.87e-11 2.09e-09 -4.0 8.16e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712527959462e+00 2.0756712527959462e+00 Dual infeasibility......: 2.0915560265178691e-09 2.0915560265178691e-09 Constraint violation....: 5.8650306833385457e-11 5.8650306833385457e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 2.0915560265178691e-09 2.0915560265178691e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 30.760 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.036s 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 (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.084s) evaluator created (0.084s) 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: 0.084s) 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 3.6618230e+00 2.52e+00 6.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8057527e+00 1.84e-01 2.47e+00 -0.9 1.99e+00 0.0 8.67e-01 9.26e-01h 1 2 2.6137328e+00 3.49e-02 1.33e+00 -1.1 5.45e-01 -0.5 9.95e-01 7.91e-01f 1 3 2.5854518e+00 7.22e-02 7.31e-01 -0.9 1.41e+00 -1.0 1.00e+00 3.07e-01f 1 4 2.3428144e+00 5.77e-02 4.82e-01 -1.5 9.51e-01 -1.4 9.93e-01 8.32e-01h 1 5 2.1774466e+00 1.83e-02 2.35e-01 -2.1 6.74e-01 -1.9 9.35e-01 1.00e+00h 1 6 2.1016358e+00 4.79e-03 5.20e-02 -3.2 3.56e-01 -2.4 1.00e+00 9.23e-01h 1 7 2.0910407e+00 1.98e-05 1.19e-03 -4.0 1.31e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908314e+00 1.75e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908182e+00 7.39e-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 2.0907784e+00 6.24e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906590e+00 5.63e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903016e+00 5.09e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892365e+00 4.65e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861060e+00 4.37e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796410e+00 2.48e-03 8.84e-02 -4.0 8.71e+01 -6.7 1.00e+00 7.50e-01h 1 16 2.0811998e+00 1.25e-04 1.78e-01 -4.0 6.99e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778275e+00 5.66e-03 2.39e-02 -4.0 1.13e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781897e+00 1.74e-02 4.59e-02 -3.7 1.71e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768615e+00 9.67e-03 2.45e-02 -3.8 3.11e+02 -8.6 1.00e+00 9.22e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0761220e+00 6.72e-03 2.49e-02 -3.9 4.58e+02 -9.1 1.00e+00 9.80e-01f 1 21 2.0757464e+00 1.03e-02 1.10e-02 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756793e+00 5.51e-04 4.31e-04 -4.0 6.07e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 4.49e-06 8.53e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 6.08e-08 1.51e-06 -4.0 1.51e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.51e-09 1.49e-07 -4.0 5.22e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.72e-11 3.02e-09 -4.0 9.24e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122097558e+00 2.0756712122097558e+00 Dual infeasibility......: 3.0189383792866321e-09 3.0189383792866321e-09 Constraint violation....: 7.7159945099936067e-11 7.7159945099936067e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 3.0189383792866321e-09 3.0189383792866321e-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 = 31.438 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: 0.047s 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: 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: 0.105s) 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 2.0589493e+00 3.54e+00 4.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0105002e+00 3.34e+00 3.47e+01 -1.0 3.20e+01 0.0 9.55e-02 5.51e-02h 1 2 1.9990040e+00 3.26e+00 1.68e+02 -0.1 2.36e+01 -0.5 1.00e+00 2.59e-02h 1 3 2.3482473e+00 2.18e+00 7.58e+02 0.5 3.43e+01 -1.0 1.00e+00 4.00e-01f 1 4 2.5785223e+00 1.44e+00 1.48e+02 0.7 3.11e+01 -1.4 9.68e-01 5.17e-01h 1 5 2.7327234e+00 8.63e-01 2.42e+02 0.2 2.98e+01 -1.9 9.95e-01 4.92e-01h 1 6 2.8195374e+00 2.11e+00 1.76e+02 0.9 5.30e+01 -2.4 6.17e-01 8.75e-01f 1 7 2.8332734e+00 6.67e-01 5.94e+02 0.7 3.97e+01 -2.0 1.00e+00 1.00e+00f 1 8 2.7938949e+00 8.13e-03 2.19e+02 0.5 4.54e-01 1.2 9.99e-01 1.00e+00f 1 9 2.7833141e+00 1.36e-04 6.30e+00 -0.6 6.69e-02 0.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6431170e+00 4.96e-03 1.85e-01 -1.2 9.24e-02 0.2 9.99e-01 1.00e+00f 1 11 2.4200999e+00 3.45e-02 1.26e+00 -2.2 4.18e+00 -0.3 1.64e-01 5.31e-02f 1 12 2.4861892e+00 9.76e-03 9.31e-01 -1.3 5.46e-01 -0.7 8.77e-01 1.00e+00f 1 13 2.4704101e+00 7.41e-03 3.72e+00 -2.1 1.21e-01 -0.3 9.97e-01 2.43e-01h 1 14 2.4414201e+00 3.70e-03 8.42e-01 -2.9 3.75e-01 -0.8 1.00e+00 1.00e+00h 1 15 2.4131670e+00 6.25e-03 1.46e-01 -2.6 6.69e-01 -1.3 1.00e+00 8.80e-01h 1 16 2.3730172e+00 1.35e-02 1.64e-01 -3.1 1.14e+00 -1.7 9.95e-01 1.00e+00h 1 17 2.3611779e+00 1.03e-02 3.06e-01 -3.2 2.12e+00 -2.2 1.00e+00 2.28e-01h 1 18 2.3261917e+00 8.42e-03 4.90e-01 -4.0 1.63e+00 -2.7 9.35e-01 1.00e+00h 1 19 2.2945335e+00 9.13e-03 1.50e-01 -4.0 3.74e+00 -3.2 1.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.2901925e+00 3.41e-03 1.86e-02 -4.0 1.24e+00 -2.7 1.00e+00 1.00e+00h 1 21 2.2870533e+00 6.01e-04 2.32e-03 -4.0 4.82e-01 -2.3 1.00e+00 1.00e+00h 1 22 2.2767422e+00 1.03e-02 3.70e-02 -4.0 1.95e+00 -2.8 1.00e+00 1.00e+00h 1 23 2.2689901e+00 3.66e-03 5.43e-02 -4.0 1.12e+00 -2.4 1.00e+00 1.00e+00h 1 24 2.2612946e+00 5.42e-03 1.38e-01 -3.1 7.12e-01 -1.9 9.48e-01 1.00e+00h 1 25 2.2555473e+00 1.64e-03 4.17e-02 -3.9 7.68e-02 -0.6 1.00e+00 6.90e-01h 1 26 2.2504494e+00 3.32e-04 8.98e-02 -4.0 9.97e-02 -1.1 1.00e+00 8.44e-01h 1 27 2.2484120e+00 2.30e-04 1.07e+00 -4.0 2.00e-01 -1.6 1.00e+00 3.28e-01h 1 28 2.2357802e+00 3.24e-03 6.09e-01 -4.0 5.80e-01 -2.0 1.00e+00 1.00e+00h 1 29 2.2419699e+00 2.04e-04 7.88e-02 -2.9 2.11e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.2288492e+00 1.25e-03 2.05e-01 -3.0 4.38e-01 -2.1 1.00e+00 9.77e-01h 1 31 2.2382489e+00 2.68e-03 3.42e-01 -2.6 4.95e-01 -2.6 1.00e+00 1.00e+00f 1 32 2.2225869e+00 4.45e-03 2.97e-01 -2.7 1.45e+00 -3.1 1.00e+00 7.25e-01H 1 33 2.2190179e+00 9.09e-03 3.48e-02 -2.7 2.58e+00 -3.5 9.90e-01 1.00e+00f 1 34 2.2012170e+00 4.18e-02 3.61e-02 -2.9 6.48e+00 -4.0 9.40e-01 1.00e+00h 1 35 2.1743634e+00 1.34e-01 6.05e-02 -3.2 1.30e+01 -4.5 9.68e-01 1.00e+00h 1 36 2.1464197e+00 2.63e-01 7.90e-02 -3.2 2.16e+01 -5.0 1.00e+00 9.97e-01h 1 37 2.1224892e+00 3.66e-01 1.03e-01 -3.4 3.31e+01 -5.4 9.98e-01 1.00e+00h 1 38 2.1054979e+00 4.55e-01 1.11e-01 -3.2 5.73e+01 -5.9 1.00e+00 1.00e+00h 1 39 2.0994236e+00 1.42e-02 2.26e-02 -4.0 2.06e+01 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0890052e+00 2.01e-01 2.52e-01 -4.0 5.84e+01 -6.0 4.49e-01 1.00e+00h 1 41 2.0941309e+00 7.67e-02 4.93e-01 -2.8 2.18e+01 -5.5 1.00e+00 6.84e-01h 1 42 2.0879519e+00 2.20e-02 3.15e-02 -3.8 2.06e+01 -6.0 1.00e+00 9.98e-01h 1 43 2.0825870e+00 4.14e-02 2.01e-02 -4.0 5.04e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.0842510e+00 4.50e-02 6.39e-02 -3.3 6.73e+01 -7.0 1.00e+00 9.81e-01h 1 45 2.0832227e+00 1.99e-02 6.60e-02 -3.4 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 46 2.0791483e+00 2.29e-02 1.63e-02 -4.0 8.69e+01 -7.9 1.00e+00 1.00e+00h 1 47 2.0785232e+00 1.74e-03 6.19e-03 -4.0 2.01e+02 -8.4 1.00e+00 1.00e+00h 1 48 2.0775193e+00 3.72e-03 8.86e-03 -4.0 5.62e+02 -8.9 1.00e+00 1.00e+00h 1 49 2.0778969e+00 5.11e-02 7.24e-02 -3.6 9.37e+02 -9.4 1.00e+00 5.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0780560e+00 1.15e-02 2.14e-02 -3.8 2.50e+02 -9.8 1.00e+00 1.00e+00h 1 51 2.0779339e+00 1.29e-03 5.55e-04 -3.8 9.95e+01 -10.3 1.00e+00 1.00e+00h 1 52 2.0769763e+00 4.85e-03 3.50e-05 -4.0 6.37e+01 -10.8 1.00e+00 1.00e+00h 1 53 2.0769977e+00 4.62e-06 8.48e-07 -4.0 1.16e+01 -11.3 1.00e+00 1.00e+00h 1 54 2.0769967e+00 4.19e-09 1.32e-08 -4.0 1.50e+00 -11.7 1.00e+00 1.00e+00h 1 55 2.0769967e+00 5.78e-13 2.54e-11 -4.0 6.42e-02 -12.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 55 (scaled) (unscaled) Objective...............: 2.0769967427146820e+00 2.0769967427146820e+00 Dual infeasibility......: 2.5357476237048218e-11 2.5357476237048218e-11 Constraint violation....: 5.7753801741000643e-13 5.7753801741000643e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000351656e-04 1.0000000000351656e-04 Overall NLP error.......: 2.5357476237048218e-11 2.5357476237048218e-11 Number of objective function evaluations = 57 Number of objective gradient evaluations = 56 Number of equality constraint evaluations = 57 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 56 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 55 Total seconds in IPOPT = 31.779 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.04s 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 (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.097s) 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 (0.087s) optimizer initialization complete (total: 0.185s) 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 3.5104566e+00 2.35e+00 2.85e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1707397e+00 8.60e-01 5.33e+00 -1.0 8.94e+00 - 9.35e-01 6.70e-01h 1 2 3.1785474e+00 8.57e-01 9.65e+02 -0.8 3.27e+01 -2.0 9.29e-01 3.00e-03h 1 3 3.2351758e+00 8.52e-01 9.60e+02 -4.0 1.69e+03 - 6.63e-03 6.38e-03h 2 4 3.3724286e+00 8.35e-01 6.21e+02 -0.4 1.70e+03 - 1.00e+00 1.99e-02h 1 5 3.0471421e+02 1.25e+00 5.41e+04 -0.9 1.74e+03 - 6.21e-01 1.00e+00h 1 6 3.0366424e+02 9.57e-01 5.10e+04 0.4 4.96e+01 -1.6 1.00e+00 2.25e-01h 1 7 1.9161079e+02 7.26e+00 3.67e+04 1.7 2.00e+03 - 1.00e+00 1.16e-01f 1 8 1.8847397e+02 1.72e+01 7.27e+03 1.6 2.14e+03 - 3.81e-01 1.00e+00f 1 9 1.4225809e+02 1.45e+01 2.02e+04 1.6 1.61e+01 0.7 3.32e-01 1.54e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0268571e+02 1.38e+01 1.77e+05 1.6 9.16e+02 0.2 2.82e-02 5.14e-02h 1 11 2.4074027e+02 1.37e+01 1.79e+05 1.6 2.24e+03 -0.3 2.11e-02 3.06e-03h 1 12 1.7164059e+02 1.27e+01 1.53e+05 1.6 8.91e+03 - 8.11e-04 5.83e-02f 3 13 1.9660452e+02 1.26e+01 1.64e+05 1.6 5.72e+02 0.1 1.00e+00 1.11e-02h 1 14 1.0605320e+02 2.76e+00 9.64e+05 1.6 1.52e+03 - 8.19e-02 5.00e-01f 2 15 1.0235759e+02 9.60e-02 4.30e+05 1.9 9.63e+00 1.5 1.00e+00 1.00e+00f 1 16 1.0725287e+02 2.95e-02 2.44e+04 1.5 3.06e+00 1.0 1.00e+00 1.00e+00h 1 17 1.1129196e+02 1.15e-03 8.23e+03 -0.2 5.24e-01 0.5 1.00e+00 1.00e+00h 1 18 1.1117120e+02 2.28e-03 3.54e+01 -1.3 2.97e-01 0.0 1.00e+00 1.00e+00f 1 19 1.1061403e+02 2.12e-02 1.31e+00 -2.4 7.86e-01 -0.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0962734e+02 1.75e-02 5.93e+00 -3.5 1.64e+00 -0.9 1.00e+00 1.00e+00f 1 21 1.0781363e+02 4.72e-02 8.50e+00 -4.0 4.09e+00 -1.4 1.00e+00 1.00e+00f 1 22 1.0251472e+02 3.52e-01 5.53e+00 -3.9 1.23e+01 -1.9 1.00e+00 1.00e+00f 1 23 9.4353937e+01 1.82e-01 1.75e+01 -3.9 3.70e+01 -2.4 1.00e+00 1.00e+00f 1 24 4.5172430e+01 3.40e+00 9.64e+01 -1.9 3.13e+05 - 2.50e-04 7.86e-04f 3 25 4.0647691e+01 8.08e+00 1.91e+03 -1.9 9.00e+03 - 1.00e+00 5.87e-02f 3 26 2.0207851e+01 6.41e+00 1.43e+03 -2.0 5.68e+01 -1.9 3.48e-01 1.92e-01f 1 27 3.8239357e+01 2.57e+00 2.40e+03 -2.0 2.00e+02 -2.4 1.53e-02 3.98e-01H 1 28 1.5806028e+01 9.36e-01 1.07e+03 -3.0 6.20e+01 - 1.00e+00 1.00e+00f 1 29 1.3455442e+01 3.15e-01 3.76e+01 -3.8 9.60e+00 -2.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 8.9227860e+00 6.10e-01 1.34e+01 -3.3 2.29e+01 -2.5 1.00e+00 1.00e+00f 1 31 5.3852713e+00 1.87e+00 3.05e+01 -1.8 3.34e+03 - 1.00e+00 2.34e-02f 3 32 7.0928240e+00 1.89e+00 4.52e+00 0.2 2.51e+02 -1.1 1.14e-02 9.89e-03h 2 33 5.4411839e+00 1.36e+00 4.62e+00 -0.8 1.27e+01 -1.6 1.00e+00 2.37e-01f 1 34 4.6030104e+00 1.00e+00 4.32e+01 -0.6 8.15e+01 -2.1 6.59e-01 6.13e-02h 1 35 4.6281019e+00 9.99e-01 5.61e+03 -1.0 1.34e+03 - 1.00e+00 5.29e-03h 1 36 9.1027850e+00 7.97e-01 2.96e+03 -0.9 1.06e+03 - 1.00e+00 2.01e-01h 3 37 3.0884679e+01 4.17e-01 5.27e+03 -0.8 6.42e+02 - 1.34e-01 5.00e-01h 2 38 5.6045778e+01 4.92e-01 8.81e+03 -0.8 2.02e+02 - 2.38e-01 1.00e+00h 1 39 5.2658618e+01 2.21e-01 2.59e+03 -0.8 5.18e+02 - 6.14e-01 1.00e+00F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.3664376e+01 6.49e-02 3.78e+02 -1.8 5.65e+00 -0.8 1.00e+00 1.00e+00f 1 41 3.5501293e+01 1.02e-01 2.32e+02 -2.9 7.75e+00 -1.2 1.00e+00 1.00e+00f 1 42 3.0060694e+01 7.41e-02 7.23e+01 -2.5 1.35e+01 -1.7 1.00e+00 8.27e-01f 1 43 2.4883279e+01 6.39e-01 1.11e+02 -3.1 2.53e+01 -2.2 1.00e+00 1.00e+00f 1 44 2.4616034e+01 9.62e-03 1.78e+00 -3.2 3.85e+00 -1.8 1.00e+00 1.00e+00h 1 45 2.3821767e+01 3.86e-03 7.46e-01 -4.0 1.16e+01 -2.2 1.00e+00 1.00e+00f 1 46 2.1421623e+01 3.59e-02 8.93e+00 -4.0 3.48e+01 -2.7 1.00e+00 1.00e+00f 1 47 1.3967993e+01 4.07e-01 5.98e+01 -4.0 1.05e+02 -3.2 1.00e+00 1.00e+00f 1 48 6.1476802e+00 2.07e+00 1.13e+01 -4.1 1.24e+03 - 1.19e-01 1.22e-01f 4 49 6.1377819e+00 9.49e-01 6.06e+01 -2.0 4.39e+01 - 1.00e+00 6.17e-01F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 5.5405893e+00 9.53e-02 1.98e+01 -1.4 2.84e+00 -1.0 1.00e+00 1.00e+00f 1 51 6.0345337e+00 4.52e-02 9.24e+00 -1.8 1.11e+00 -0.5 1.00e+00 1.00e+00h 1 52 5.1799162e+00 5.77e-01 3.96e+00 -0.5 1.66e+01 - 7.23e-01 5.00e-01f 2 53 4.9783469e+00 3.77e-01 1.72e+01 -4.0 1.76e+01 - 9.30e-02 2.88e-02H 1 54 5.9682109e+00 1.57e-01 1.71e+02 -1.0 7.10e+01 - 9.94e-01 1.00e+00h 1 55 5.2970181e+00 7.67e-02 2.95e+01 -1.1 4.31e+01 - 9.54e-01 1.00e+00f 1 56 5.1898275e+00 6.61e-02 8.00e+00 -1.9 1.17e+01 - 1.00e+00 1.00e+00h 1 57 5.1619624e+00 4.16e-02 1.70e+00 -1.7 4.47e+00 - 1.00e+00 1.00e+00h 1 58 5.1599167e+00 1.34e-02 2.54e-01 -2.3 1.37e+00 - 1.00e+00 1.00e+00h 1 59 5.1643596e+00 1.73e-03 2.11e-02 -3.9 3.50e-01 - 9.98e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 5.1656230e+00 3.08e-05 2.34e-04 -4.0 5.15e-02 - 1.00e+00 1.00e+00h 1 61 5.1656517e+00 1.22e-08 3.91e-08 -4.0 6.80e-04 - 1.00e+00 1.00e+00h 1 62 5.1656517e+00 7.55e-15 2.43e-14 -4.0 1.76e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 62 (scaled) (unscaled) Objective...............: 5.1656516832566579e+00 5.1656516832566579e+00 Dual infeasibility......: 2.4280273971943878e-14 2.4280273971943878e-14 Constraint violation....: 7.5495165674510645e-15 7.5495165674510645e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000904488e-04 1.0000000000904488e-04 Overall NLP error.......: 2.4280273971943878e-14 2.4280273971943878e-14 Number of objective function evaluations = 103 Number of objective gradient evaluations = 63 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 63 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 62 Total seconds in IPOPT = 31.370 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.038s 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 (0.039s) linear index maps built (0.0s) evaluator ready (total: 0.086s) evaluator created (0.086s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) 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: 0.087s) 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 1.9148925e+00 4.53e+00 7.16e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7907170e+00 1.15e-01 3.45e+00 -1.0 3.45e+00 0.0 8.56e-01 1.00e+00h 1 2 2.3530149e+00 1.15e-02 6.47e-01 -1.0 1.44e-01 0.4 9.98e-01 9.24e-01h 1 3 2.2811784e+00 3.22e-03 3.13e-01 -1.6 1.80e-01 -0.1 9.55e-01 1.00e+00h 1 4 2.1526021e+00 5.82e-04 9.10e-02 -2.8 3.86e-02 -0.5 9.98e-01 1.00e+00h 1 5 2.0934944e+00 1.39e-04 2.06e-02 -4.0 1.74e-02 -1.0 1.00e+00 9.43e-01h 1 6 2.0908859e+00 2.90e-06 6.63e-03 -4.0 6.08e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908843e+00 3.90e-09 8.75e-05 -4.0 7.98e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908838e+00 6.93e-11 4.53e-05 -4.0 1.24e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908821e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908771e+00 9.70e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908622e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908174e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906830e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902810e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890839e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855750e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796315e+00 2.29e-03 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807220e+00 1.51e-04 1.81e-01 -4.0 6.57e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775317e+00 7.29e-03 2.45e-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 2.0769423e+00 1.10e-03 4.64e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759875e+00 9.23e-04 2.32e-02 -4.0 3.13e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754498e+00 1.65e-03 2.76e-02 -4.0 4.64e+02 -9.1 1.00e+00 7.20e-01h 1 23 2.0757677e+00 2.04e-03 1.13e-02 -4.0 1.40e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756777e+00 2.33e-04 4.59e-04 -4.0 6.71e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 1.03e-06 7.72e-06 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.04e-08 1.28e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.73e-09 1.13e-07 -4.0 4.78e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.98e-11 1.94e-09 -4.0 7.63e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121660570e+00 2.0756712121660570e+00 Dual infeasibility......: 1.9364662072484957e-09 1.9364662072484957e-09 Constraint violation....: 4.9826698322874563e-11 4.9826698322874563e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.9364662072484957e-09 1.9364662072484957e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 32.884 EXIT: Optimal Solution Found. Difference in Jacobian [ Info: Skipping JET correctness analysis on Julia 1.14.0-DEV.2621 (gated to 1.12.x) initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.053s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.054s) integrator 1 hessian structure: 0.044s 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 (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear equality on :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 (0.659s) optimizer initialization complete (total: 0.76s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1522 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 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.................: 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 3.6839938e+00 2.27e+00 5.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2384585e+00 6.29e-01 2.28e+00 -4.0 1.88e+00 0.0 1.97e-01 7.27e-01h 1 2 2.3328891e+00 5.23e-01 1.90e+00 -0.9 1.06e+00 -0.5 1.45e-01 1.61e-01f 1 3 2.4827749e+00 3.67e-01 2.36e+00 -0.7 6.96e-01 -0.1 5.75e-01 2.95e-01f 1 4 2.7065636e+00 1.94e-02 9.58e-01 -0.8 4.40e-01 -0.5 8.92e-01 1.00e+00f 1 5 2.4033474e+00 2.60e-02 7.33e-01 -1.6 5.14e-01 -1.0 9.74e-01 1.00e+00h 1 6 2.2245158e+00 3.22e-03 8.52e-02 -2.1 1.19e-01 -1.5 9.96e-01 1.00e+00h 1 7 2.0961940e+00 1.45e-03 1.63e-02 -3.4 9.43e-02 -2.0 9.98e-01 9.14e-01h 1 8 2.0910504e+00 6.10e-06 4.05e-04 -4.0 6.29e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909768e+00 1.48e-07 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909718e+00 7.90e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909569e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909120e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907776e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903754e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891776e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856661e+00 5.50e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796307e+00 2.32e-03 1.34e-01 -4.0 9.58e+01 -6.7 1.00e+00 6.36e-01h 1 18 2.0807313e+00 1.70e-04 1.89e-01 -4.0 6.86e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775297e+00 7.80e-03 2.64e-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 2.0769555e+00 1.62e-03 7.80e-02 -4.0 1.99e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0763321e+00 2.15e-03 2.48e-02 -4.0 3.44e+02 -8.6 1.00e+00 6.95e-01h 1 22 2.0755302e+00 1.66e-03 2.72e-02 -4.0 6.10e+02 -9.1 1.00e+00 7.58e-01h 1 23 2.0758095e+00 3.93e-03 1.63e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753947e+00 1.35e-03 8.55e-04 -4.1 1.05e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756721e+00 4.54e-04 8.66e-06 -4.0 2.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 5.85e-07 1.12e-06 -4.0 1.20e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.32e-09 8.70e-08 -4.0 4.47e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.06e-11 1.60e-09 -4.0 7.12e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121588166e+00 2.0756712121588166e+00 Dual infeasibility......: 1.6007098788551732e-09 1.6007098788551732e-09 Constraint violation....: 4.0559333669420994e-11 4.0559333669420994e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.6007098788551732e-09 1.6007098788551732e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 30.401 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.046s) linear index maps built (0.0s) evaluator ready (total: 0.101s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :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: 0.102s) 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.: 4 Number of nonzeros in Lagrangian Hessian.............: 1589 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...............: 2 inequality constraints with only lower bounds: 1 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 1.6357970e+00 2.32e+00 5.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0313370e+00 3.83e-01 1.96e+00 -1.0 2.39e+00 0.0 8.83e-01 8.21e-01f 1 2 2.6925157e+00 2.06e-02 1.08e+00 -1.1 3.99e-01 0.4 9.81e-01 1.00e+00h 1 3 2.4823500e+00 2.26e-03 2.13e-01 -1.5 1.45e-01 -0.1 9.89e-01 1.00e+00h 1 4 2.2580354e+00 9.28e-03 3.87e-01 -2.2 2.93e-01 -0.5 9.34e-01 4.97e-01f 1 5 2.1460042e+00 3.51e-03 2.10e-01 -3.2 6.93e-02 -1.0 9.98e-01 6.22e-01h 1 6 2.0937566e+00 1.78e-04 3.14e-02 -4.0 2.38e-02 -1.5 1.00e+00 9.50e-01h 1 7 2.0909190e+00 1.48e-06 2.88e-03 -4.0 1.58e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909341e+00 6.42e-08 4.86e-05 -4.0 1.33e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909324e+00 1.20e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909275e+00 9.63e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909125e+00 8.67e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908677e+00 7.81e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907333e+00 7.04e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903312e+00 6.37e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891337e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856234e+00 5.50e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796251e+00 2.30e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0806927e+00 1.26e-04 1.69e-01 -4.0 6.96e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775426e+00 6.99e-03 2.26e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.93e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769244e+00 1.19e-03 5.13e-02 -4.0 2.06e+02 -8.2 9.82e-01 9.43e-01h 1 21 2.0763381e+00 1.45e-03 4.60e-02 -4.0 3.56e+02 -8.6 1.00e+00 6.39e-01h 1 22 2.0755447e+00 4.23e-03 3.52e-02 -4.0 6.52e+02 -9.1 1.00e+00 7.51e-01h 1 23 2.0758177e+00 3.77e-03 2.02e-02 -4.0 1.96e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756815e+00 6.44e-04 1.03e-03 -4.0 1.05e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.59e-06 1.69e-05 -4.0 2.23e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.63e-08 1.20e-06 -4.0 1.36e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.40e-09 1.02e-07 -4.0 4.39e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.23e-11 1.68e-09 -4.0 6.90e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121612870e+00 2.0756712121612870e+00 Dual infeasibility......: 1.6799842079810463e-09 1.6799842079810463e-09 Constraint violation....: 4.2325698501599618e-11 4.2325698501599618e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.6799842079810463e-09 1.6799842079810463e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 30 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 29 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 31.146 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :g 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: 0.093s 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 (0.094s) linear index maps built (0.0s) evaluator ready (total: 0.154s) evaluator created (0.154s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :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: 0.155s) 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.: 36 Number of nonzeros in Lagrangian Hessian.............: 1589 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...............: 18 inequality constraints with only lower bounds: 9 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.8756880e+00 2.92e+00 9.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0017269e+00 2.77e+00 1.63e+00 -0.8 1.41e+01 -2.0 4.25e-01 6.88e-01f 1 2 2.6754516e+00 2.71e-01 3.98e-01 -0.8 1.82e+00 -1.6 7.06e-01 1.00e+00f 1 3 2.3664078e+00 4.27e-02 8.47e-01 -1.9 8.18e-01 -2.1 7.82e-01 1.00e+00h 1 4 2.2054189e+00 2.99e-02 3.76e-01 -2.1 1.27e+00 -2.5 1.00e+00 7.33e-01h 1 5 2.1174867e+00 6.74e-03 7.27e-02 -2.7 4.19e-01 -3.0 9.97e-01 1.00e+00h 1 6 2.0919849e+00 3.01e-04 2.56e-03 -4.0 1.56e-01 -3.5 1.00e+00 9.50e-01h 1 7 2.0910127e+00 3.37e-05 6.20e-05 -4.0 1.88e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0909558e+00 1.41e-07 2.06e-05 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907898e+00 1.07e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902935e+00 9.74e-06 4.36e-05 -4.0 5.05e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0888180e+00 8.94e-05 3.87e-04 -4.0 1.50e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0845184e+00 8.53e-04 3.53e-03 -4.0 4.37e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0796310e+00 1.99e-03 2.22e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.45e-01h 1 14 2.0794725e+00 2.16e-03 1.96e-01 -4.1 6.46e+01 -7.3 1.00e+00 7.86e-01H 1 15 2.0773428e+00 8.77e-03 3.54e-02 -4.0 1.28e+02 -7.8 1.00e+00 9.20e-01h 1 16 2.0768333e+00 1.93e-03 6.50e-02 -4.0 2.07e+02 -8.3 1.00e+00 1.00e+00h 1 17 2.0759365e+00 1.36e-03 2.61e-02 -4.0 3.58e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0754781e+00 1.63e-03 3.20e-02 -4.0 3.93e+02 -9.2 1.00e+00 6.69e-01h 1 19 2.0757161e+00 1.42e-03 7.11e-03 -4.0 1.16e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756734e+00 8.38e-05 1.40e-04 -4.0 3.84e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0756713e+00 3.92e-07 3.41e-06 -4.0 2.04e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0756712e+00 1.68e-08 7.69e-07 -4.0 1.10e+01 -11.1 1.00e+00 1.00e+00h 1 23 2.0756712e+00 1.17e-09 4.82e-08 -4.0 3.14e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0756712e+00 1.37e-11 1.00e-09 -4.0 4.06e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0756712121123018e+00 2.0756712121123018e+00 Dual infeasibility......: 9.9999999998864018e-10 9.9999999998864018e-10 Constraint violation....: 1.3683720823109979e-11 1.3683720823109979e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000036e-04 1.0000000000000036e-04 Overall NLP error.......: 9.9999999998864018e-10 9.9999999998864018e-10 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 25 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 33.207 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.126s) evaluator created (0.126s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :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: 0.127s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 2 Number of nonzeros in Lagrangian Hessian.............: 1589 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: 1 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 4.0648156e+00 3.27e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1201819e+00 1.61e-01 4.20e+00 -0.8 2.37e+00 0.0 5.21e-01 1.00e+00f 1 2 2.7660993e+00 4.16e-02 1.55e+00 -0.9 2.94e-01 0.4 1.00e+00 7.35e-01h 1 3 2.5547269e+00 1.05e-02 2.93e-01 -1.4 1.89e-01 -0.1 9.71e-01 1.00e+00f 1 4 2.3409577e+00 1.56e-02 5.07e-01 -4.0 1.61e-01 -0.5 6.45e-01 1.00e+00h 1 5 2.1569262e+00 2.57e-03 1.80e-01 -2.5 1.22e-01 -0.1 9.97e-01 9.05e-01h 1 6 2.1191602e+00 2.82e-03 5.88e-01 -2.9 3.40e-01 -0.6 1.00e+00 1.41e-01h 1 7 2.0999538e+00 1.93e-03 4.95e-01 -3.9 1.40e-01 -1.1 1.00e+00 3.14e-01h 1 8 2.0907656e+00 7.40e-05 1.98e-02 -4.0 1.06e-02 -1.5 1.00e+00 9.62e-01h 1 9 2.0908564e+00 1.74e-07 2.07e-04 -4.0 2.12e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908568e+00 3.70e-09 1.73e-04 -4.0 5.33e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908550e+00 1.36e-10 1.25e-04 -4.0 1.15e-01 -3.0 1.00e+00 1.00e+00h 1 12 2.0908494e+00 1.23e-09 7.99e-05 -4.0 2.21e-01 -3.4 1.00e+00 1.00e+00f 1 13 2.0908326e+00 1.10e-08 4.85e-05 -4.0 4.03e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907822e+00 9.94e-08 2.87e-05 -4.0 7.15e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906311e+00 8.96e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901791e+00 8.11e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888345e+00 7.44e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849062e+00 7.06e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796393e+00 2.05e-03 1.87e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.12e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801303e+00 1.37e-04 1.58e-01 -4.0 6.89e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0774691e+00 7.70e-03 2.50e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.26e-01h 1 22 2.0767880e+00 1.03e-03 4.06e-02 -4.0 2.03e+02 -8.2 1.00e+00 9.48e-01h 1 23 2.0761420e+00 2.02e-03 4.06e-02 -4.0 3.56e+02 -8.7 1.00e+00 8.61e-01h 1 24 2.0755074e+00 2.47e-03 3.44e-02 -4.0 5.96e+02 -9.2 1.00e+00 6.56e-01h 1 25 2.0757685e+00 2.62e-03 1.53e-02 -4.0 3.28e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0756800e+00 3.43e-04 4.83e-04 -4.0 5.29e+02 -10.1 1.00e+00 1.00e+00h 1 27 2.0756713e+00 4.63e-06 7.84e-06 -4.0 9.31e+02 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.83e-08 1.06e-06 -4.0 1.55e+03 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 1.89e-09 7.71e-08 -4.0 2.67e+03 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.66e-11 5.14e-09 -4.0 4.44e+03 -12.0 1.00e+00 1.00e+00h 1 31 2.0756712e+00 5.05e-14 3.27e-09 -4.0 7.29e+03 -12.5 1.00e+00 1.00e+00f 1 32 2.0753371e+00 4.85e-04 9.23e-08 -4.1 9.05e+03 -13.0 1.00e+00 1.00e+00f 1 33 2.0756726e+00 6.05e-04 1.19e-07 -4.0 2.02e+04 -13.5 1.00e+00 1.00e+00h 1 34 2.0753416e+00 5.69e-04 1.15e-07 -4.1 1.47e+04 -13.9 1.00e+00 1.00e+00h 1 35 2.0740264e+00 1.15e-02 5.49e-04 -6.1 1.92e+02 -14.4 9.28e-01 1.00e+00h 1 36 2.0757524e+00 1.59e-01 1.56e-04 -4.0 1.86e+05 -14.9 1.00e+00 1.00e+00h 1 37 2.0754141e+00 2.29e-02 9.62e-05 -4.1 8.20e+04 -15.4 1.00e+00 1.00e+00h 1 38 2.0754064e+00 5.58e-06 1.14e-06 -4.1 6.74e+04 -15.8 1.00e+00 1.00e+00h 1 39 2.0756721e+00 4.30e-04 9.42e-08 -4.0 1.65e+03 -16.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0753424e+00 5.39e-04 1.11e-07 -4.1 2.21e+02 -16.8 1.00e+00 1.00e+00h 1 41 2.0740264e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -17.3 9.28e-01 1.00e+00h 1 42 2.0739722e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -17.8 8.16e-01 1.00e+00h 1 43 2.0742916e+00 2.38e-02 1.90e-02 -4.0 8.97e+03 -18.2 1.00e+00 1.46e-01f 1 44 2.0748938e+00 3.43e-02 4.55e-05 -4.3 7.40e+02 -18.7 1.00e+00 1.00e+00h 1 45 2.0748982e+00 4.71e-04 1.24e-05 -4.3 5.09e+02 -19.2 1.00e+00 1.00e+00h 1 46 2.0740069e+00 1.10e-02 5.31e-04 -6.4 1.68e+02 -19.7 8.99e-01 1.00e+00h 1 47 2.0739641e+00 3.12e-04 3.44e-04 -6.4 7.51e+02 -20.0 7.65e-01 1.00e+00h 1 48 2.0742561e+00 2.33e-02 2.04e-02 -4.0 1.08e+04 -20.0 1.00e+00 1.31e-01f 1 49 2.0748770e+00 3.92e-02 4.68e-05 -4.3 8.27e+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 2.0748833e+00 5.04e-04 1.15e-05 -4.3 5.09e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0740063e+00 1.10e-02 5.29e-04 -6.4 1.70e+02 -20.0 8.98e-01 1.00e+00h 1 52 2.0739638e+00 3.00e-04 3.44e-04 -6.4 7.47e+02 -20.0 7.64e-01 1.00e+00h 1 53 2.0742548e+00 2.32e-02 2.04e-02 -4.0 1.09e+04 -20.0 1.00e+00 1.31e-01f 1 54 2.0748764e+00 3.94e-02 4.69e-05 -4.3 8.30e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0748828e+00 5.05e-04 1.14e-05 -4.3 5.09e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0740063e+00 1.10e-02 5.29e-04 -6.4 1.70e+02 -20.0 8.98e-01 1.00e+00h 1 57 2.0739638e+00 2.99e-04 3.44e-04 -6.4 7.47e+02 -20.0 7.64e-01 1.00e+00h 1 58 2.0742548e+00 2.32e-02 2.04e-02 -4.0 1.09e+04 -20.0 1.00e+00 1.31e-01f 1 59 2.0748764e+00 3.94e-02 4.69e-05 -4.3 8.30e+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 2.0748827e+00 5.05e-04 1.14e-05 -4.3 5.09e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740063e+00 1.10e-02 5.29e-04 -6.4 1.70e+02 -20.0 8.98e-01 1.00e+00h 1 62 2.0739638e+00 2.99e-04 3.44e-04 -6.4 7.47e+02 -20.0 7.64e-01 1.00e+00h 1 63 2.0742548e+00 2.32e-02 2.04e-02 -4.0 1.09e+04 -20.0 1.00e+00 1.31e-01f 1 64 2.0748764e+00 3.94e-02 4.69e-05 -4.3 8.30e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0748827e+00 5.05e-04 1.14e-05 -4.3 5.09e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0740063e+00 1.10e-02 5.29e-04 -6.4 1.70e+02 -20.0 8.98e-01 1.00e+00h 1 67 2.0739638e+00 2.99e-04 3.44e-04 -6.4 7.47e+02 -20.0 7.64e-01 1.00e+00h 1 68 2.0739537e+00 3.84e-07 1.94e-05 -6.4 5.94e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741281e+00 2.39e-02 2.81e-02 -4.0 3.60e+04 -20.0 1.00e+00 7.30e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748164e+00 8.36e-02 7.11e-05 -4.3 1.65e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748324e+00 4.03e-04 2.57e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740042e+00 1.09e-02 5.25e-04 -6.5 1.79e+02 -20.0 8.94e-01 1.00e+00h 1 73 2.0739629e+00 2.60e-04 3.39e-04 -6.5 7.38e+02 -20.0 7.62e-01 1.00e+00h 1 74 2.0739529e+00 3.53e-07 2.02e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0741259e+00 2.39e-02 2.83e-02 -4.0 3.67e+04 -20.0 1.00e+00 7.22e-02f 1 76 2.0748151e+00 8.46e-02 7.19e-05 -4.3 1.66e+03 -20.0 1.00e+00 1.00e+00f 1 77 2.0748313e+00 3.95e-04 2.41e-06 -4.3 2.62e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740041e+00 1.09e-02 5.24e-04 -6.5 1.79e+02 -20.0 8.94e-01 1.00e+00h 1 79 2.0739629e+00 2.59e-04 3.39e-04 -6.5 7.37e+02 -20.0 7.62e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739529e+00 3.52e-07 2.02e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0741258e+00 2.39e-02 2.83e-02 -4.0 3.68e+04 -20.0 1.00e+00 7.22e-02f 1 82 2.0748151e+00 8.46e-02 7.19e-05 -4.3 1.67e+03 -20.0 1.00e+00 1.00e+00f 1 83 2.0748313e+00 3.94e-04 2.41e-06 -4.3 2.61e+02 -20.0 1.00e+00 1.00e+00h 1 84 2.0740041e+00 1.09e-02 5.24e-04 -6.5 1.79e+02 -20.0 8.94e-01 1.00e+00h 1 85 2.0739629e+00 2.59e-04 3.39e-04 -6.5 7.37e+02 -20.0 7.62e-01 1.00e+00h 1 86 2.0739529e+00 3.52e-07 2.02e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0739522e+00 4.52e-09 7.54e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0741171e+00 2.44e-02 2.91e-02 -4.0 4.20e+04 -20.0 1.00e+00 6.82e-02f 1 89 2.0748116e+00 9.00e-02 7.68e-05 -4.3 1.76e+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 90 2.0748288e+00 3.45e-04 1.65e-06 -4.3 2.18e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0740040e+00 1.09e-02 5.24e-04 -6.5 1.80e+02 -20.0 8.93e-01 1.00e+00h 1 92 2.0739628e+00 2.57e-04 3.39e-04 -6.5 7.37e+02 -20.0 7.62e-01 1.00e+00h 1 93 2.0739529e+00 3.49e-07 2.01e-05 -6.5 6.19e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739522e+00 4.53e-09 7.55e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0741170e+00 2.44e-02 2.91e-02 -4.0 4.21e+04 -20.0 1.00e+00 6.82e-02f 1 96 2.0748115e+00 9.01e-02 7.68e-05 -4.3 1.76e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748287e+00 3.44e-04 1.64e-06 -4.3 2.17e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740040e+00 1.09e-02 5.24e-04 -6.5 1.80e+02 -20.0 8.93e-01 1.00e+00h 1 99 2.0739628e+00 2.57e-04 3.39e-04 -6.5 7.37e+02 -20.0 7.62e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739529e+00 3.49e-07 2.01e-05 -6.5 6.19e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739528525912356e+00 2.0739528525912356e+00 Dual infeasibility......: 2.0126643716077214e-05 2.0126643716077214e-05 Constraint violation....: 3.4889778444124886e-07 3.4889778444124886e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.4580841202897006e-07 6.4580841202897006e-07 Overall NLP error.......: 9.9717307073345126e-05 9.9717307073345126e-05 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 102 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.939 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: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) 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 (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.11s) 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: global linear equality on :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 (0.001s) 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...: 1522 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 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.................: 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 1.5490832e+00 3.40e+00 5.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8596145e+00 7.65e-02 2.44e+00 -0.9 2.42e+00 0.0 8.72e-01 1.00e+00h 1 2 2.7023782e+00 8.28e-03 8.25e-01 -0.9 1.56e-01 0.4 9.33e-01 1.00e+00h 1 3 2.4990483e+00 2.41e-03 2.45e-01 -1.5 1.19e-01 -0.1 9.81e-01 1.00e+00h 1 4 2.2623675e+00 2.35e-03 2.16e-01 -2.2 1.10e-01 -0.5 9.67e-01 6.27e-01f 1 5 2.1154340e+00 1.40e-03 5.95e-02 -3.5 6.05e-02 -1.0 9.99e-01 7.93e-01f 1 6 2.0908726e+00 3.36e-05 5.92e-03 -4.0 1.20e-02 -1.5 1.00e+00 9.98e-01h 1 7 2.0908581e+00 1.19e-07 6.33e-05 -4.0 5.31e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908591e+00 2.06e-09 3.03e-05 -4.0 8.28e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908574e+00 1.08e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908524e+00 9.68e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908375e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907927e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906584e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902564e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890595e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855511e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796231e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806910e+00 1.42e-04 1.76e-01 -4.0 6.67e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775223e+00 7.10e-03 2.36e-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 2.0769517e+00 1.06e-03 4.40e-02 -4.0 1.79e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761522e+00 1.04e-03 1.84e-02 -4.0 3.27e+02 -8.6 1.00e+00 8.23e-01h 1 22 2.0754829e+00 2.17e-03 2.89e-02 -4.0 5.47e+02 -9.1 1.00e+00 7.33e-01h 1 23 2.0757882e+00 2.71e-03 1.47e-02 -4.0 1.63e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756791e+00 3.75e-04 6.68e-04 -4.0 8.29e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 2.22e-06 1.06e-05 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.77e-08 1.30e-06 -4.0 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.73e-09 1.13e-07 -4.0 4.73e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.91e-11 1.92e-09 -4.0 7.50e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121659096e+00 2.0756712121659096e+00 Dual infeasibility......: 1.9152976662344459e-09 1.9152976662344459e-09 Constraint violation....: 4.9084292186307721e-11 4.9084292186307721e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.9152976662344459e-09 1.9152976662344459e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 33.698 EXIT: Optimal Solution Found. 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: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.125s) optimizer initialization complete (total: 0.237s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.6012298e+00 3.57e+00 5.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8183347e+00 2.63e-02 3.79e-01 -1.0 2.31e+00 - 1.00e+00 1.00e+00f 1 2 2.2897248e+00 3.13e-03 4.05e-01 -4.0 8.06e-02 - 7.16e-01 1.00e+00h 1 3 2.1110623e+00 1.28e-03 3.85e-02 -2.4 5.62e-02 - 9.98e-01 1.00e+00h 1 4 2.0913809e+00 7.34e-05 2.58e-03 -4.0 4.08e-02 - 1.00e+00 1.00e+00h 1 5 2.0908858e+00 2.92e-05 2.04e-04 -4.0 4.84e-01 - 1.00e+00 1.00e+00h 1 6 2.0908977e+00 3.94e-08 7.29e-07 -4.0 1.62e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.14e-10 3.14e-10 -4.0 2.42e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971970601664e+00 2.0908971970601664e+00 Dual infeasibility......: 3.1403346164248468e-10 3.1403346164248468e-10 Constraint violation....: 1.1446943977744833e-10 1.1446943977744833e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000622079918592e-04 1.0000622079918592e-04 Overall NLP error.......: 6.2207991859142015e-09 6.2207991859142015e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 33.212 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.065s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.118s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable 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: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.6004848e+00 1.50e+00 6.66e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9911697e+00 7.67e-01 8.75e-01 -0.9 8.81e+00 -4.0 8.19e-01 6.40e-01f 1 2 2.4179170e+00 4.59e-01 1.44e+01 -2.4 1.83e+01 -2.7 2.33e-01 7.81e-01h 1 3 2.6253224e+00 2.64e-01 1.27e+01 -1.0 6.17e+00 -2.2 5.91e-01 1.00e+00f 1 4 2.4644682e+00 6.99e-02 3.71e+00 -1.0 2.64e-01 -0.0 9.94e-01 7.34e-01h 1 5 2.4406175e+00 2.38e-03 4.36e-01 -1.1 1.15e-01 -0.5 9.80e-01 1.00e+00f 1 6 2.3478887e+00 3.27e-03 3.88e-01 -1.6 1.20e-01 -1.0 1.00e+00 8.08e-01h 1 7 2.2547607e+00 9.58e-03 1.02e-01 -1.8 2.27e-01 -1.4 9.23e-01 1.00e+00f 1 8 2.1351727e+00 4.70e-03 6.52e-02 -2.3 1.82e-01 -1.9 9.98e-01 1.00e+00h 1 9 2.1015281e+00 3.39e-04 4.43e-02 -2.9 6.36e-02 -2.4 9.29e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0935552e+00 1.08e-04 4.60e-02 -3.5 3.82e-02 -2.9 9.95e-01 8.87e-01h 1 11 2.0907554e+00 2.40e-05 1.15e-03 -4.0 3.96e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0907670e+00 9.07e-07 1.76e-05 -4.0 1.19e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0907326e+00 4.74e-08 2.09e-05 -4.0 3.46e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0906379e+00 3.33e-07 1.56e-04 -4.0 9.54e-01 -4.8 1.00e+00 1.00e+00h 1 15 2.0904187e+00 1.57e-06 8.67e-04 -4.0 2.24e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901132e+00 3.90e-06 2.41e-03 -4.0 3.88e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899533e+00 3.72e-06 2.43e-03 -4.0 5.47e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898603e+00 3.47e-06 1.73e-03 -4.0 8.41e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898236e+00 2.04e-06 1.79e-03 -4.0 1.08e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898227e+00 1.55e-06 9.62e-04 -4.0 1.04e+01 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 6.28e-07 1.32e-04 -4.0 4.56e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 1.39e-08 2.47e-06 -4.0 6.61e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 1.50e-11 6.26e-09 -4.0 3.63e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498442787e+00 2.0898218498442787e+00 Dual infeasibility......: 6.2579934781566929e-09 6.2579934781566929e-09 Constraint violation....: 1.5034085087961557e-11 1.5034085087961557e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 6.2579934781566929e-09 6.2579934781566929e-09 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 = 33.806 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.11s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.111s) 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.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.4290718e+00 3.58e+00 5.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.1402560e+00 3.41e+00 7.72e+00 -1.1 2.34e+00 0.0 3.11e-01 4.71e-02h 1 2 5.7699314e+00 3.22e+00 1.33e+02 -0.4 5.41e+00 -0.5 2.67e-01 5.42e-02h 1 3 5.6405784e+00 3.03e+00 5.67e+02 0.3 2.23e+01 -1.0 1.00e+00 6.00e-02h 1 4 5.6800199e+00 2.89e+00 7.49e+02 1.4 6.66e+01 -1.4 1.35e-01 5.90e-02f 1 5 5.4424003e+00 2.70e+00 2.52e+03 0.3 1.15e+02 -1.9 2.71e-01 6.75e-02h 1 6 5.6664430e+00 2.70e+00 1.56e+05 2.1 3.99e+02 -0.6 6.27e-01 1.11e-02f 2 7 5.6291161e+00 2.63e+00 2.11e+05 1.9 3.62e+02 -1.1 3.92e-02 2.33e-02h 1 8 5.5209872e+00 2.60e+00 2.05e+05 2.5 4.98e+02 -1.5 1.06e-02 1.34e-02h 1 9 5.5702365e+00 2.59e+00 3.32e+05 -4.0 1.79e+03 -2.0 2.05e-02 4.62e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.7987792e+00 2.47e+00 3.28e+05 2.5 7.62e+02 -0.7 1.11e-02 1.10e-02h 1 11 5.8227141e+00 2.43e+00 3.30e+05 -4.0 2.41e+01 1.6 2.21e-02 1.74e-02h 1 12 5.8270419e+00 2.43e+00 1.75e+07 2.2 1.73e+02 2.0 6.61e-02 3.10e-04h 1 13 5.8294211e+00 2.43e+00 1.70e+07 2.5 2.26e+03 1.5 7.62e-05 2.02e-04h 1 14r 5.8294211e+00 2.43e+00 1.00e+03 0.4 0.00e+00 1.0 0.00e+00 3.15e-07R 8 15r 4.9904145e+00 8.87e-01 1.73e+03 2.5 1.66e+03 - 6.34e-02 3.30e-03f 1 16 4.9779626e+00 8.82e-01 2.94e+01 -2.2 8.49e-01 0.5 1.66e-01 5.61e-03h 1 17 4.9890024e+00 8.82e-01 3.01e+03 0.2 1.45e+02 0.1 1.30e-02 3.06e-04h 1 18 5.0230801e+00 8.81e-01 2.29e+04 0.0 2.12e+02 -0.4 9.03e-02 7.89e-04h 1 19 5.0252579e+00 8.81e-01 4.80e+04 1.5 1.64e+03 -0.9 1.11e-03 1.91e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 5.0252579e+00 8.81e-01 9.99e+02 -0.1 0.00e+00 -1.4 0.00e+00 2.60e-07R 10 21r 4.3490419e+00 3.40e-01 9.95e+02 1.9 1.88e+03 - 5.24e-03 2.05e-03f 1 22 4.3530925e+00 3.40e-01 5.15e+03 -4.0 2.67e+02 -1.8 8.08e-03 7.56e-04h 1 23 4.6731329e+00 9.96e-01 1.21e+03 1.0 6.70e+02 -2.3 6.84e-02 1.20e-02f 1 24 4.6751528e+00 9.95e-01 3.61e+03 -0.1 1.18e+03 -2.8 3.11e-02 8.21e-04h 1 25 4.6839209e+00 9.90e-01 8.50e+03 -0.1 1.30e+03 -3.3 6.26e-02 5.51e-03f 4 26 4.6907904e+00 9.85e-01 1.14e+04 -0.1 6.91e+02 -3.7 7.87e-02 4.94e-03f 4 27 4.6978888e+00 9.81e-01 2.67e+04 -0.1 4.39e+02 -4.2 2.78e-01 4.42e-03h 4 28 4.7285144e+00 9.73e-01 4.25e+04 -0.1 6.82e+02 -4.7 4.64e-02 7.98e-03f 3 29 4.7398515e+00 9.70e-01 4.38e+05 -0.1 1.20e+03 -5.2 3.34e-01 3.19e-03f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.7435919e+00 9.67e-01 1.86e+06 -0.1 1.38e+02 -5.7 8.06e-02 2.86e-03h 4 31 4.7460236e+00 9.66e-01 8.37e+06 -0.1 1.86e+02 -6.1 7.41e-02 1.19e-03h 5 32 4.7463276e+00 9.66e-01 1.67e+08 -0.1 1.07e+02 -6.6 3.76e-01 7.31e-05h 9 33 4.7463625e+00 9.66e-01 7.85e+08 -0.1 1.09e+02 -7.1 7.32e-02 1.88e-05h 11 34 4.7464437e+00 9.66e-01 1.79e+10 -0.1 3.33e+02 -7.6 4.33e-01 1.88e-05h 11 35 4.7576807e+00 9.58e-01 1.17e+11 -0.1 1.05e+03 -8.0 1.20e-01 9.63e-03h 2 36 4.7827217e+00 9.50e-01 8.29e+11 -0.1 5.38e+03 -8.5 7.18e-02 8.35e-03h 1 37 4.7910972e+00 9.48e-01 1.80e+14 -0.1 1.27e+03 -8.1 4.34e-01 1.80e-03h 1 38 4.7914079e+00 9.48e-01 2.82e+16 -0.1 3.79e+01 -0.2 8.63e-02 3.70e-04h 1 39 4.7817824e+00 9.48e-01 2.82e+16 -0.1 4.41e+03 -0.7 1.49e-04 3.74e-06f 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.4388203e+00 1.06e+00 2.82e+16 -0.1 6.21e+03 -1.2 1.33e-04 1.33e-04s 10 41r 4.4388203e+00 1.06e+00 1.00e+03 0.0 0.00e+00 -1.7 0.00e+00 0.00e+00R 1 42r 4.6122948e+00 4.34e-01 9.89e+02 2.1 4.56e+02 - 2.63e-02 3.14e-03f 1 43 4.6114252e+00 4.34e-01 7.32e+02 -0.8 2.96e+00 -2.2 6.89e-01 1.65e-03h 1 44 4.6113152e+00 4.33e-01 2.56e+05 -0.8 1.27e+01 -2.6 1.89e-01 5.56e-04h 1 45 4.6113122e+00 4.33e-01 1.12e+09 -0.8 1.33e+01 -3.1 2.57e-01 5.81e-05h 1 46r 4.6113122e+00 4.33e-01 1.00e+03 -0.4 0.00e+00 -3.6 0.00e+00 3.19e-07R 2 47r 4.1860783e+00 2.88e-01 9.96e+02 1.5 5.34e+02 - 6.07e-03 1.55e-03f 1 48 4.1859312e+00 2.88e-01 2.84e+03 -4.0 6.01e+00 -4.1 6.62e-01 2.31e-04h 1 49 4.1859625e+00 2.88e-01 7.70e+07 -0.4 2.73e+01 -4.5 1.00e+00 3.68e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.1859625e+00 2.88e-01 1.00e+03 1.7 0.00e+00 -5.0 0.00e+00 2.47e-07R 2 51r 3.9711122e+00 2.00e-01 6.14e+02 0.5 3.97e+00 - 7.99e-01 1.63e-01f 1 52 3.9703611e+00 1.99e-01 3.27e+02 -1.4 1.35e+01 -5.5 7.81e-01 2.89e-03h 1 53 3.9716893e+00 1.99e-01 8.71e+05 -0.1 2.13e+02 -6.0 1.00e+00 4.22e-04h 1 54 3.9718627e+00 1.99e-01 2.87e+10 0.6 3.06e+02 -6.5 1.00e+00 2.99e-05h 1 55r 3.9718627e+00 1.99e-01 1.00e+03 2.5 0.00e+00 -6.9 0.00e+00 4.41e-07R 2 56r 3.3849877e+00 2.00e-01 2.69e+02 0.2 9.89e-01 - 7.37e-01 8.37e-01f 1 57r 3.7498960e+00 1.99e-01 1.64e+02 -4.0 4.83e+00 - 4.60e-01 6.48e-01f 1 58r 3.8372423e+00 2.00e-01 4.47e+01 -0.0 8.29e-02 2.0 8.80e-01 7.71e-01f 1 59r 3.9602394e+00 1.99e-01 2.27e+00 -0.7 7.16e-02 1.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60r 3.9326380e+00 1.99e-01 2.77e+01 -1.1 2.98e+00 - 2.95e-01 1.97e-01f 1 61r 4.2438853e+00 3.02e-01 7.68e+00 -0.7 2.07e+00 - 7.49e-01 1.00e+00f 1 62r 4.1357487e+00 1.99e-01 1.81e+00 -0.8 1.56e-01 1.0 9.34e-01 1.00e+00f 1 63r 4.2767146e+00 1.99e-01 4.03e+00 -1.4 1.09e-01 0.6 9.56e-01 1.00e+00f 1 64r 4.2769403e+00 1.99e-01 4.77e-02 -2.1 8.97e-02 0.1 9.98e-01 1.00e+00f 1 65r 4.2037970e+00 1.99e-01 3.40e-02 -2.9 1.14e-01 -0.4 9.93e-01 1.00e+00f 1 66r 4.1526413e+00 1.99e-01 6.35e-03 -3.7 1.12e-01 -0.9 9.97e-01 1.00e+00h 1 67r 3.8275820e+00 1.99e-01 7.42e-02 -3.5 3.11e+00 - 1.00e+00 6.06e-01h 1 68r 3.8818102e+00 1.99e-01 6.64e-02 -3.6 1.72e+00 - 6.35e-01 1.00e+00h 1 69r 3.8712155e+00 1.99e-01 1.16e-03 -4.0 5.77e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.8589180e+00 1.99e-01 3.02e-05 -4.0 1.13e-01 - 1.00e+00 1.00e+00h 1 71r 3.8590356e+00 1.99e-01 6.90e-08 -4.0 4.72e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 71 (scaled) (unscaled) Objective...............: 3.8590397644555878e+00 3.8590397644555878e+00 Dual infeasibility......: 1.9766689021729400e+00 1.9766689021729400e+00 Constraint violation....: 1.9875045044766793e-01 1.9875045044766793e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000073524055e-04 1.0000000073524055e-04 Overall NLP error.......: 1.9766689021729400e+00 1.9766689021729400e+00 Number of objective function evaluations = 183 Number of objective gradient evaluations = 57 Number of equality constraint evaluations = 183 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 79 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 72 Total seconds in IPOPT = 32.757 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.072s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.073s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.128s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.128s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 8.0907737e+00 2.11e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9768685e+00 1.25e-01 1.09e+00 -0.9 1.99e+00 -2.0 6.64e-01 1.00e+00f 1 2 2.5116332e+00 5.25e-01 3.95e-01 -1.3 4.66e+00 -2.5 7.34e-01 7.84e-01f 1 3 2.3080616e+00 7.49e-02 1.34e-01 -1.6 1.39e+00 -3.0 9.18e-01 1.00e+00h 1 4 2.1256591e+00 2.17e-02 5.98e-02 -2.5 1.04e+00 -3.4 9.74e-01 1.00e+00h 1 5 2.0954180e+00 1.13e-03 6.02e-03 -3.3 3.02e-01 -3.9 9.55e-01 1.00e+00h 1 6 2.0908923e+00 4.34e-04 5.77e-04 -4.0 5.19e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907558e+00 7.75e-06 2.53e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903145e+00 7.74e-06 3.45e-05 -4.0 4.49e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890015e+00 7.09e-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 2.0851617e+00 6.71e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796234e+00 2.16e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.45e-01h 1 12 2.0797638e+00 2.17e-03 2.14e-01 -4.1 7.31e+01 -7.2 1.00e+00 8.17e-01H 1 13 2.0776451e+00 7.46e-03 2.43e-02 -4.0 1.19e+02 -7.7 1.00e+00 8.75e-01h 1 14 2.0781003e+00 2.08e-02 9.38e-02 -3.8 2.23e+02 -8.2 9.88e-01 1.00e+00h 1 15 2.0768012e+00 9.31e-03 1.81e-02 -3.8 3.64e+02 -8.7 1.00e+00 8.80e-01h 1 16 2.0761799e+00 4.10e-03 1.91e-02 -3.8 4.61e+02 -9.2 1.00e+00 8.87e-01f 1 17 2.0757139e+00 8.32e-03 7.28e-03 -4.0 1.29e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756733e+00 3.15e-04 1.85e-04 -4.0 4.17e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 9.69e-07 4.21e-06 -4.0 2.29e+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 1.93e-08 1.11e-06 -4.0 1.31e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.01e-09 8.21e-08 -4.0 3.99e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 2.90e-11 1.15e-09 -4.0 5.76e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121385426e+00 2.0756712121385426e+00 Dual infeasibility......: 1.1507297646229722e-09 1.1507297646229722e-09 Constraint violation....: 2.8981816946327399e-11 2.8981816946327399e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.1507297646229722e-09 1.1507297646229722e-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 = 34.561 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 (QuadraticRegularizer): 0.0s sub-objective 4 (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: 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 (2.545s) optimizer initialization complete (total: 2.652s) 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 1.7876033e+00 2.44e+00 1.58e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9017334e+00 2.20e-02 1.05e+00 -1.0 2.14e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3159539e+00 2.07e-02 4.47e-02 -1.7 2.79e-01 -1.6 9.95e-01 1.00e+00f 1 3 2.1467557e+00 4.99e-03 3.34e-01 -3.0 1.60e-01 -1.1 9.71e-01 1.00e+00h 1 4 2.0968713e+00 1.68e-03 8.76e-02 -4.0 1.06e-01 -1.6 1.00e+00 8.17e-01h 1 5 2.0906488e+00 1.41e-04 7.37e-01 -4.0 8.24e-01 -2.1 1.00e+00 6.96e-01h 1 6 2.0909012e+00 7.20e-05 1.93e-01 -4.0 5.56e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909891e+00 5.50e-07 2.49e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909821e+00 1.31e-07 2.06e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909614e+00 1.62e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908997e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907178e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901992e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888586e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861752e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0831061e+00 9.13e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828619e+00 9.30e-04 2.33e-02 -4.0 5.46e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823487e+00 3.94e-04 1.03e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820407e+00 9.39e-05 1.87e-02 -4.0 1.46e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.73e-04 8.75e-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 8.52e-04 -4.0 3.12e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.37e-07 1.40e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.88e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191040e+00 2.0819382907191040e+00 Dual infeasibility......: 1.2215426668229709e-11 1.2215426668229709e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 1.2215426668229709e-11 1.2215426668229709e-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 = 32.161 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.047s 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: 0.0s hessian structure: 1749 nonzeros (0.048s) 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: 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 (0.097s) optimizer initialization complete (total: 0.208s) 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 3.0853601e+00 2.95e+00 1.95e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8833571e+00 1.74e-02 5.05e-01 -1.0 1.89e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3165977e+00 2.30e-02 7.23e-02 -1.7 3.54e-01 -1.6 9.54e-01 1.00e+00h 1 3 2.1457985e+00 2.48e-03 2.59e-01 -2.7 9.25e-02 -1.1 9.53e-01 9.83e-01h 1 4 2.1005816e+00 8.87e-04 1.20e-01 -4.0 7.95e-02 -1.6 1.00e+00 8.22e-01h 1 5 2.0933369e+00 4.70e-04 6.66e-01 -4.0 4.20e-01 -2.1 1.00e+00 3.61e-01h 1 6 2.0912103e+00 3.85e-04 6.12e-01 -4.0 1.32e+00 -2.6 1.00e+00 6.33e-01h 1 7 2.0909183e+00 3.37e-05 1.14e-01 -4.0 6.26e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909054e+00 3.15e-06 5.48e-04 -4.0 7.91e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908788e+00 6.79e-07 4.86e-05 -4.0 2.14e-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 2.0908339e+00 9.33e-08 2.82e-04 -4.0 5.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907343e+00 7.04e-07 9.67e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904575e+00 6.28e-06 8.24e-04 -4.0 4.27e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903310e+00 5.79e-06 1.25e-02 -4.0 1.43e+01 -5.9 3.76e-01 9.41e-02h 2 14 2.0887395e+00 1.58e-04 3.91e-02 -4.0 3.01e+01 -6.4 1.00e+00 6.77e-01h 1 15 2.0859287e+00 1.58e-03 1.18e-01 -4.0 7.00e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835800e+00 8.35e-04 1.56e-01 -4.0 1.22e+01 -5.5 1.00e+00 5.19e-01h 1 17 2.0833788e+00 1.39e-04 9.94e-03 -4.0 5.12e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828982e+00 5.91e-05 3.17e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827638e+00 6.80e-05 2.66e-03 -4.0 2.83e+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 2.0824942e+00 1.83e-04 3.12e-03 -4.0 7.34e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821471e+00 9.89e-04 9.87e-03 -4.0 1.82e+02 -7.9 5.55e-01 1.00e+00h 1 22 2.0821225e+00 1.32e-03 2.39e+00 -4.0 2.29e+02 -6.6 1.00e+00 6.45e-02h 3 23 2.0820954e+00 5.55e-05 2.88e-03 -4.0 2.70e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0880811e+00 2.10e-05 5.70e-01 -4.0 2.64e+00 -4.8 3.02e-01 1.00e+00H 1 25 2.0834029e+00 3.60e-06 2.18e-02 -4.0 1.10e-01 -0.8 1.00e+00 1.00e+00f 1 26 2.0821479e+00 2.90e-06 4.07e-03 -4.0 8.98e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0821369e+00 1.30e-07 5.02e-04 -4.0 2.14e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0821649e+00 2.71e-08 4.43e-04 -4.0 7.67e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0821666e+00 9.11e-10 1.03e-04 -4.0 5.38e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821661e+00 4.31e-09 2.79e-05 -4.0 4.36e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821649e+00 9.25e-09 3.79e-06 -4.0 1.77e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0821620e+00 3.99e-08 3.38e-06 -4.0 4.74e-02 -4.1 1.00e+00 1.00e+00h 1 33 2.0821558e+00 1.43e-07 8.02e-06 -4.0 1.07e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0821461e+00 6.60e-07 1.79e-05 -4.0 1.87e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0819739e+00 1.50e-05 2.41e-04 -4.1 1.02e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0821007e+00 2.37e-05 3.62e-04 -4.0 1.56e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0820781e+00 1.26e-05 1.68e-04 -4.0 3.53e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0820450e+00 7.33e-06 2.69e-04 -4.0 9.05e+00 -7.0 1.00e+00 1.00e+00h 1 39 2.0819817e+00 2.51e-05 1.03e-03 -4.0 2.07e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819021e+00 7.40e-05 2.67e-03 -4.0 3.83e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0818532e+00 9.93e-05 2.70e-03 -4.0 5.11e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0818400e+00 3.51e-05 7.50e-04 -4.0 3.44e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0818384e+00 2.11e-06 5.62e-05 -4.0 9.74e+00 -9.4 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.77e-08 6.75e-07 -4.0 1.04e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818383e+00 1.99e-11 1.01e-09 -4.0 3.95e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0818383022074207e+00 2.0818383022074207e+00 Dual infeasibility......: 1.0124239121481107e-09 1.0124239121481107e-09 Constraint violation....: 1.9864998535013001e-11 1.9864998535013001e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 1.0124239121481107e-09 1.0124239121481107e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 33.952 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.097s jacobian structure: 180 nonzeros (0.224s) integrator 1 hessian structure: 0.094s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.405s sub-objective 2 (QuadraticRegularizer): 0.177s sub-objective 3 (MinimumTimeObjective): 0.058s objective hessian structure: 0.784s hessian structure: 375 nonzeros (0.879s) linear index maps built (0.0s) evaluator ready (total: 1.38s) evaluator created (1.956s) NL constraint bounds extracted (0.091s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.166s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.817s) optimizer initialization complete (total: 6.031s) 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 1.5233758e+00 9.44e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3440976e+00 1.30e-01 1.54e+00 -1.0 9.44e-01 0.0 9.99e-01 1.00e+00h 1 2 1.3232805e+00 7.10e-02 6.70e-01 -0.7 2.49e+00 - 1.00e+00 4.50e-01h 1 3 1.1827017e+00 1.62e-01 1.90e+00 -1.6 3.60e+00 - 8.50e-01 1.00e+00h 1 4 1.8066803e+00 2.72e-01 5.00e+00 -1.1 3.45e-01 -0.5 8.62e-01 1.00e+00h 1 5 1.4365830e+00 1.71e-01 4.86e+00 -1.2 1.85e+00 -1.0 3.80e-01 2.66e-01f 1 6 1.3295171e+00 2.22e-02 2.81e+00 -1.9 2.57e-01 -1.4 9.96e-01 8.97e-01h 1 7 1.1966648e+00 1.31e-02 3.69e+00 -2.2 1.08e+01 - 1.00e+00 3.39e-01h 1 8 1.1165219e+00 4.09e-03 7.00e-01 -3.3 5.92e+00 - 1.00e+00 6.98e-01h 1 9 1.1033667e+00 2.66e-03 2.88e-01 -4.0 4.02e+00 - 1.00e+00 3.50e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909240e+00 6.83e-05 8.42e-02 -4.0 2.63e+00 - 1.00e+00 9.83e-01h 1 11 1.0909090e+00 1.44e-08 1.26e-02 -4.0 1.11e+00 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 8.82e-14 4.23e-05 -4.0 7.76e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 5.54e-21 4.23e-05 -4.0 3.30e-06 - 1.00e+00 1.00e+00h 1 14 1.0907198e+00 1.61e-25 6.99e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 2.40e-27 7.78e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 7.7816879884284873e-09 7.7816879884284873e-09 Constraint violation....: 2.3996183071622708e-27 2.3996183071622708e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 7.7816879884284873e-09 7.7816879884284873e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 16 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 38.884 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.385s jacobian structure: 1600 nonzeros (3.456s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.229s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.791s 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 (5.079s) linear index maps built (0.0s) evaluator ready (total: 8.535s) evaluator created (8.595s) 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: 8.597s) 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 4.3333463e+00 2.89e+00 6.12e-01 9.94e-01 -1.0 - 0.00e+00 1 0 1 2.7562389e+00 7.83e-02 2.00e+00 3.56e-01 -1.0 0.0 1.00e+00 1 1h 2 2.4837312e+00 4.19e-02 8.11e-01 1.36e-01 -1.0 0.4 7.29e-01 1 1h 3 2.3941016e+00 1.54e-02 1.88e-01 3.98e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.1993497e+00 1.73e-02 9.82e-02 1.71e-02 -2.5 -0.5 7.97e-01 1 1h 5 2.1280254e+00 3.91e-03 1.24e-01 6.39e-03 -2.5 -1.0 7.76e-01 1 1h 6 2.1144729e+00 1.19e-03 1.91e-02 2.93e-03 -2.5 -1.5 1.00e+00 1 1h 7 2.0917536e+00 1.35e-05 5.15e-04 2.12e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0900330e+00 1.02e-06 3.82e-05 1.25e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0900266e+00 2.48e-07 5.96e-05 3.57e-06 -5.7 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900176e+00 2.29e-06 1.04e-04 1.95e-06 -5.7 -3.4 1.00e+00 1 1h 11 2.0900018e+00 2.07e-05 3.90e-05 1.84e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899597e+00 1.06e-04 1.96e-05 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0898594e+00 1.09e-04 1.04e-03 1.85e-06 -5.7 -4.8 7.84e-01 1 1h 14 2.0894999e+00 9.64e-05 6.57e-04 4.39e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893210e+00 8.59e-05 5.15e-02 2.07e-06 -5.7 -5.8 1.13e-01 1 1h 16 2.0867764e+00 5.92e-05 1.23e-02 4.44e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0862452e+00 5.28e-05 1.61e-01 2.90e-06 -5.7 -6.7 1.09e-01 1 1h 18 2.0817494e+00 4.90e-05 1.32e-01 2.27e-06 -5.7 -7.2 7.47e-01 1 1h 19 2.0818858e+00 1.60e-04 1.28e-01 8.17e-04 -5.7 -7.7 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811095e+00 3.23e-05 3.29e-02 3.37e-04 -5.7 -8.2 6.08e-01 1 1h 21 2.0806886e+00 1.38e-05 4.87e-02 1.29e-04 -5.7 -8.6 9.25e-01 1 1h 22 2.0807255e+00 1.24e-05 9.49e-02 1.20e-04 -5.7 -7.3 1.03e-01 1 1h 23 2.0807698e+00 1.24e-05 2.51e-01 1.15e-04 -5.7 -5.1 2.71e-01 1 1h 24 2.0807629e+00 9.74e-07 2.40e-03 1.25e-04 -5.7 -5.6 1.00e+00 1 1h 25 2.0807192e+00 6.80e-07 3.58e-02 2.22e-05 -5.7 -6.0 3.16e-01 1 1h 26 2.0806879e+00 1.33e-06 3.86e-01 5.77e-06 -5.7 -5.6 4.37e-01 1 1h 27 2.0806840e+00 1.29e-06 2.25e-01 2.30e-05 -5.7 -6.1 3.31e-01 1 1h 28 2.0806584e+00 4.74e-07 8.89e-04 4.52e-06 -5.7 -6.6 1.00e+00 1 1h 29 2.0806387e+00 2.63e-07 1.42e-03 1.85e-06 -5.7 -7.0 6.01e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806432e+00 1.39e-08 1.42e-03 5.39e-06 -5.7 -5.7 1.00e+00 1 1h 31 2.0806388e+00 1.27e-08 1.04e-04 2.40e-06 -5.7 -6.2 1.00e+00 1 1h 32 2.0806346e+00 3.48e-07 1.73e-02 1.86e-06 -5.7 -6.7 1.00e+00 1 1h 33 2.0806308e+00 3.34e-07 3.37e-01 2.57e-06 -5.7 -5.3 1.89e-01 1 2h 34 2.0806294e+00 5.31e-08 5.69e-05 1.86e-06 -5.7 -5.8 1.00e+00 1 1h 35 2.0806279e+00 2.43e-07 3.74e-05 1.85e-06 -5.7 -6.3 1.00e+00 1 1h 36 2.0806296e+00 4.59e-07 1.07e-02 1.86e-06 -5.7 -6.8 6.55e-02 1 4h 37 2.0806281e+00 4.67e-09 2.45e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 38 2.0806277e+00 8.94e-09 5.18e-06 1.92e-06 -5.7 -5.0 1.00e+00 1 1h 39 2.0806105e+00 5.17e-07 2.26e-03 5.98e-07 -8.6 -5.5 8.13e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806067e+00 5.22e-08 1.04e-02 1.81e-07 -8.6 -5.1 9.94e-01 1 1h 41 2.0806059e+00 1.44e-08 6.12e-03 9.62e-09 -8.6 -5.5 7.32e-01 1 1h 42 2.0806043e+00 7.05e-10 6.50e-03 3.11e-09 -8.6 -6.0 1.00e+00 1 1h 43 2.0806040e+00 4.40e-10 9.11e-04 3.22e-09 -8.6 -5.6 3.75e-01 1 1h 44 2.0806024e+00 6.00e-12 1.23e-05 2.42e-08 -8.6 -6.1 1.00e+00 1 1h 45 2.0806019e+00 2.81e-12 6.77e-03 2.64e-09 -8.6 -5.6 5.36e-01 1 1h 46 2.0806001e+00 3.67e-12 6.26e-06 5.30e-09 -8.6 -6.1 1.00e+00 1 1h 47 2.0805982e+00 4.65e-12 4.63e-04 2.63e-09 -8.6 -6.6 3.36e-01 1 1h 48 2.0805968e+00 4.64e-12 1.91e-03 3.09e-09 -8.6 -7.1 9.60e-02 1 1h 49 2.0805624e+00 2.82e-10 7.02e-04 1.09e-08 -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 50 2.0805537e+00 2.69e-10 8.18e-03 9.35e-09 -8.6 -8.0 1.31e-01 1 1h 51 2.0805422e+00 9.54e-10 2.51e-03 1.44e-06 -8.6 -8.5 8.75e-01 1 1h 52 2.0805367e+00 6.44e-10 2.97e-03 1.32e-08 -8.6 -9.0 1.00e+00 1 1h 53 2.0805367e+00 7.24e-11 2.67e-05 1.28e-06 -8.6 -6.7 1.00e+00 1 1h 54 2.0805367e+00 3.48e-11 7.92e-04 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 55 2.0805367e+00 3.29e-14 1.40e-07 3.26e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805367e+00 2.75e-14 1.40e-06 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805367e+00 3.59e-13 1.38e-06 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805366e+00 3.99e-13 4.90e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 59 2.0805366e+00 1.53e-12 1.24e-06 2.51e-09 -8.6 -7.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 4.14e-12 3.33e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 61 2.0805365e+00 3.16e-12 2.75e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 62 2.0805365e+00 4.53e-13 5.25e-07 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 63 2.0805365e+00 1.42e-14 1.48e-08 2.51e-09 -8.6 -9.7 1.00e+00 1 1h 64 2.0805365e+00 1.83e-11 4.90e-11 9.09e-10 -9.0 -10.2 1.00e+00 1 1h Number of Iterations....: 64 (scaled) (unscaled) Objective...............: 2.0805364595436844e+00 2.0805364595436844e+00 Dual infeasibility......: 4.9043213934396590e-11 4.9043213934396590e-11 Constraint violation....: 1.8283596858736928e-11 1.8283596858736928e-11 Complementarity.........: 9.0913427387874010e-10 9.0913427387874010e-10 Overall NLP error.......: 9.0913427387874010e-10 9.0913427387874010e-10 Number of objective function evaluations = 71 Number of objective gradient evaluations = 65 Number of constraint evaluations = 71 Number of constraint Jacobian evaluations = 65 Number of Lagrangian Hessian evaluations = 64 Number of KKT factorizations = 153 Number of KKT backsolves = 67 Total wall secs in initialization = 5.962 s Total wall secs in linear solver = 0.136 s Total wall secs in NLP function evaluations = 23.185 s Total wall secs in solver (w/o init./fun./lin. alg.) = 34.384 s Total wall secs = 63.666 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:438 ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##215"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/solve.jl:122 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.0s) evaluator ready (total: 0.125s) evaluator created (0.126s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.445s) optimizer initialization complete (total: 0.571s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1959844e+00 2.44e+00 4.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6113511e+00 4.59e-02 2.78e+00 -1.2 1.84e+00 -2.0 9.91e-01 1.00e+00h 1 2 2.3323779e+00 6.23e-02 4.50e-01 -1.5 1.72e+00 -2.5 9.73e-01 1.00e+00h 1 3 2.1796207e+00 1.96e-02 1.50e-01 -2.1 1.24e+00 -3.0 9.71e-01 1.00e+00h 1 4 2.1071061e+00 2.23e-03 2.08e-02 -3.0 2.94e-01 -3.4 9.94e-01 1.00e+00h 1 5 2.0910014e+00 4.88e-04 1.49e-03 -4.0 2.56e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0910636e+00 6.74e-06 1.38e-04 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0909157e+00 8.85e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0904729e+00 7.60e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0891550e+00 6.93e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0852994e+00 6.48e-04 2.78e-03 -4.0 3.92e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797693e+00 2.00e-03 1.44e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.41e-01h 1 12 2.0804335e+00 5.17e-05 1.79e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775594e+00 5.75e-03 2.01e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.59e-01h 1 14 2.0770866e+00 9.85e-04 7.76e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762370e+00 7.78e-04 2.55e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.66e-01h 1 16 2.0755975e+00 7.53e-04 2.54e-02 -4.0 5.54e+02 -9.2 1.00e+00 6.97e-01h 1 17 2.0758655e+00 8.93e-04 1.25e-02 -4.0 1.54e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754597e+00 1.91e-03 5.21e-04 -4.1 8.35e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.09e-04 7.01e-06 -4.0 2.11e+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 2.0754219e+00 6.67e-04 8.01e-07 -4.1 2.52e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.26e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.22e-08 -4.0 2.11e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.09e-14 3.41e-12 -4.0 1.56e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460829e+00 2.0757703960460829e+00 Dual infeasibility......: 3.4088159812234453e-12 3.4088159812234453e-12 Constraint violation....: 2.0872192862952943e-14 2.0872192862952943e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000011e-04 1.0000000000000011e-04 Overall NLP error.......: 3.4088159812234453e-12 3.4088159812234453e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 35.568 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.107s jacobian structure: 180 nonzeros (0.239s) integrator 1 hessian structure: 0.103s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.419s sub-objective 2 (QuadraticRegularizer): 0.077s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.067s objective hessian structure: 0.713s hessian structure: 375 nonzeros (0.816s) linear index maps built (0.0s) evaluator ready (total: 1.287s) evaluator created (1.811s) NL constraint bounds extracted (0.055s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.065s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.775s) optimizer initialization complete (total: 4.707s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2503718e+00 9.68e-01 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8981813e+00 2.50e-01 2.07e+00 -0.8 9.68e-01 0.0 9.37e-01 1.00e+00h 1 2 1.6725188e+00 8.10e-02 6.91e-01 -0.8 3.25e+00 - 5.28e-01 6.76e-01h 1 3 2.1797551e+00 1.70e-02 1.53e+01 -1.7 1.62e+01 - 9.36e-01 1.00e+00h 1 4 1.3143357e+00 1.72e-02 5.27e+00 -2.0 2.55e-01 -0.5 1.00e+00 6.35e-01f 1 5 1.1640568e+00 6.48e-03 1.80e+00 -3.1 6.21e-02 -1.0 1.00e+00 6.13e-01h 1 6 1.1063787e+00 1.29e-04 3.12e-03 -3.6 4.28e-02 -1.4 1.00e+00 1.00e+00h 1 7 1.1047509e+00 8.40e-08 1.47e-03 -4.0 1.19e-01 -1.9 1.00e+00 1.00e+00h 1 8 1.1040170e+00 8.07e-11 1.44e-03 -4.0 3.49e-01 -2.4 1.00e+00 1.00e+00f 1 9 1.1035660e+00 5.95e-11 9.62e-03 -4.0 9.76e-01 -2.9 2.22e-01 2.62e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1028390e+00 2.58e-14 1.41e-03 -4.0 3.75e-01 -2.4 1.00e+00 1.00e+00f 1 11 1.0909182e+00 1.87e-16 9.96e-01 -4.0 1.38e+01 - 7.62e-01 1.00e+00f 1 12 1.0909555e+00 1.86e-16 7.57e-03 -4.0 2.43e-01 - 1.00e+00 7.81e-03f 8 13 1.0907395e+00 1.47e-21 1.50e-04 -4.1 1.22e-01 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 5.59e-26 3.39e-07 -4.0 3.31e-03 - 1.00e+00 1.00e+00f 1 15 1.0907198e+00 7.35e-26 2.80e-09 -4.1 4.69e-04 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 2.38e-26 2.87e-09 -4.0 1.47e-04 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 2.03e-26 2.87e-09 -4.1 2.34e-05 - 1.00e+00 1.00e+00f 1 18 1.0900065e+00 3.17e-25 4.51e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 19 1.0908999e+00 4.26e-29 7.07e-08 -4.0 8.12e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0907198e+00 6.43e-26 2.87e-09 -4.1 6.45e-04 - 1.00e+00 1.00e+00f 1 21 1.0900065e+00 1.22e-25 4.51e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 22 1.0899999e+00 7.47e-32 3.68e-12 -9.0 7.27e-07 - 1.00e+00 1.00e+00f 1 23 1.0900125e+00 7.37e-32 1.76e-11 -4.0 1.76e+01 - 1.00e+00 1.40e-02f 1 24 1.0904004e+00 2.21e-34 1.33e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 25 1.0900026e+00 7.12e-25 1.40e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 26 1.0899999e+00 5.91e-32 6.31e-13 -9.0 4.14e-04 - 1.00e+00 1.00e+00f 1 27 1.0899999e+00 2.99e-43 4.44e-16 -9.0 1.35e-01 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 1.59e-46 3.54e-16 -9.0 5.85e-16 - 1.00e+00 1.00e+00 0 29 1.0899999e+00 2.79e-47 3.89e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.8868647883605334e-16 3.8868647883605334e-16 Constraint violation....: 2.7902046993478549e-47 2.7902046993478549e-47 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 38 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 38 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 27.773 EXIT: Search Direction is becoming Too Small. ====================================================================================== 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 59 running 1 of 1 signal (10): User defined signal 1 unknown function (ip: 0x7b081f546118) at /lib/x86_64-linux-gnu/libc.so.6 __libc_free at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) deallocate at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/ext/new_allocator.h:128:19 [inlined] deallocate at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/alloc_traits.h:470:9 [inlined] _M_put_node at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:584:34 [inlined] _M_drop_node at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:651:2 [inlined] _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1911:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 _M_erase at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:1909:4 ~_Rb_tree at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_tree.h:978:2 [inlined] ~set at /usr/local/x86_64-linux-gnu/include/c++/9.1.0/bits/stl_set.h:281:7 [inlined] ~SmallSet at /source/usr/include/llvm/ADT/SmallSet.h:134:7 [inlined] linkOutput at /source/src/jitlayers.cpp:2346:34 materialize at /source/src/jitlayers.cpp:941:28 _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:2087:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:518:39 jl_compile_method_very_internal at /source/src/gf.c:4000:27 _jl_invoke at /source/src/gf.c:4477:16 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:412 eval at ./boot.jl:545:0 (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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:947:23 #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: 0x7b07ff5d95c6) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 385) unknown function (ip: 0x7b07ff5d900e) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 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: 1929) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 eval at ./boot.jl:545:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 _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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 eval at ./boot.jl:545:0 (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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [inlined] true_main at /source/src/jlapi.c:985:29 jl_repl_entrypoint at /source/src/jlapi.c:1149:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x7b081f4d7249) 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:519:34 wait at ./task.jl:1293:0 (pc: 149) wait_forever at ./task.jl:1199:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [inlined] start_task at /source/src/task.c:1241:19 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 0x0000728e3cd4cf10 Total snapshots: 401. Utilization: 0% ╎401 @Base/task.jl:1199 wait_forever() 400╎ 401 @Base/task.jl:1293 wait() [59] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:841 _ZN4llvm4castINS_11InstructionEKNS_5ValueEEEDcPT0_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _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:1303:17 operator() at /source/src/jitlayers.cpp:1441:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2500:18 operator() at /source/src/jitlayers.cpp:903:56 [inlined] CallImpl):: > at /source/usr/include/llvm/ADT/FunctionExtras.h:222:49 operator() at /source/usr/include/llvm/ADT/FunctionExtras.h:389:62 [inlined] operator() at /source/src/objcache.cpp:315:24 [inlined] get at /source/src/objcache.cpp:356:30 materialize at /source/src/jitlayers.cpp:901:33 _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:2087:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:518:39 jl_compile_method_very_internal at /source/src/gf.c:4000:27 _jl_invoke at /source/src/gf.c:4477:16 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/4J2wz/src/jacobian.jl:58:0 (pc: 2) unknown function (ip: 0x7b074b1855af) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/src/integrators/bilinear_integrator.jl:114:0 (pc: 131) unknown function (ip: 0x7b074b1851de) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:507:0 (pc: 95) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/VOKy2/src/solvers/evaluator.jl:377:0 (pc: 19) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 eval at ./boot.jl:545:0 (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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:947:23 #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: 0x7b07ff5d95c6) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 385) unknown function (ip: 0x7b07ff5d900e) at (unknown file) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 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: 1929) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 eval at ./boot.jl:545:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 208) _jl_invoke at /source/src/gf.c:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 _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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [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:760:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:950:21 ijl_eval_thunk at /source/src/toplevel.c:763:18 jl_toplevel_eval_flex at /source/src/toplevel.c:707:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:597:15 jl_toplevel_eval_flex at /source/src/toplevel.c:679:27 ijl_toplevel_eval at /source/src/toplevel.c:777:12 ijl_toplevel_eval_in at /source/src/toplevel.c:822:13 eval at ./boot.jl:545:0 (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:4485:23 [inlined] ijl_apply_generic at /source/src/gf.c:4723:12 jl_apply at /source/src/julia.h:2430:12 [inlined] true_main at /source/src/jlapi.c:985:29 jl_repl_entrypoint at /source/src/jlapi.c:1149:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x7b081f4d7249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1948256812 (Pool: 1948194380; Big: 62432); GC: 781 PkgEval terminated after 2723.58s: test duration exceeded the time limit