Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.3081 (21a70e450d*) started at 2026-09-02T07:27:26.097 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 25.74s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.10.1 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.24.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.45 [79e6a3ab] + Adapt v4.7.0 [4fba245c] + ArrayInterface v7.30.1 [4c555306] + ArrayLayouts v1.12.2 [b2a6c25c] + BinaryHeaps v1.1.0 [70df07ce] + BracketingNonlinearSolve v1.12.6 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.2 [4c0bbee4] + ChunkCodecLibZlib v1.1.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.9 [38540f10] + CommonSolve v0.2.14 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.8 [187b0558] + ConstructionBase v1.6.0 [a8cc5b0e] + Crayons v4.2.0 [9a962f9c] + DataAPI v1.16.0 [e2d170a0] + DataValueInterfaces v1.0.0 [2b5f629d] + DiffEqBase v7.20.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.21 [c823fa1f] + DirectTrajOpt v0.10.1 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.21 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.11 [7034ab61] + FastBroadcast v1.4.0 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.5.0 [5789e2e9] + FileIO v1.20.0 [1a297f60] + FillArrays v1.17.0 [64ca27bc] + FindFirstFunctions v3.2.1 [6a86dc24] + FiniteDiff v2.33.0 [f6369f11] + ForwardDiff v1.4.5 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.13.0 [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 v0.6.6 [692b3bcd] + JLLWrappers v1.8.0 [682c06a0] + JSON v1.7.1 [b964fa9f] + LaTeXStrings v1.4.1 [5078a376] + LazyArrays v2.12.0 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.53.0 [bb5d69b7] + MaybeInplace v0.1.8 [46d2c3a1] + MuladdMacro v0.2.7 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.4 [be0214bd] + NonlinearSolveBase v2.49.2 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.16.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.1.4 ⌅ [69de0a69] + Parsers v2.8.7 [d236fae5] + PreallocationTools v1.7.1 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [08abe8d2] + PrettyTables v3.4.8 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.5.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [9fe22ead] + RespecializeParams v1.3.0 [7e49a35a] + RuntimeGeneratedFunctions v0.5.25 [0bca4576] + SciMLBase v3.50.2 [19f34311] + SciMLJacobianOperators v0.1.18 [a6db7da4] + SciMLLogging v2.1.0 [c0aeaf25] + SciMLOperators v1.30.0 [431bcebd] + SciMLPublic v1.3.0 [53ae85a6] + SciMLStructures v1.10.5 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.9.0 [90137ffa] + StaticArrays v1.9.19 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.4 ⌅ [892a3eda] + StringManipulation v0.5.0 [ec057cc2] + StructUtils v2.8.5 [2efcf032] + SymbolicIndexingInterface v0.3.55 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.14.0 [f8b46487] + TestItemRunner v1.3.2 [1c621080] + TestItems v1.1.0 [a759f4b9] + TimerOutputs v1.2.0 [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 v500.900.100+0 [656ef2d0] + OpenBLAS32_jll v0.3.34+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.19.0+0 [0dad84c5] + ArgTools v1.2.0 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.12.0 [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 [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 v1.5.7+0 [deac9b47] + LibCURL_jll v8.21.0+0 [e37daf67] + LibGit2_jll v1.9.7+0 [29816b5a] + LibSSH2_jll v1.11.104+0 [14a3606d] + MozillaCACerts_jll v2026.8.13 [4536629a] + OpenBLAS_jll v0.3.34+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.8+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 v1.70.0+0 [3f19e933] + p7zip_jll v17.8.2+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 4.69s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/sTG3E/src/julia-1.13/activate_set.jl:78 Precompiling package dependencies... Precompiling project... WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. Stacktrace: [1] top-level scope @ ~/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 [2] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [3] top-level scope @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 [4] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [5] top-level scope @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 [6] include(mod::Module, _path::String) @ Base Base.jl:334 [7] top-level scope @ stdin:5 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 19.5 s ✓ MadNLP → MadNLPMOI 63.5 s ✓ Ipopt → IpoptMathOptInterfaceExt 36.5 s ✓ DirectTrajOpt 30.6 s ✓ DirectTrajOpt → MadNLPSolverExt 4 dependencies successfully precompiled in 185 seconds. 226 already precompiled. 1 dependency had output during precompilation: ┌ JET │ WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. │ WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. │ ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` │ Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. │ Stacktrace: │ [1] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 │ [2] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [3] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ [4] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [5] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 │ [6] include(mod::Module, _path::String) │ @ Base Base.jl:334 │ [7] top-level scope │ @ stdin:5 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 │ in expression starting at stdin:5 └ ERROR: LoadError: The following 1 package failed to precompile: JET Failed to precompile JET [c3a54625-cd67-489e-a8e7-0a5a0ff4e31b] to "/home/pkgeval/.julia/compiled/v1.14/JET/jl_fu9f6x" (ProcessExited(1)). in expression starting at /PkgEval.jl/scripts/precompile.jl:34 Precompilation failed after 176.35s ################################################################################ # 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_fgoA7m/Project.toml` [4c88cf16] + Aqua v0.8.16 [c823fa1f] + DirectTrajOpt v0.10.1 ⌅ [c3a54625] + JET v0.11.6 ⌅ [2621e9c9] + MadNLP v0.9.2 Updating `/tmp/jl_fgoA7m/Manifest.toml` [14f7f29c] + AMD v0.5.3 [4c88cf16] + Aqua v0.8.16 [da1fd8a2] + CodeTracking v3.0.2 [807dbc54] + Compiler v0.1.1 [a8cc5b0e] - Crayons v4.2.0 [9a962f9c] - DataAPI v1.16.0 [e2d170a0] - DataValueInterfaces v1.0.0 [c823fa1f] + DirectTrajOpt v0.10.1 ⌅ [c3a54625] + JET v0.11.6 [aa1ae85d] + JuliaInterpreter v0.11.4 [70703baa] + JuliaSyntax v1.0.2 [40e66cde] + LDLFactorizations v0.10.2 [b964fa9f] - LaTeXStrings v1.4.1 [5c8ed15e] + LinearOperators v2.14.2 [6f1432cf] + LoweredCodeUtils v3.8.0 ⌅ [2621e9c9] + MadNLP v0.9.2 [a4795742] + NLPModels v0.21.12 ⌃ [be0214bd] ↓ NonlinearSolveBase v2.49.2 ⇒ v2.48.0 [08abe8d2] - PrettyTables v3.4.8 [295af30f] + Revise v3.17.0 [ff4d7338] + SolverCore v0.3.10 [892a3eda] - StringManipulation v0.5.0 [3783bdb8] - TableTraits v1.0.1 [bd369af6] - Tables v1.14.0 ⌅ [a759f4b9] ↓ TimerOutputs v1.2.0 ⇒ v0.5.29 ⌃ [9cc047cb] ↓ Ipopt_jll v300.1400.1902+0 ⇒ v300.1400.1901+0 ⌅ [d7ed1dd3] ↓ MUMPS_seq_jll v500.900.100+0 ⇒ v500.800.200+0 [8bf52ea8] + CRC32c 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_fgoA7m/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.10.1 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.33.0 [f6369f11] ForwardDiff v1.4.5 [b6b21f68] Ipopt v1.15.0 ⌅ [c3a54625] JET v0.11.6 [5078a376] LazyArrays v2.12.0 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.53.0 [538bc3a1] NamedTrajectories v0.9.4 [b1df2697] OrdinaryDiffEqTsit5 v2.1.4 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.50.2 [f8b46487] TestItemRunner v1.3.2 [1c621080] TestItems v1.1.0 [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_fgoA7m/Manifest.toml` [47edcb42] ADTypes v1.24.0 [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 v7.30.1 [4c555306] ArrayLayouts v1.12.2 [b2a6c25c] BinaryHeaps v1.1.0 [70df07ce] BracketingNonlinearSolve v1.12.6 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.2 [4c0bbee4] ChunkCodecLibZlib v1.1.0 [55437552] ChunkCodecLibZstd v1.0.0 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.9 [38540f10] CommonSolve v0.2.14 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.8 [187b0558] ConstructionBase v1.6.0 [2b5f629d] DiffEqBase v7.20.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.21 [c823fa1f] DirectTrajOpt v0.10.1 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.21 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.11 [7034ab61] FastBroadcast v1.4.0 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.5.0 [5789e2e9] FileIO v1.20.0 [1a297f60] FillArrays v1.17.0 [64ca27bc] FindFirstFunctions v3.2.1 [6a86dc24] FiniteDiff v2.33.0 [f6369f11] ForwardDiff v1.4.5 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.13.0 [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 v0.11.6 [033835bb] JLD2 v0.6.6 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.7.1 [aa1ae85d] JuliaInterpreter v0.11.4 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.12.0 [5c8ed15e] LinearOperators v2.14.2 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 [6f1432cf] LoweredCodeUtils v3.8.0 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.53.0 [bb5d69b7] MaybeInplace v0.1.8 [46d2c3a1] MuladdMacro v0.2.7 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.4 ⌃ [be0214bd] NonlinearSolveBase v2.48.0 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.16.0 [b1df2697] OrdinaryDiffEqTsit5 v2.1.4 ⌅ [69de0a69] Parsers v2.8.7 [d236fae5] PreallocationTools v1.7.1 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.5.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [9fe22ead] RespecializeParams v1.3.0 [295af30f] Revise v3.17.0 [7e49a35a] RuntimeGeneratedFunctions v0.5.25 [0bca4576] SciMLBase v3.50.2 [19f34311] SciMLJacobianOperators v0.1.18 [a6db7da4] SciMLLogging v2.1.0 [c0aeaf25] SciMLOperators v1.30.0 [431bcebd] SciMLPublic v1.3.0 [53ae85a6] SciMLStructures v1.10.5 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.9.0 [90137ffa] StaticArrays v1.9.19 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.4 [ec057cc2] StructUtils v2.8.5 [2efcf032] SymbolicIndexingInterface v0.3.55 [f8b46487] TestItemRunner v1.3.2 [1c621080] TestItems v1.1.0 ⌅ [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 v0.3.34+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.19.0+0 [0dad84c5] ArgTools v1.2.0 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [8bf52ea8] CRC32c v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.12.0 [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 v1.5.7+0 [deac9b47] LibCURL_jll v8.21.0+0 [e37daf67] LibGit2_jll v1.9.7+0 [29816b5a] LibSSH2_jll v1.11.104+0 [14a3606d] MozillaCACerts_jll v2026.8.13 [4536629a] OpenBLAS_jll v0.3.34+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.8+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 v1.70.0+0 [3f19e933] p7zip_jll v17.8.2+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... 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 5.1707620e+00 2.71e+00 8.22e-01 9.71e-01 -1.0 - 0.00e+00 1 0 1 5.1707617e+00 2.71e+00 1.08e-03 1.01e-04 -1.0 0.0 1.00e-07 1 2h 2 2.7858542e+00 4.60e-01 5.68e-04 5.00e-05 -1.0 -0.5 8.31e-01 1 1h 3 2.3322921e+00 8.13e-02 3.39e-04 3.75e-05 -1.7 -1.0 8.15e-01 1 1h 4 2.1400575e+00 1.30e-02 4.17e-04 3.33e-05 -2.5 -1.4 9.96e-01 1 1h 5 2.1021681e+00 3.67e-03 1.54e-03 3.11e-05 -3.8 -1.9 6.62e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1021680548295123e+00 2.1021680548295123e+00 Dual infeasibility......: 1.5447532142398531e-03 1.5447532142398531e-03 Constraint violation....: 3.6675347422274740e-03 3.6675347422274740e-03 Complementarity.........: 3.1138881142572663e-05 3.1138881142572663e-05 Overall NLP error.......: 3.6675347422274740e-03 3.6675347422274740e-03 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 = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 16.956 s Total wall secs in linear solver = 0.027 s Total wall secs in NLP function evaluations = 37.765 s Total wall secs in solver (w/o init./fun./lin. alg.) = 59.955 s Total wall secs = 114.702 s EXIT: Maximum Number of Iterations Exceeded. 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 4.8918185e+00 3.62e+00 4.77e+00 9.87e-01 -1.0 - 0.00e+00 1 0 1 4.8918183e+00 3.62e+00 3.55e-03 2.78e-04 -1.0 0.0 1.00e-07 1 2h 2 3.9798004e+00 2.36e+00 1.34e-03 1.51e-04 -1.0 -0.5 3.44e-01 1 1h 3 2.6891507e+00 5.22e-01 2.18e-04 2.97e-05 -1.0 -1.0 7.87e-01 1 1h 4 2.3152361e+00 7.37e-02 1.24e-04 1.59e-05 -1.7 -1.4 9.46e-01 1 1h 5 2.1393222e+00 5.27e-03 1.48e-04 1.10e-05 -2.5 -1.9 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1393221587089064e+00 2.1393221587089064e+00 Dual infeasibility......: 1.4766032797289581e-04 1.4766032797289581e-04 Constraint violation....: 5.2704115675112906e-03 5.2704115675112906e-03 Complementarity.........: 1.1020198474452271e-05 1.1020198474452271e-05 Overall NLP error.......: 5.2704115675112906e-03 5.2704115675112906e-03 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 = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 0.006 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 25.327 s Total wall secs in solver (w/o init./fun./lin. alg.) = 22.994 s Total wall secs = 48.333 s EXIT: Maximum Number of Iterations Exceeded. [ 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............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.5561319e+00 1.93e+00 7.40e-01 9.32e-01 -1.0 - 0.00e+00 1 0 1 2.5561318e+00 1.93e+00 1.18e-03 2.07e-04 -1.0 0.0 1.00e-07 1 2h 2 2.5758935e+00 1.58e+00 2.14e-03 1.29e-04 -1.0 -0.5 1.83e-01 1 1h 3 2.8111276e+00 1.05e-01 1.12e-03 6.24e-05 -1.0 -1.0 1.00e+00 1 1h 4 2.5016665e+00 5.22e-02 1.00e-03 6.04e-05 -2.5 -0.5 4.77e-01 1 1h 5 2.2536907e+00 4.23e-02 1.18e-03 5.54e-05 -2.5 -1.0 2.84e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.2536906648011659e+00 2.2536906648011659e+00 Dual infeasibility......: 1.1824261444307014e-03 1.1824261444307014e-03 Constraint violation....: 4.2305227431290171e-02 4.2305227431290171e-02 Complementarity.........: 5.5357267724733535e-05 5.5357267724733535e-05 Overall NLP error.......: 4.2305227431290171e-02 4.2305227431290171e-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 = 14 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.008 s Total wall secs in NLP function evaluations = 21.217 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.485 s Total wall secs = 32.711 s EXIT: Maximum Number of Iterations Exceeded. This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.2356536e+00 3.21e+00 4.01e+00 9.91e-01 -1.0 - 0.00e+00 0 0 1 2.2356528e+00 3.21e+00 4.06e-04 5.31e-05 -1.0 -2.0 2.00e-07 1 1h 2 2.0224653e+00 9.27e-01 4.61e-05 1.26e-05 -1.0 -2.5 6.59e-01 1 1h 3 1.8768152e+00 6.99e-01 4.21e-05 1.01e-05 -1.7 -2.1 2.46e-01 1 1h 4 1.8091123e+00 6.25e-01 1.11e-04 6.11e-06 -1.7 -2.5 2.05e-01 1 1h 5 1.9199694e+00 4.91e-01 2.22e-04 5.75e-06 -1.7 -3.0 3.74e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 1.9199693994299107e+00 1.9199693994299107e+00 Dual infeasibility......: 2.2219862540794855e-04 2.2219862540794855e-04 Constraint violation....: 4.9118706718102856e-01 4.9118706718102856e-01 Complementarity.........: 5.7494821883959531e-06 5.7494821883959531e-06 Overall NLP error.......: 4.9118706718102856e-01 4.9118706718102856e-01 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 12 Number of KKT backsolves = 5 Total wall secs in initialization = 16.424 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 22.093 s Total wall secs in solver (w/o init./fun./lin. alg.) = 37.594 s Total wall secs = 76.114 s EXIT: Maximum Number of Iterations Exceeded. [ 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............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.7713853e+00 2.69e+00 1.10e+00 9.58e-01 -1.0 - 0.00e+00 1 0 1 3.7713846e+00 2.69e+00 1.34e-03 4.53e-05 -1.0 0.0 1.00e-07 1 2h 2 2.9427988e+00 9.83e-02 5.17e-04 1.62e-05 -1.0 -0.5 1.00e+00 1 1h EXIT: Stopping optimization at current point as requested by user. This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.6870381e+00 1.95e+00 7.02e-01 9.71e-01 -1.0 - 0.00e+00 1 0 1 2.5630699e+00 8.47e-02 1.84e+00 3.57e-01 -1.0 0.0 1.00e+00 2 1h 2 2.4434196e+00 5.55e-02 1.48e+00 1.49e-01 -1.0 -0.5 3.45e-01 2 1h 3 2.8697582e+00 4.95e-02 1.15e+00 1.32e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.5721613e+00 3.53e-02 2.08e-01 1.25e-01 -1.0 -1.4 9.51e-01 2 1h 5 2.3455241e+00 1.94e-02 9.53e-02 4.03e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1309584e+00 7.37e-03 1.79e-02 6.14e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0911661e+00 5.21e-04 6.05e-03 2.19e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0913780e+00 1.25e-04 4.92e-04 1.50e-04 -3.8 -3.3 1.00e+00 2 1h 9 2.0900148e+00 2.64e-05 1.89e-04 3.03e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899744e+00 2.39e-05 8.86e-03 2.53e-06 -5.7 -4.3 9.24e-02 2 1h 11 2.0899445e+00 6.08e-05 4.73e-04 1.85e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899221e+00 3.24e-05 4.36e-04 2.03e-06 -5.7 -5.2 1.00e+00 2 1h 13 2.0899070e+00 7.75e-06 3.02e-04 1.84e-06 -5.7 -5.7 1.00e+00 2 1h 14 2.0899424e+00 2.20e-06 2.41e-03 1.85e-06 -5.7 -6.2 1.00e+00 2 1h 15 2.0899098e+00 2.17e-06 1.48e-01 1.88e-06 -5.7 -3.1 1.49e-02 1 1h 16 2.0899958e+00 4.44e-07 3.30e-03 9.07e-05 -5.7 -3.5 1.00e+00 2 1h 17 2.0899267e+00 2.14e-07 1.78e-03 1.37e-05 -5.7 -4.0 1.00e+00 2 1h 18 2.0899016e+00 6.16e-10 6.82e-05 1.84e-06 -5.7 -3.6 1.00e+00 1 1h 19 2.0899018e+00 3.13e-09 1.26e-05 2.08e-06 -5.7 -4.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898832e+00 1.49e-07 7.07e-05 3.71e-07 -8.6 -4.5 1.00e+00 1 1h 21 2.0898821e+00 1.17e-08 1.11e-05 8.93e-08 -8.6 -5.0 1.00e+00 2 1h 22 2.0898810e+00 4.55e-08 2.36e-05 1.28e-08 -8.6 -5.5 1.00e+00 1 1h 23 2.0898803e+00 7.53e-08 2.42e-04 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 24 2.0898803e+00 1.63e-10 3.53e-06 1.23e-08 -8.6 -4.7 1.00e+00 1 1h 25 2.0898803e+00 1.10e-09 8.36e-07 2.51e-09 -8.6 -5.1 1.00e+00 1 1h 26 2.0898802e+00 4.13e-09 5.60e-05 2.51e-09 -8.6 -5.6 1.00e+00 2 1h 27 2.0898802e+00 6.13e-10 6.02e-06 2.89e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898801e+00 1.84e-09 3.01e-07 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898801e+00 4.33e-09 9.84e-07 2.51e-09 -8.6 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 3.28e-09 1.28e-06 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898800e+00 1.35e-09 4.30e-07 2.51e-09 -8.6 -7.1 1.00e+00 2 1h 32 2.0898800e+00 1.06e-10 2.39e-08 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 33 2.0898800e+00 3.26e-12 2.16e-10 9.30e-10 -9.0 -8.0 1.00e+00 1 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0898800181311201e+00 2.0898800181311201e+00 Dual infeasibility......: 2.1636820702967511e-10 2.1636820702967511e-10 Constraint violation....: 3.2603727795907714e-12 3.2603727795907714e-12 Complementarity.........: 9.3014366612442470e-10 9.3014366612442470e-10 Overall NLP error.......: 9.3014366612442470e-10 9.3014366612442470e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 34 Number of constraint evaluations = 34 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 77 Number of KKT backsolves = 55 Total wall secs in initialization = 1.940 s Total wall secs in linear solver = 0.030 s Total wall secs in NLP function evaluations = 18.327 s Total wall secs in solver (w/o init./fun./lin. alg.) = 35.606 s Total wall secs = 55.904 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 3.1169416e+00 2.95e+00 1.53e+00 9.46e-01 -1.0 - 0.00e+00 1 0 1 2.8594718e+00 5.90e-02 3.10e+00 1.62e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.7134681e+00 2.54e-02 2.56e-01 1.02e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3968184e+00 1.10e-02 1.33e-01 3.56e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1149036e+00 8.79e-03 1.04e-01 4.64e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1154526e+00 1.56e-03 1.01e-02 3.10e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1154526468385151e+00 2.1154526468385151e+00 Dual infeasibility......: 1.0085316229966557e-02 1.0085316229966557e-02 Constraint violation....: 1.5574420442515668e-03 1.5574420442515668e-03 Complementarity.........: 3.0977606683214010e-03 3.0977606683214010e-03 Overall NLP error.......: 1.0085316229966557e-02 1.0085316229966557e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.501 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.030 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.953 s Total wall secs = 31.489 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 4.2655238e+00 3.42e+00 2.54e+00 9.87e-01 -1.0 - 0.00e+00 1 0 1 1.8753498e+00 9.24e-01 2.62e+00 1.75e-01 -1.0 - 7.30e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.6676508e+00 1.58e-02 7.00e-01 1.12e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3697734e+00 4.70e-03 1.36e-01 1.02e-01 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1405564e+00 2.58e-03 1.20e-01 7.78e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1133277e+00 1.45e-03 8.11e-03 2.84e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1133277180237489e+00 2.1133277180237489e+00 Dual infeasibility......: 8.1122562118974978e-03 8.1122562118974978e-03 Constraint violation....: 1.4490224019654274e-03 1.4490224019654274e-03 Complementarity.........: 2.8364480429275011e-03 2.8364480429275011e-03 Overall NLP error.......: 8.1122562118974978e-03 8.1122562118974978e-03 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.033 s Total wall secs in solver (w/o init./fun./lin. alg.) = 6.461 s Total wall secs = 6.500 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 6.1728852e+00 3.00e+00 2.51e+00 9.62e-01 -1.0 - 0.00e+00 1 0 1 3.0481304e+00 7.58e-01 1.58e+00 3.57e-01 -1.0 - 7.49e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.7388518e+00 2.69e-02 2.27e-01 1.14e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 3 2.3817544e+00 5.50e-03 1.20e-01 9.46e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 4 2.1220975e+00 4.43e-03 6.44e-02 6.56e-03 -2.5 - 9.94e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1154203e+00 1.63e-03 1.07e-02 2.90e-03 -2.5 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 6 2.0914518e+00 1.73e-05 5.32e-03 1.74e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 7 2.0913510e+00 2.02e-08 1.62e-04 1.51e-04 -3.8 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 8 2.0899941e+00 9.20e-05 1.28e-03 3.02e-06 -5.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 9 2.0899587e+00 1.15e-04 2.28e-03 1.89e-06 -5.7 - 3.53e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899358e+00 3.65e-05 2.22e-03 4.93e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899358121407596e+00 2.0899358121407596e+00 Dual infeasibility......: 2.2228088098010311e-03 2.2228088098010311e-03 Constraint violation....: 3.6544100519231293e-05 3.6544100519231293e-05 Complementarity.........: 4.9309698076633405e-06 4.9309698076633405e-06 Overall NLP error.......: 2.2228088098010311e-03 2.2228088098010311e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.008 s Total wall secs in NLP function evaluations = 0.034 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.906 s Total wall secs = 7.948 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 1.5451591e+01 2.84e+00 4.56e+00 1.85e+00 -1.0 - 0.00e+00 1 0 1 4.8269414e+00 4.89e-01 6.74e+00 1.27e+00 -1.0 0.0 8.32e-01 1 1h 2 4.0849638e+00 2.89e-01 3.39e+00 9.96e-01 -1.0 0.4 4.10e-01 2 1h 3 3.7640066e+00 3.58e-01 5.90e+00 8.05e-01 -1.0 -0.1 3.74e-01 2 1h 4 2.7296132e+00 4.38e-01 4.54e+00 7.18e-01 -1.0 -0.5 8.05e-01 2 1h 5 3.2868946e+00 4.47e-01 2.28e+01 7.05e-01 -1.0 -1.0 4.36e-01 2 1H 6 2.9359694e+00 2.58e-02 7.18e+00 9.82e-01 -1.0 1.2 1.00e+00 1 1h 7 3.0010978e+00 6.38e-03 8.35e-01 1.05e-01 -1.0 0.7 1.00e+00 2 1h 8 2.7249178e+00 4.04e-03 7.73e-01 4.67e-02 -1.7 0.3 1.00e+00 2 1h 9 2.3327888e+00 2.68e-02 2.81e-01 4.27e-02 -1.7 -0.2 8.64e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.2521527e+00 7.03e-03 3.09e-01 2.97e-02 -1.7 -0.7 8.35e-01 2 1h 11 2.2822789e+00 3.03e-03 5.59e-02 4.80e-02 -1.7 -1.2 1.00e+00 2 1h 12 2.1276097e+00 1.72e-03 1.03e-02 9.23e-03 -2.5 -1.6 1.00e+00 2 1h 13 2.0913720e+00 4.00e-04 3.25e-03 2.09e-04 -3.8 -2.1 1.00e+00 2 1h 14 2.0914123e+00 3.65e-06 4.05e-05 1.50e-04 -3.8 -2.6 1.00e+00 2 1h 15 2.0900703e+00 4.21e-06 3.12e-05 1.04e-05 -5.7 -3.1 1.00e+00 2 1h 16 2.0900563e+00 1.42e-06 1.47e-04 3.57e-06 -5.7 -3.5 1.00e+00 2 1h 17 2.0900359e+00 2.65e-05 1.38e-03 1.85e-06 -5.7 -4.0 7.55e-01 2 1h 18 2.0900014e+00 3.24e-04 4.62e-04 4.14e-06 -5.7 -4.5 1.00e+00 2 1h 19 2.0899879e+00 2.16e-04 1.97e-03 1.85e-06 -5.7 -4.1 3.37e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899648e+00 5.85e-05 2.15e-04 2.40e-06 -5.7 -4.5 1.00e+00 2 1h 21 2.0899369e+00 2.60e-05 4.92e-04 1.85e-06 -5.7 -5.0 8.72e-01 2 1h 22 2.0899189e+00 1.10e-05 3.19e-04 1.84e-06 -5.7 -5.5 1.00e+00 2 1h 23 2.0899048e+00 4.79e-06 4.01e-04 1.85e-06 -5.7 -6.0 1.00e+00 2 1h 24 2.0899278e+00 3.78e-09 2.28e-04 6.23e-05 -5.7 -2.8 1.00e+00 1 1h 25 2.0899193e+00 1.28e-08 5.36e-05 1.32e-05 -5.7 -3.3 1.00e+00 2 1h 26 2.0899065e+00 3.09e-10 4.20e-05 2.05e-06 -5.7 -3.8 1.00e+00 2 1h 27 2.0899058e+00 6.91e-10 3.77e-06 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 28 2.0898895e+00 1.34e-07 7.69e-05 2.97e-07 -8.6 -4.8 8.40e-01 2 1h 29 2.0898857e+00 2.88e-07 1.18e-05 2.72e-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 2.0898837e+00 5.90e-07 3.16e-05 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 31 2.0898814e+00 1.20e-06 1.06e-04 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 32 2.0898802e+00 1.11e-06 1.62e-04 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 33 2.0898803e+00 6.09e-11 7.89e-06 3.01e-07 -8.6 -3.5 1.00e+00 1 1h 34 2.0898803e+00 2.07e-10 8.40e-07 5.03e-08 -8.6 -4.0 1.00e+00 2 1h 35 2.0898802e+00 6.43e-11 6.30e-07 5.17e-09 -8.6 -4.5 1.00e+00 1 1h 36 2.0898802e+00 7.00e-10 2.25e-07 2.51e-09 -8.6 -5.0 1.00e+00 2 1h 37 2.0898802e+00 2.98e-09 2.13e-07 2.51e-09 -8.6 -5.4 1.00e+00 2 1h 38 2.0898801e+00 1.36e-08 1.23e-06 2.51e-09 -8.6 -5.9 1.00e+00 2 1h 39 2.0898801e+00 3.47e-08 1.52e-05 2.51e-09 -8.6 -6.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0898801e+00 1.56e-09 2.45e-05 3.28e-08 -8.6 -5.1 1.00e+00 1 1h 41 2.0898801e+00 2.64e-09 5.26e-07 2.51e-09 -8.6 -5.5 1.00e+00 2 1h 42 2.0898800e+00 4.08e-09 1.13e-06 3.08e-09 -8.6 -6.0 1.00e+00 2 1h 43 2.0898800e+00 7.41e-09 5.65e-07 2.51e-09 -8.6 -6.5 1.00e+00 2 1h 44 2.0898800e+00 3.59e-09 3.60e-07 2.51e-09 -8.6 -7.0 1.00e+00 2 1h 45 2.0898800e+00 3.16e-10 2.12e-08 2.51e-09 -8.6 -7.4 1.00e+00 1 1h 46 2.0898800e+00 3.86e-12 1.44e-09 9.48e-10 -9.0 -7.9 1.00e+00 1 1h Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0898800181311201e+00 2.0898800181311201e+00 Dual infeasibility......: 1.4367212219113135e-09 1.4367212219113135e-09 Constraint violation....: 3.8644643041152449e-12 3.8644643041152449e-12 Complementarity.........: 9.4823228855952742e-10 9.4823228855952742e-10 Overall NLP error.......: 1.4367212219113135e-09 1.4367212219113135e-09 Number of objective function evaluations = 48 Number of objective gradient evaluations = 47 Number of constraint evaluations = 48 Number of constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Number of KKT factorizations = 110 Number of KKT backsolves = 82 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.060 s Total wall secs in NLP function evaluations = 34.753 s Total wall secs in solver (w/o init./fun./lin. alg.) = 13.638 s Total wall secs = 48.453 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 4.2248342e+00 4.36e+00 2.46e+00 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.8165223e+00 1.86e-01 2.61e+00 5.51e-01 -1.0 0.0 9.57e-01 2 1h 2 2.5800824e+00 4.24e-02 1.14e+00 1.63e-01 -1.0 0.4 8.37e-01 1 1h 3 2.6500568e+00 2.34e-02 4.18e-01 1.02e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.3915521e+00 6.37e-03 1.10e-01 3.65e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1449175e+00 1.29e-02 4.93e-02 1.10e-02 -2.5 -1.0 7.93e-01 2 1h 6 2.1152737e+00 2.97e-03 7.58e-03 3.49e-03 -2.5 -1.5 1.00e+00 2 1h 7 2.0917867e+00 2.01e-05 3.61e-04 2.41e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0901807e+00 3.38e-06 1.82e-04 3.86e-05 -5.7 -2.4 1.00e+00 2 1h 9 2.0901353e+00 7.68e-08 1.56e-04 9.91e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0901082e+00 2.72e-07 1.59e-03 1.85e-06 -5.7 -3.4 6.91e-01 2 1h 11 2.0900837e+00 7.20e-06 5.79e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0900272e+00 1.36e-04 1.31e-03 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0900262e+00 8.75e-05 4.86e-03 2.70e-05 -5.7 -3.9 3.81e-01 1 1h 14 2.0900047e+00 9.00e-05 2.55e-04 6.59e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0899673e+00 2.26e-04 2.18e-04 2.55e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0899521e+00 4.75e-06 7.83e-04 2.88e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0899371e+00 5.67e-06 1.43e-04 4.42e-06 -5.7 -4.9 1.00e+00 2 1h 18 2.0899276e+00 2.18e-06 3.67e-04 1.85e-06 -5.7 -4.5 6.74e-01 1 1h 19 2.0899205e+00 1.43e-06 1.24e-04 3.28e-06 -5.7 -5.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899148e+00 1.05e-07 5.74e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 21 2.0899124e+00 2.03e-07 3.68e-05 1.99e-06 -5.7 -5.0 1.00e+00 2 1h 22 2.0899073e+00 2.27e-07 3.84e-05 1.84e-06 -5.7 -5.5 1.00e+00 2 1h 23 2.0899064e+00 7.47e-09 2.07e-04 1.85e-06 -5.7 -5.1 1.00e+00 1 1h 24 2.0899079e+00 4.06e-10 2.94e-04 9.28e-06 -5.7 -3.7 1.00e+00 1 1h 25 2.0899070e+00 4.98e-10 6.03e-05 1.94e-06 -5.7 -4.2 1.00e+00 2 1h 26 2.0899059e+00 4.64e-09 4.25e-05 1.84e-06 -5.7 -4.7 1.00e+00 2 1h 27 2.0899039e+00 2.73e-08 6.34e-05 1.84e-06 -5.7 -5.2 1.00e+00 2 1h 28 2.0899009e+00 4.87e-08 1.24e-04 1.84e-06 -5.7 -5.7 1.00e+00 2 1h 29 2.0898980e+00 9.21e-08 1.80e-04 1.84e-06 -5.7 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898968e+00 5.42e-08 1.01e-04 1.84e-06 -5.7 -6.6 1.00e+00 2 1h 31 2.0898966e+00 7.35e-09 1.47e-05 1.84e-06 -5.7 -7.1 1.00e+00 2 1h 32 2.0898800e+00 1.65e-07 3.88e-07 2.62e-09 -8.6 -7.6 1.00e+00 2 1h 33 2.0898800e+00 9.94e-13 2.57e-09 2.51e-09 -8.6 -8.0 1.00e+00 1 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0898800325024527e+00 2.0898800325024527e+00 Dual infeasibility......: 2.5730510474011870e-09 2.5730510474011870e-09 Constraint violation....: 9.9398267394690265e-13 9.9398267394690265e-13 Complementarity.........: 2.5059039893095441e-09 2.5059039893095441e-09 Overall NLP error.......: 2.5730510474011870e-09 2.5730510474011870e-09 Number of objective function evaluations = 34 Number of objective gradient evaluations = 34 Number of constraint evaluations = 34 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 77 Number of KKT backsolves = 59 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.035 s Total wall secs in NLP function evaluations = 18.056 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.257 s Total wall secs = 26.349 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.7118399e+00 2.15e+00 1.41e+00 9.55e-01 -1.0 - 0.00e+00 1 0 1 2.2195391e+00 6.73e-01 1.56e+00 3.55e-01 -1.0 0.0 6.88e-01 1 1h 2 2.7267114e+00 2.52e-02 7.61e-01 1.74e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.3377099e+00 8.57e-03 1.33e-01 3.59e-02 -1.7 -1.0 1.00e+00 1 1h 4 2.1200582e+00 5.59e-03 1.26e-02 6.35e-03 -2.5 -1.4 9.83e-01 1 1h 5 2.0914697e+00 5.56e-04 9.33e-04 2.53e-04 -3.8 -1.9 1.00e+00 1 1h 6 2.0900144e+00 5.34e-05 1.70e-04 2.63e-06 -5.7 -2.4 1.00e+00 1 1h 7 2.0900123e+00 2.03e-07 1.60e-05 1.90e-06 -5.7 -2.9 1.00e+00 1 1h 8 2.0899926e+00 1.49e-06 4.28e-05 2.85e-07 -8.6 -3.3 1.00e+00 1 1h 9 2.0899852e+00 9.43e-06 1.03e-04 6.20e-08 -8.6 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899823e+00 1.32e-06 2.37e-05 1.22e-08 -8.6 -3.4 1.00e+00 1 1h 11 2.0899740e+00 5.14e-06 4.49e-04 2.51e-09 -8.6 -3.9 5.44e-01 1 1h 12 2.0899532e+00 3.01e-05 1.21e-04 1.36e-06 -8.6 -4.3 1.00e+00 1 1h 13 2.0899432e+00 2.65e-05 1.97e-03 2.52e-09 -8.6 -4.8 1.72e-01 1 1h 14 2.0899035e+00 3.23e-05 8.77e-04 2.55e-09 -8.6 -5.3 1.00e+00 1 1h 15 2.0898902e+00 2.83e-06 2.78e-04 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 16 2.0898830e+00 6.18e-07 4.67e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 17 2.0898976e+00 1.61e-11 1.67e-04 3.33e-05 -8.6 -3.1 1.00e+00 1 1h 18 2.0898911e+00 3.84e-11 7.52e-05 6.67e-06 -8.6 -3.6 1.00e+00 1 1h 19 2.0898830e+00 6.16e-11 1.06e-03 2.51e-09 -8.6 -4.1 8.65e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898829e+00 2.47e-10 2.83e-06 2.93e-09 -8.6 -4.5 1.00e+00 1 1h 21 2.0898826e+00 1.40e-09 1.24e-06 2.52e-09 -8.6 -5.0 1.00e+00 1 1h 22 2.0898820e+00 5.68e-09 7.57e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 23 2.0898811e+00 1.33e-08 3.29e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 24 2.0898803e+00 1.72e-08 6.90e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 25 2.0898806e+00 1.47e-08 2.36e-02 3.05e-06 -8.6 -4.2 1.98e-01 1 2h 26 2.0898804e+00 3.17e-10 7.37e-04 2.60e-09 -8.6 -4.7 1.00e+00 1 1h 27 2.0898803e+00 2.23e-10 2.49e-06 2.51e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898802e+00 4.85e-10 2.96e-06 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898801e+00 1.52e-09 5.39e-06 2.51e-09 -8.6 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 2.38e-09 4.00e-06 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898800e+00 1.02e-09 1.21e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 32 2.0898800e+00 7.16e-11 6.43e-08 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 33 2.0898800e+00 6.31e-13 4.40e-10 2.51e-09 -8.6 -8.0 1.00e+00 1 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0898800325024340e+00 2.0898800325024340e+00 Dual infeasibility......: 4.3960902886691633e-10 4.3960902886691633e-10 Constraint violation....: 6.3105076719693898e-13 6.3105076719693898e-13 Complementarity.........: 2.5059035605287669e-09 2.5059035605287669e-09 Overall NLP error.......: 2.5059035605287669e-09 2.5059035605287669e-09 Number of objective function evaluations = 36 Number of objective gradient evaluations = 34 Number of constraint evaluations = 36 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 77 Number of KKT backsolves = 35 Total wall secs in initialization = 4.733 s Total wall secs in linear solver = 0.048 s Total wall secs in NLP function evaluations = 14.496 s Total wall secs in solver (w/o init./fun./lin. alg.) = 24.572 s Total wall secs = 43.848 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4906592e+00 2.21e+00 3.15e+00 9.67e-01 -1.0 - 0.00e+00 1 0 1 1.7217106e+00 1.15e+00 1.67e+00 7.34e-01 -2.0 0.0 4.78e-01 1 1h 2 2.0292777e+00 4.82e-01 1.87e+00 3.83e-01 -0.8 -0.5 5.79e-01 2 1h 3 2.7306855e+00 4.78e-02 1.88e+00 2.01e-01 -0.9 -1.0 1.00e+00 2 1h 4 2.7104417e+00 1.98e-02 2.26e-01 9.60e-02 -1.0 -1.4 1.00e+00 2 1h 5 2.3411470e+00 1.88e-02 4.74e-02 3.22e-02 -1.7 -1.9 1.00e+00 2 1h 6 2.1164668e+00 4.55e-03 4.70e-03 4.05e-03 -2.6 -2.4 1.00e+00 2 1h 7 2.0913230e+00 5.61e-04 5.59e-04 1.75e-04 -3.9 -2.9 1.00e+00 2 1h 8 2.0900334e+00 1.53e-05 5.83e-04 3.87e-05 -5.8 -3.3 1.00e+00 2 1h 9 2.0899875e+00 3.86e-06 3.80e-04 7.23e-06 -5.8 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899628e+00 7.31e-06 1.97e-04 2.09e-06 -5.8 -4.3 1.00e+00 2 1h 11 2.0899332e+00 6.68e-06 2.30e-04 1.51e-06 -5.8 -4.8 1.00e+00 2 1h 12 2.0899091e+00 6.09e-06 3.49e-04 1.51e-06 -5.8 -5.2 1.00e+00 2 1h 13 2.0898993e+00 1.78e-06 1.85e-04 1.51e-06 -5.8 -5.7 1.00e+00 2 1h 14 2.0899011e+00 5.91e-07 1.77e-03 1.51e-06 -5.8 -5.3 1.00e+00 1 1h 15 2.0898994e+00 5.81e-07 4.77e-02 7.53e-06 -5.8 -4.0 1.41e-01 1 2h 16 2.0898976e+00 7.64e-08 3.37e-05 1.57e-06 -5.8 -4.4 1.00e+00 2 1h 17 2.0898969e+00 7.64e-08 3.03e-05 1.51e-06 -5.8 -4.9 1.00e+00 2 1h 18 2.0898958e+00 1.51e-07 2.14e-05 1.51e-06 -5.8 -5.4 1.00e+00 2 1h 19 2.0898946e+00 1.57e-07 5.58e-05 1.51e-06 -5.8 -5.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898938e+00 1.14e-07 5.16e-05 1.51e-06 -5.8 -6.4 1.00e+00 2 1h 21 2.0898936e+00 7.94e-08 1.66e-05 1.51e-06 -5.8 -6.8 1.00e+00 2 1h 22 2.0898936e+00 1.22e-08 1.90e-06 1.51e-06 -5.8 -7.3 1.00e+00 2 1h 23 2.0898800e+00 4.05e-08 4.12e-08 1.87e-09 -8.7 -7.8 1.00e+00 2 1h 24 2.0898800e+00 6.84e-13 1.14e-10 1.85e-09 -8.7 -8.3 1.00e+00 1 1h Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898800266338293e+00 2.0898800266338293e+00 Dual infeasibility......: 1.1412405135496906e-10 1.1412405135496906e-10 Constraint violation....: 6.8389738316909643e-13 6.8389738316909643e-13 Complementarity.........: 1.8538365991037035e-09 1.8538365991037035e-09 Overall NLP error.......: 1.8538365991037035e-09 1.8538365991037035e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 25 Number of constraint evaluations = 27 Number of constraint Jacobian evaluations = 25 Number of Lagrangian Hessian evaluations = 24 Number of KKT factorizations = 54 Number of KKT backsolves = 46 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.025 s Total wall secs in NLP function evaluations = 18.641 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.122 s Total wall secs = 25.789 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 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 3.5210691e+00 4.18e+00 7.85e-01 9.90e-01 -1.0 - 0.00e+00 1 0 1 2.4431311e+00 2.19e+00 7.73e+00 2.03e+00 -0.2 0.0 4.76e-01 1 1h 2 2.7559637e+00 5.83e-01 1.79e+01 1.60e+00 -0.3 -0.5 7.34e-01 2 1h 3 3.0388471e+00 4.42e-02 2.50e+00 8.79e-01 -0.3 -0.1 1.00e+00 1 1h 4 2.9607513e+00 3.28e-02 3.22e+00 2.30e-01 -6.3 0.4 2.59e-01 1 1h 5 2.8105671e+00 2.87e-02 2.29e+00 1.42e-01 -1.1 -0.1 4.18e-01 2 1h 6 2.6626761e+00 1.63e-02 1.09e+00 1.05e-01 -1.1 0.3 6.42e-01 1 1h 7 2.7249835e+00 8.92e-03 4.06e-01 9.30e-02 -1.1 -0.2 1.00e+00 2 1h 8 2.2499473e+00 1.01e-02 1.51e-01 2.27e-02 -3.0 -0.6 1.00e+00 2 1h 9 2.1724595e+00 1.72e-03 1.85e-02 1.06e-02 -2.0 -1.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1006693e+00 3.25e-04 5.32e-03 1.28e-03 -3.0 -1.6 1.00e+00 2 1h 11 2.0904009e+00 1.74e-05 7.19e-04 6.77e-05 -4.5 -2.1 1.00e+00 2 1h 12 2.0903519e+00 4.07e-08 2.44e-04 4.20e-05 -4.5 -2.5 1.00e+00 2 1h 13 2.0900244e+00 5.81e-07 1.16e-03 8.29e-06 -6.8 -3.0 1.00e+00 2 1h 14 2.0900104e+00 1.73e-06 7.73e-04 2.37e-07 -6.8 -3.5 5.88e-01 2 1h 15 2.0899950e+00 3.73e-05 2.46e-05 1.88e-07 -6.8 -4.0 1.00e+00 2 1h 16 2.0899635e+00 1.42e-04 1.63e-04 1.77e-07 -6.8 -4.4 1.00e+00 2 1h 17 2.0899252e+00 1.23e-04 4.61e-04 1.77e-07 -6.8 -4.9 1.00e+00 2 1h 18 2.0899012e+00 8.80e-06 5.37e-04 1.81e-07 -6.8 -5.4 1.00e+00 2 1h 19 2.0898892e+00 1.92e-06 3.21e-04 1.77e-07 -6.8 -5.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898833e+00 8.03e-07 4.03e-04 1.78e-07 -6.8 -6.4 1.00e+00 2 1h 21 2.0898879e+00 3.37e-10 1.19e-04 1.97e-05 -6.8 -3.2 1.00e+00 1 1h 22 2.0898860e+00 1.09e-09 2.56e-05 2.16e-06 -6.8 -3.7 1.00e+00 2 1h 23 2.0898843e+00 6.95e-10 7.66e-05 6.30e-07 -6.8 -4.2 1.00e+00 2 1h 24 2.0898839e+00 2.05e-11 8.17e-06 2.56e-07 -6.8 -3.7 1.00e+00 1 1h 25 2.0898836e+00 9.49e-11 9.03e-04 2.48e-07 -6.8 -4.2 4.02e-01 2 2h 26 2.0898833e+00 7.19e-10 3.39e-06 1.78e-07 -6.8 -4.7 1.00e+00 2 1h 27 2.0898831e+00 1.97e-09 6.24e-06 1.77e-07 -6.8 -5.2 1.00e+00 2 1h 28 2.0899035e+00 4.44e-15 3.07e-03 1.78e-07 -6.8 -5.7 1.00e+00 2 1H 29 2.0898991e+00 1.62e-11 6.04e-03 1.78e-07 -6.8 -3.4 1.60e-01 1 3h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898893e+00 1.11e-16 9.48e-05 2.01e-07 -6.8 -3.0 1.00e+00 1 1H 31 2.0898882e+00 1.56e-11 4.10e-02 6.82e-07 -6.8 -3.5 2.76e-02 2 3h 32 2.0898882e+00 1.68e-11 5.09e-02 9.60e-06 -6.8 -4.0 2.19e-03 2 6h 33 2.0898849e+00 1.33e-15 2.74e-05 1.08e-06 -6.8 -4.4 1.00e+00 2 1H 34 2.0898825e+00 5.98e-08 8.21e-04 1.78e-07 -6.8 -4.9 5.00e-01 2 2h 35 2.0898824e+00 5.84e-09 2.85e-04 7.83e-07 -6.8 -5.4 1.00e+00 2 1h 36 2.0898820e+00 1.32e-08 5.44e-05 2.84e-07 -6.8 -5.9 1.00e+00 2 1h 37 2.0898817e+00 2.72e-08 1.17e-05 1.86e-07 -6.8 -6.3 1.00e+00 2 1h 38 2.0898816e+00 1.62e-08 7.82e-06 1.78e-07 -6.8 -6.8 1.00e+00 2 1h 39 2.0898816e+00 1.90e-09 1.21e-06 1.77e-07 -6.8 -7.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0898800e+00 4.32e-09 2.80e-08 9.11e-10 -9.0 -7.8 1.00e+00 1 1h 41 2.0898800e+00 1.42e-13 8.27e-11 9.09e-10 -9.0 -8.2 1.00e+00 2 1h Number of Iterations....: 41 (scaled) (unscaled) Objective...............: 2.0898800181311179e+00 2.0898800181311179e+00 Dual infeasibility......: 8.2744222064390360e-11 8.2744222064390360e-11 Constraint violation....: 1.4166445794216997e-13 1.4166445794216997e-13 Complementarity.........: 9.0909091025472162e-10 9.0909091025472162e-10 Overall NLP error.......: 9.0909091025472162e-10 9.0909091025472162e-10 Number of objective function evaluations = 62 Number of objective gradient evaluations = 42 Number of constraint evaluations = 62 Number of constraint Jacobian evaluations = 42 Number of Lagrangian Hessian evaluations = 41 Number of KKT factorizations = 97 Number of KKT backsolves = 89 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.043 s Total wall secs in NLP function evaluations = 18.228 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.001 s Total wall secs = 28.274 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.038s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.025s jacobian structure: 1600 nonzeros (2.064s) integrator 1 hessian structure: 0.032s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.339s 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 (3.372s) linear index maps built (0.0s) evaluator ready (total: 5.437s) evaluator created (5.464s) 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: 5.464s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.8017977e+00 3.05e+00 9.79e-01 9.52e-01 -1.0 - 0.00e+00 1 0 1 2.6886415e+00 7.49e-02 3.71e+00 4.97e-01 -1.0 0.0 1.00e+00 2 1h 2 2.4810952e+00 1.73e-02 6.28e-01 1.47e-01 -1.0 0.4 1.00e+00 1 1h 3 2.3797449e+00 1.49e-03 2.97e-01 3.48e-02 -1.7 -0.1 1.00e+00 2 1h 4 2.2375343e+00 7.58e-04 3.57e-02 2.03e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1186876e+00 3.58e-04 8.59e-03 3.68e-03 -2.5 -1.0 1.00e+00 2 1h 6 2.0913355e+00 8.75e-04 4.06e-02 1.73e-04 -3.8 -1.5 1.00e+00 2 1h 7 2.0913381e+00 4.89e-08 6.57e-05 1.50e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0900003e+00 1.27e-06 3.79e-05 1.20e-05 -5.7 -2.4 1.00e+00 2 1h 9 2.0899937e+00 5.97e-09 7.26e-05 3.71e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899768e+00 3.17e-07 1.54e-04 1.84e-06 -5.7 -3.4 9.54e-01 2 1h 11 2.0899774e+00 1.52e-06 5.62e-05 6.66e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899595e+00 5.51e-06 3.12e-04 1.85e-06 -5.7 -4.3 6.61e-01 2 1h 13 2.0899375e+00 1.99e-05 2.20e-04 3.21e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899149e+00 1.02e-05 3.05e-04 1.84e-06 -5.7 -5.3 1.00e+00 2 1h 15 2.0899049e+00 2.96e-06 1.80e-04 1.84e-06 -5.7 -5.8 1.00e+00 2 1h 16 2.0899105e+00 7.14e-07 1.18e-03 1.85e-06 -5.7 -6.3 1.00e+00 2 1h 17 2.0899027e+00 6.61e-07 6.25e-02 1.86e-06 -5.7 -3.1 7.51e-02 1 1h 18 2.0899091e+00 1.33e-09 4.73e-05 7.40e-06 -5.7 -3.6 1.00e+00 2 1h 19 2.0899038e+00 3.66e-09 3.61e-05 2.75e-06 -5.7 -4.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899011e+00 1.75e-08 2.04e-05 1.84e-06 -5.7 -4.5 1.00e+00 2 1h 21 2.0899001e+00 9.51e-08 1.22e-03 1.85e-06 -5.7 -5.0 1.00e+00 2 1h 22 2.0898997e+00 6.62e-10 5.03e-05 2.72e-06 -5.7 -3.7 1.00e+00 1 1h 23 2.0898982e+00 1.76e-09 1.33e-04 1.84e-06 -5.7 -4.2 1.00e+00 2 1h 24 2.0898976e+00 2.34e-09 2.88e-04 1.88e-06 -5.7 -4.7 1.00e+00 2 1h 25 2.0898974e+00 7.97e-10 1.55e-05 1.85e-06 -5.7 -5.1 1.00e+00 2 1h 26 2.0898806e+00 3.62e-07 7.20e-06 3.50e-09 -8.6 -5.6 1.00e+00 1 1h 27 2.0898803e+00 2.43e-08 8.67e-06 2.51e-09 -8.6 -6.1 1.00e+00 2 1h 28 2.0898801e+00 3.84e-08 8.09e-06 2.51e-09 -8.6 -6.6 1.00e+00 2 1h 29 2.0898800e+00 1.26e-08 2.61e-06 2.51e-09 -8.6 -7.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 6.78e-10 1.47e-07 2.51e-09 -8.6 -7.5 1.00e+00 1 1h 31 2.0898800e+00 4.91e-12 1.10e-09 2.51e-09 -8.6 -8.0 1.00e+00 2 1h Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 2.0898800325024465e+00 2.0898800325024465e+00 Dual infeasibility......: 1.0992721637473335e-09 1.0992721637473335e-09 Constraint violation....: 4.9101833710096798e-12 4.9101833710096798e-12 Complementarity.........: 2.5059035604961338e-09 2.5059035604961338e-09 Overall NLP error.......: 2.5059035604961338e-09 2.5059035604961338e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 32 Number of constraint evaluations = 32 Number of constraint Jacobian evaluations = 32 Number of Lagrangian Hessian evaluations = 31 Number of KKT factorizations = 72 Number of KKT backsolves = 58 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.035 s Total wall secs in NLP function evaluations = 19.099 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.408 s Total wall secs = 27.544 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.034s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 1.745s jacobian structure: 1680 nonzeros (1.78s) integrator 1 hessian structure: 0.03s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 6.228s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (6.259s) linear index maps built (0.0s) evaluator ready (total: 8.039s) evaluator created (8.064s) 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: 8.065s) 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 1.1639089e+01 2.14e+00 3.44e+00 1.93e+00 -1.0 - 0.00e+00 1 0 1 4.4298642e+00 5.03e-01 2.23e+00 5.25e-01 -1.0 0.0 7.66e-01 1 1h 2 2.7590516e+00 7.94e-02 1.10e+00 2.08e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7127822e+00 1.54e-02 1.08e-01 1.14e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.2794679e+00 8.94e-03 5.22e-02 2.39e-02 -2.5 -1.4 1.00e+00 2 1h 5 2.1131162e+00 3.36e-03 2.16e-02 5.02e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0914481e+00 4.63e-04 1.19e-03 2.18e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0900436e+00 6.30e-06 6.97e-05 1.26e-05 -5.7 -2.9 1.00e+00 2 1h 8 2.0900273e+00 3.67e-06 1.44e-04 3.99e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0900083e+00 3.78e-05 7.38e-05 1.88e-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 2.0899936e+00 1.19e-04 2.60e-03 1.85e-06 -5.7 -4.3 5.07e-01 2 1h 11 2.0899607e+00 1.79e-05 9.85e-04 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899479e+00 1.66e-06 6.94e-04 3.16e-06 -5.7 -4.3 9.40e-01 1 1h 13 2.0899342e+00 2.80e-06 5.71e-04 1.93e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899281e+00 4.35e-07 8.14e-05 1.84e-06 -5.7 -4.4 1.00e+00 1 1h 15 2.0899162e+00 7.05e-08 4.35e-04 1.85e-06 -5.7 -4.9 9.07e-01 2 1H 16 2.0899074e+00 9.37e-07 4.13e-04 1.85e-06 -5.7 -5.4 1.00e+00 2 1h 17 2.0899071e+00 6.75e-08 1.77e-04 7.80e-06 -5.7 -4.0 1.00e+00 1 1h 18 2.0899060e+00 1.83e-08 5.79e-06 2.26e-06 -5.7 -4.5 1.00e+00 2 1h 19 2.0898873e+00 5.87e-07 3.22e-05 1.77e-07 -8.6 -5.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898861e+00 4.55e-07 4.78e-04 5.09e-09 -8.6 -5.5 2.25e-01 1 1h 21 2.0898821e+00 1.31e-06 2.56e-04 1.30e-08 -8.6 -5.9 1.00e+00 2 1h 22 2.0898805e+00 4.36e-07 8.51e-05 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 23 2.0898805e+00 3.90e-07 2.56e-04 2.51e-09 -8.6 -3.3 1.06e-01 1 1h 24 2.0898805e+00 2.03e-12 4.13e-07 7.80e-09 -8.6 -3.7 1.00e+00 2 1h 25 2.0898805e+00 2.44e-11 3.87e-07 2.68e-09 -8.6 -4.2 1.00e+00 1 1h 26 2.0898805e+00 1.79e-10 3.82e-07 2.51e-09 -8.6 -4.7 1.00e+00 1 1h 27 2.0898804e+00 1.09e-09 3.62e-07 2.51e-09 -8.6 -5.2 1.00e+00 2 1h 28 2.0898803e+00 5.51e-09 1.24e-06 2.51e-09 -8.6 -5.7 1.00e+00 2 1h 29 2.0898802e+00 1.77e-08 4.47e-06 2.51e-09 -8.6 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 2.05e-08 3.90e-05 2.51e-09 -8.6 -6.6 1.00e+00 2 1h 31 2.0898801e+00 2.05e-08 7.96e-04 1.77e-07 -8.6 -7.1 3.55e-03 1 2h 32 2.0898800e+00 7.80e-09 7.77e-05 3.76e-08 -8.6 -7.6 1.00e+00 2 1h 33 2.0898800e+00 5.71e-11 5.84e-08 2.51e-09 -8.6 -8.0 1.00e+00 1 1h 34 2.0898800e+00 8.46e-14 5.97e-09 2.51e-09 -8.6 -8.5 1.00e+00 1 1h Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0898800325024309e+00 2.0898800325024309e+00 Dual infeasibility......: 5.9673608671423452e-09 5.9673608671423452e-09 Constraint violation....: 8.4598994476436928e-14 8.4598994476436928e-14 Complementarity.........: 2.5059035603321584e-09 2.5059035603321584e-09 Overall NLP error.......: 5.9673608671423452e-09 5.9673608671423452e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 35 Number of constraint evaluations = 37 Number of constraint Jacobian evaluations = 35 Number of Lagrangian Hessian evaluations = 34 Number of KKT factorizations = 79 Number of KKT backsolves = 58 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.040 s Total wall secs in NLP function evaluations = 21.516 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.334 s Total wall secs = 30.891 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.04s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.042s jacobian structure: 1600 nonzeros (2.083s) integrator 1 hessian structure: 0.067s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.778s 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 (3.847s) linear index maps built (0.0s) evaluator ready (total: 5.931s) evaluator created (7.429s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.173s) variables set (0.609s) 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 (1.97s) optimizer initialization complete (total: 10.315s) ┌ Warning: `disable_sigint` no longer defers Ctrl-C: SIGINT is delivered as a cancellation of the current ^C scope and observed at cancellation points regardless of the sigatomic region this establishes. Shield a region from cancellation by scoping `Base.CANCEL_TOKEN => nothing` over it instead. │ caller = IpoptSolve(prob::Ipopt.IpoptProblem) at C_wrapper.jl:407 [inlined] └ @ Ipopt ~/.julia/packages/Ipopt/WLbcQ/src/C_wrapper.jl:407 ****************************************************************************** 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 2.1493473e+01 2.97e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1889305e+01 2.71e-01 1.73e+00 -0.8 2.04e+00 -4.0 6.58e-01 9.17e-01f 1 2 1.0783633e+01 6.79e-02 5.66e-01 -0.8 7.69e-01 -4.5 8.51e-01 1.00e+00f 1 3 9.8916549e+00 8.82e-03 6.92e-02 -1.7 3.10e-01 -5.0 9.36e-01 1.00e+00f 1 4 9.5712027e+00 6.21e-03 3.51e-02 -2.4 1.70e-01 -5.4 9.69e-01 1.00e+00f 1 5 9.4526944e+00 1.38e-03 7.87e-03 -3.6 9.89e-02 -5.9 9.90e-01 1.00e+00h 1 6 9.4286497e+00 1.98e-04 9.31e-04 -4.0 3.51e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259544e+00 1.91e-05 8.71e-05 -4.0 7.72e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258097e+00 2.39e-07 9.36e-07 -4.0 7.83e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 4.13e-11 1.00e-09 -4.0 9.50e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226769393e+00 9.4258086226769393e+00 Dual infeasibility......: 9.9999995331373666e-10 9.9999995331373666e-10 Constraint violation....: 4.1306513764993724e-11 4.1306513764993724e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000015398112148e-04 1.0000015398112148e-04 Overall NLP error.......: 9.9999995331373666e-10 9.9999995331373666e-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 = 29.893 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: 0.003s) 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 (0.0s) optimizer initialization complete (total: 0.004s) 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 2.1493473e+01 2.97e+00 1.06e+00 9.57e-01 -1.0 - 0.00e+00 1 0 1 1.1493163e+01 2.12e-01 1.66e+00 6.06e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0575489e+01 1.52e-01 4.61e-01 2.16e-01 -1.0 -4.5 7.52e-01 2 1h 3 9.7368562e+00 8.16e-03 6.37e-02 3.65e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5188423e+00 3.46e-03 1.63e-02 9.85e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4407667e+00 9.62e-04 4.17e-03 2.36e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4277153e+00 1.50e-04 5.60e-04 5.18e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246599e+00 2.02e-05 1.47e-04 4.64e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245377e+00 3.93e-07 7.77e-07 2.48e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 9.97e-10 2.67e-09 4.66e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129862707486e+00 9.4245129862707486e+00 Dual infeasibility......: 2.6665134544856528e-09 2.6665134544856528e-09 Constraint violation....: 9.9742480941245049e-10 9.9742480941245049e-10 Complementarity.........: 4.6580579261548369e-09 4.6580579261548369e-09 Overall NLP error.......: 4.6580579261548369e-09 4.6580579261548369e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.289 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.006 s Total wall secs = 0.306 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.041s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.004s jacobian structure: 1600 nonzeros (2.046s) integrator 1 hessian structure: 0.035s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.19s 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 (3.227s) linear index maps built (0.0s) evaluator ready (total: 5.274s) evaluator created (5.316s) 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: 5.317s) 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 5.6776082e+00 2.59e+00 1.28e+00 9.50e-01 -1.0 - 0.00e+00 1 0 1 2.9237126e+00 1.93e-01 2.76e+00 6.83e-01 -1.0 0.0 9.28e-01 1 1h 2 2.4703095e+00 4.93e-02 9.81e-01 2.51e-01 -1.0 0.4 7.28e-01 1 1h 3 2.2464509e+00 8.14e-03 3.77e-01 6.07e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.3204522e+00 1.15e-02 7.77e-01 2.10e-02 -1.7 -0.5 1.00e+00 1 1h 5 2.2395383e+00 8.25e-03 6.66e-02 2.12e-02 -1.7 -1.0 4.47e-01 1 1h 6 2.1216484e+00 7.14e-04 5.06e-03 4.04e-03 -2.5 -1.5 1.00e+00 1 1h 7 2.0913408e+00 3.54e-04 1.08e-02 1.73e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0913514e+00 8.64e-07 3.29e-05 1.50e-04 -3.8 -2.4 1.00e+00 1 1h 9 2.0900130e+00 2.06e-06 1.69e-05 6.23e-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 2.0899899e+00 1.06e-06 6.75e-05 1.40e-06 -8.6 -3.4 1.00e+00 1 1h 11 2.0899769e+00 6.01e-06 4.27e-04 3.99e-09 -8.6 -3.9 8.23e-01 1 1h 12 2.0899524e+00 5.53e-05 9.16e-05 2.33e-08 -8.6 -4.3 1.00e+00 1 1h 13 2.0899422e+00 4.71e-05 1.45e-03 2.51e-09 -8.6 -4.8 2.64e-01 1 1h 14 2.0899027e+00 9.77e-05 8.27e-04 3.71e-09 -8.6 -5.3 1.00e+00 1 1h 15 2.0898897e+00 6.23e-06 2.08e-04 2.59e-09 -8.6 -5.8 1.00e+00 1 1h 16 2.0898826e+00 6.14e-07 4.60e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 17 2.0898964e+00 1.32e-09 1.49e-04 3.07e-05 -8.6 -3.1 1.00e+00 1 1h 18 2.0898902e+00 3.29e-09 6.95e-05 6.29e-06 -8.6 -3.6 1.00e+00 1 1h 19 2.0898826e+00 1.29e-09 1.02e-03 2.51e-09 -8.6 -4.1 8.67e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898825e+00 1.03e-09 2.47e-06 2.90e-09 -8.6 -4.5 1.00e+00 1 1h 21 2.0898822e+00 3.51e-09 1.22e-06 2.52e-09 -8.6 -5.0 1.00e+00 1 1h 22 2.0898817e+00 8.75e-09 7.46e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 23 2.0898809e+00 2.09e-08 3.15e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 24 2.0898802e+00 2.52e-08 7.25e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 25 2.0898803e+00 2.20e-08 9.20e-03 1.41e-06 -8.6 -4.2 2.29e-01 1 3h 26 2.0898803e+00 8.81e-12 1.14e-05 7.07e-09 -8.6 -4.7 1.00e+00 1 1h 27 2.0898802e+00 5.94e-10 2.48e-06 2.65e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898802e+00 1.73e-09 3.15e-06 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898801e+00 2.38e-09 4.41e-06 2.51e-09 -8.6 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898800e+00 1.54e-09 2.97e-06 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898800e+00 2.36e-10 5.22e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 32 2.0898800e+00 1.35e-11 2.34e-08 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 33 2.0898800e+00 2.83e-12 3.11e-10 9.27e-10 -9.0 -8.0 1.00e+00 1 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0898800181311170e+00 2.0898800181311170e+00 Dual infeasibility......: 3.1085043376932471e-10 3.1085043376932471e-10 Constraint violation....: 2.8252643280435308e-12 2.8252643280435308e-12 Complementarity.........: 9.2693415383621905e-10 9.2693415383621905e-10 Overall NLP error.......: 9.2693415383621905e-10 9.2693415383621905e-10 Number of objective function evaluations = 37 Number of objective gradient evaluations = 34 Number of constraint evaluations = 37 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 77 Number of KKT backsolves = 35 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.066 s Total wall secs in NLP function evaluations = 18.451 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.688 s Total wall secs = 27.206 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.043s) integrator 1 hessian structure: 0.037s 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: 0.081s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.585s) optimizer initialization complete (total: 0.705s) 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 2.0241061e+00 2.10e+00 1.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0988470e+00 7.41e+00 1.43e+01 -1.2 9.98e+01 -4.0 9.52e-01 1.00e+00h 1 2 2.1981671e+00 3.81e-02 2.89e+00 -1.7 1.16e+01 -4.5 9.29e-01 1.00e+00h 1 3 2.1498547e+00 3.60e-02 1.34e-01 -2.6 6.49e+00 -5.0 9.99e-01 1.00e+00h 1 4 2.0958453e+00 7.26e-02 7.85e-02 -3.4 1.14e+01 -5.4 9.97e-01 1.00e+00h 1 5 2.0897337e+00 5.38e-03 2.33e-02 -3.8 1.59e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0843829e+00 3.94e-03 3.48e-03 -4.0 4.62e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0800221e+00 1.37e-03 1.68e-01 -4.0 1.04e+02 -6.9 1.00e+00 4.28e-01h 1 8 2.0797334e+00 5.72e-03 1.36e-01 -4.0 6.21e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0778159e+00 6.26e-03 1.49e-02 -4.0 1.26e+02 -7.8 1.00e+00 9.10e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0771506e+00 1.56e-03 3.78e-02 -4.0 2.10e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0764430e+00 3.27e-04 2.34e-02 -4.0 3.50e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0759937e+00 2.66e-04 1.78e-02 -4.0 3.88e+02 -9.2 1.00e+00 6.81e-01h 1 13 2.0762124e+00 4.97e-04 7.74e-03 -4.0 1.25e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0758363e+00 1.17e-03 1.80e-04 -4.1 4.79e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0761672e+00 3.39e-04 4.60e-06 -4.0 1.35e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0758188e+00 3.79e-04 8.14e-07 -4.1 1.44e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0761673e+00 3.78e-04 6.27e-07 -4.0 1.44e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0758188e+00 3.79e-04 7.33e-07 -4.1 1.44e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0761673e+00 3.79e-04 7.96e-07 -4.0 1.44e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758188e+00 3.79e-04 8.13e-07 -4.1 1.44e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0761673e+00 3.79e-04 8.21e-07 -4.0 1.44e+01 -13.5 1.00e+00 1.00e+00h 1 22 2.0758188e+00 3.79e-04 8.23e-07 -4.1 1.44e+01 -14.0 1.00e+00 1.00e+00h 1 23 2.0744304e+00 6.06e-03 1.53e-04 -6.1 5.78e+01 -14.5 9.74e-01 1.00e+00h 1 24 2.0762003e+00 2.11e-02 9.46e-05 -4.0 1.59e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0758262e+00 2.66e-03 3.11e-05 -4.1 9.82e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0758245e+00 9.56e-07 6.87e-07 -4.1 1.48e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0761673e+00 3.69e-04 9.12e-07 -4.0 1.42e+01 -16.4 1.00e+00 1.00e+00h 1 28 2.0758188e+00 3.79e-04 8.33e-07 -4.1 1.44e+01 -16.9 1.00e+00 1.00e+00h 1 29 2.0761673e+00 3.79e-04 8.22e-07 -4.0 1.44e+01 -17.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0758188e+00 3.79e-04 8.24e-07 -4.1 1.44e+01 -17.8 1.00e+00 1.00e+00h 1 31 2.0744304e+00 6.06e-03 1.53e-04 -6.1 5.78e+01 -18.3 9.74e-01 1.00e+00h 1 32 2.0744097e+00 6.14e-05 1.58e-05 -6.1 7.11e+01 -18.8 1.00e+00 1.00e+00h 1 33 2.0762100e+00 5.14e-02 4.80e-04 -4.0 3.85e+02 -19.3 1.00e+00 1.00e+00f 1 34 2.0758327e+00 6.21e-03 1.68e-04 -4.1 2.32e+02 -19.7 1.00e+00 1.00e+00h 1 35 2.0758305e+00 2.42e-06 3.81e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0744309e+00 6.15e-03 1.51e-04 -6.1 5.81e+01 -20.0 9.75e-01 1.00e+00h 1 37 2.0744098e+00 6.23e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 38 2.0744098e+00 1.82e-09 4.37e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 39 2.0762105e+00 5.33e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0758331e+00 6.44e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 41 2.0758309e+00 2.52e-06 4.07e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 42 2.0744310e+00 6.15e-03 1.51e-04 -6.1 5.82e+01 -20.0 9.75e-01 1.00e+00h 1 43 2.0744098e+00 6.24e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0744098e+00 1.82e-09 4.38e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 45 2.0743968e+00 2.86e-06 4.34e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 46 2.0762119e+00 5.59e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 47 2.0758338e+00 6.74e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 48 2.0758315e+00 2.65e-06 4.42e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 49 2.0744310e+00 6.16e-03 1.51e-04 -6.1 5.82e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0744098e+00 6.25e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0744098e+00 1.83e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 52 2.0743968e+00 2.87e-06 4.36e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 53 2.0743968e+00 3.74e-12 6.58e-12 -9.0 4.72e-02 -20.0 1.00e+00 1.00e+00h 1 54 2.0762119e+00 5.59e-02 5.53e-04 -4.0 4.16e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0758338e+00 6.74e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0758315e+00 2.65e-06 4.43e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0744310e+00 6.16e-03 1.51e-04 -6.1 5.82e+01 -20.0 9.75e-01 1.00e+00h 1 58 2.0744098e+00 6.25e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744098e+00 1.83e-09 4.40e-08 -6.1 3.96e+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 60 2.0743968e+00 2.87e-06 4.36e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 61 2.0743968e+00 3.74e-12 6.58e-12 -9.0 4.72e-02 -20.0 1.00e+00 1.00e+00h 1 62 2.0743968e+00 4.44e-16 3.14e-16 -9.0 1.57e-06 -20.0 1.00e+00 1.00e+00h 1 63 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 64 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 65 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 66 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 67 2.0743968e+00 1.78e-15 1.68e-16 -9.0 9.33e-14 -20.0 1.00e+00 1.00e+00h 1 68 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 69 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -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 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 71 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 1.78e-15 2.03e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 4.44e-16 2.41e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -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 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 1.78e-15 1.68e-16 -9.0 8.74e-14 -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 2.0743968e+00 4.44e-16 1.68e-16 -9.0 9.03e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967716495648e+00 2.0743967716495648e+00 Dual infeasibility......: 1.6803609014220261e-16 1.6803609014220261e-16 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 8.7779476309196580e-09 8.7779476309196580e-09 Complementarity.........: 9.0909090910388777e-10 9.0909090910388777e-10 Overall NLP error.......: 9.9999090909091022e-05 9.9999090909091022e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.737 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s jacobian structure: 180 nonzeros (0.101s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.239s sub-objective 2 (QuadraticRegularizer): 0.069s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.024s objective hessian structure: 0.403s hessian structure: 375 nonzeros (0.457s) linear index maps built (0.0s) evaluator ready (total: 0.672s) evaluator created (1.077s) NL constraint bounds extracted (0.023s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.395s) optimizer initialization complete (total: 2.618s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3054787e+00 1.04e+00 1.20e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0745502e+00 1.75e-01 2.54e+00 -0.9 2.25e+00 - 8.34e-01 1.00e+00h 1 2 2.0697353e+00 6.13e-02 8.40e-01 -0.6 3.47e-01 0.0 9.68e-01 6.50e-01h 1 3 2.5829557e+00 1.45e-02 1.13e+00 -1.4 6.22e-01 -0.5 9.05e-01 1.00e+00h 1 4 1.5340054e+00 9.03e-03 1.47e+00 -2.5 2.28e+00 - 5.02e-01 4.20e-01f 1 5 1.4250149e+00 6.00e-03 1.02e+00 -1.5 1.08e-01 -0.1 1.00e+00 3.04e-01h 1 6 1.1375088e+00 1.05e-03 1.13e-01 -2.5 4.43e-01 - 1.00e+00 1.00e+00f 1 7 1.0933031e+00 3.11e-05 1.78e-02 -3.6 1.68e-01 - 1.00e+00 9.66e-01h 1 8 1.0908956e+00 6.54e-09 8.90e-03 -4.0 1.33e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 1.09e-14 3.92e-05 -4.0 2.02e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 3.61e-25 3.89e-05 -4.0 1.06e-03 - 1.00e+00 1.00e+00h 1 11 1.0907198e+00 2.23e-28 6.31e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 2.34e-26 7.04e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997336734825e+00 1.0908997336734825e+00 Dual infeasibility......: 7.0426489899729459e-09 7.0426489899729459e-09 Constraint violation....: 2.3352182287708658e-26 2.3352182287708658e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632636579e-04 1.0000081632636579e-04 Overall NLP error.......: 7.0426489899729459e-09 7.0426489899729459e-09 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 26.880 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.042s) integrator 1 hessian structure: 0.034s 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 (0.035s) linear index maps built (0.0s) evaluator ready (total: 0.078s) evaluator created (0.078s) 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 (0.074s) optimizer initialization complete (total: 0.152s) 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 3.1687752e+00 3.23e+00 6.36e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7328604e+00 5.35e-02 5.65e-01 -1.0 2.25e+00 - 1.00e+00 1.00e+00f 1 2 2.5553807e+00 1.48e-02 3.21e-01 -1.3 2.51e-01 - 8.23e-01 1.00e+00f 1 3 2.2211783e+00 3.85e-03 4.48e-02 -2.0 7.94e-02 - 9.72e-01 9.26e-01h 1 4 2.0959763e+00 2.34e-04 3.93e-03 -3.6 1.79e-02 - 9.81e-01 1.00e+00h 1 5 2.0908994e+00 2.36e-05 3.85e-04 -4.0 3.46e-02 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 1.96e-07 2.63e-06 -4.0 1.15e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 6.06e-12 5.15e-11 -4.0 7.46e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971979205275e+00 2.0908971979205275e+00 Dual infeasibility......: 5.1475370081884020e-11 5.1475370081884020e-11 Constraint violation....: 6.0614286586549188e-12 6.0614286586549188e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000083913065054e-04 1.0000083913065054e-04 Overall NLP error.......: 8.3913065053095853e-10 8.3913065053095853e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 27.312 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.042s) integrator 1 hessian structure: 0.034s 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 (0.035s) linear index maps built (0.0s) evaluator ready (total: 0.077s) evaluator created (0.077s) 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: 0.078s) 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 2.2616267e+00 1.67e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3340770e+00 7.69e-01 3.04e+00 -0.8 7.40e+00 -4.0 6.25e-01 6.56e-01f 1 2 2.9437794e+00 9.94e-01 6.42e+01 -0.7 1.27e+01 -2.7 1.95e-01 9.86e-01f 1 3 3.1358636e+00 5.98e-01 5.70e+01 -0.3 1.78e+00 -0.4 1.00e+00 3.97e-01h 1 4 3.3096740e+00 3.17e-01 4.40e+01 0.2 4.29e+00 -0.9 8.16e-01 4.87e-01f 1 5 3.2383060e+00 5.10e-02 4.15e+00 -0.4 2.80e+00 -1.4 9.94e-01 1.00e+00f 1 6 3.0023998e+00 1.78e-02 1.04e+00 -1.1 2.94e-01 -1.0 1.00e+00 1.00e+00h 1 7 2.4991359e+00 4.36e-02 7.96e-01 -1.5 4.10e-01 -1.4 8.20e-01 1.00e+00f 1 8 2.2320600e+00 9.22e-02 7.18e-02 -1.9 5.91e-01 -1.9 9.81e-01 1.00e+00h 1 9 2.1773676e+00 1.60e-02 2.08e-01 -2.0 3.22e-01 -2.4 1.00e+00 7.87e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1142926e+00 2.98e-03 4.00e-02 -2.6 3.58e-01 -2.9 9.94e-01 9.54e-01h 1 11 2.0942210e+00 1.22e-03 3.63e-02 -3.6 3.88e-01 -3.4 1.00e+00 9.05e-01h 1 12 2.0906622e+00 1.28e-04 2.45e-03 -4.0 1.29e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0906102e+00 1.69e-06 1.17e-04 -4.0 3.08e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0905260e+00 2.18e-07 1.21e-04 -4.0 8.46e-01 -4.8 1.00e+00 1.00e+00h 1 15 2.0903345e+00 1.10e-06 6.96e-04 -4.0 1.97e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0900801e+00 3.19e-06 1.97e-03 -4.0 3.38e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899498e+00 3.44e-06 1.74e-03 -4.0 5.60e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898644e+00 3.61e-06 1.56e-03 -4.0 8.67e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898313e+00 1.05e-06 1.31e-03 -4.0 1.13e+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 2.0898274e+00 1.78e-06 5.96e-04 -4.0 8.68e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898258e+00 2.82e-07 5.98e-05 -4.0 2.44e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898257e+00 3.92e-09 7.58e-07 -4.0 3.13e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898256e+00 3.98e-12 1.75e-09 -4.0 1.90e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898256445761318e+00 2.0898256445761318e+00 Dual infeasibility......: 1.7528211163878211e-09 1.7528211163878211e-09 Constraint violation....: 3.9834524567794460e-12 3.9834524567794460e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.7528211163878211e-09 1.7528211163878211e-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 = 28.575 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: 0.037s 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 (0.039s) linear index maps built (0.0s) evaluator ready (total: 0.085s) 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: 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: 0.086s) 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 1.3889641e+00 2.56e+00 5.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3257149e+00 2.44e+00 4.26e-01 -1.3 7.19e+01 -2.0 6.60e-02 4.91e-02h 1 2 1.3159341e+00 2.40e+00 9.10e-01 -0.7 2.56e+01 -1.6 1.59e-02 1.56e-02h 1 3 1.3541960e+00 2.36e+00 1.90e+01 -1.3 1.50e+02 -2.1 1.30e-02 1.91e-02h 1 4 1.7475010e+00 2.20e+00 9.74e+01 -1.7 6.98e+01 -1.6 1.29e-02 6.62e-02h 1 5 1.8406332e+00 2.17e+00 6.63e+02 -0.7 7.73e+01 -2.1 2.63e-01 1.70e-02f 1 6 2.0100907e+00 2.15e+00 2.47e+03 0.3 2.58e+02 -1.7 3.27e-02 7.79e-03h 1 7 2.1392505e+00 2.13e+00 2.72e+03 -4.0 2.98e+02 -1.3 8.76e-03 5.71e-03h 1 8 2.1437933e+00 2.13e+00 2.60e+03 0.1 1.39e+02 -0.8 3.15e-03 2.52e-03h 1 9 2.1457771e+00 2.13e+00 3.08e+03 -4.0 1.34e+02 -1.3 1.44e-02 1.56e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6194323e+00 2.14e+00 2.96e+03 1.5 2.47e+02 -0.9 6.00e-03 4.87e-03f 1 11 2.7052092e+00 2.13e+00 5.53e+03 1.1 1.85e+02 -1.4 2.82e-02 3.80e-03h 1 12 2.8760484e+00 2.33e+00 5.51e+03 0.7 5.14e+02 -1.8 5.81e-03 7.10e-03h 1 13 3.4261377e+00 3.05e+00 1.31e+04 1.4 6.12e+02 -1.4 8.69e-02 2.24e-02f 1 14 3.6409001e+00 2.37e+00 1.59e+04 0.4 2.10e+02 -1.9 4.53e-02 2.02e-02h 1 15 3.6451664e+00 2.37e+00 5.51e+05 0.4 2.22e+01 -1.5 2.25e-01 9.51e-04h 1 16 3.6597966e+00 2.35e+00 7.90e+07 0.4 2.28e+01 -1.0 7.00e-01 4.84e-03h 1 17 3.6600333e+00 2.35e+00 1.99e+11 0.4 2.24e+01 -0.6 2.02e-01 7.76e-05h 1 18r 3.6600333e+00 2.35e+00 1.00e+03 0.4 0.00e+00 -1.1 0.00e+00 3.02e-07R 6 19r 3.5711306e+00 1.19e+00 9.98e+02 2.4 2.57e+03 - 1.13e-02 1.80e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.5710279e+00 1.18e+00 1.51e+02 -4.0 2.25e+00 -1.6 3.70e-01 2.41e-03h 1 21 3.5714289e+00 1.18e+00 1.48e+05 -0.7 3.05e+00 -2.0 9.81e-01 1.10e-03h 1 22 3.5718647e+00 1.18e+00 2.36e+09 0.4 3.95e+01 -2.5 1.00e+00 6.02e-05h 1 23r 3.5718647e+00 1.18e+00 9.98e+02 2.5 0.00e+00 -3.0 0.00e+00 3.19e-07R 4 24r 3.4305013e+00 3.53e-01 6.06e+02 1.0 5.34e+00 - 4.22e-01 2.30e-01f 1 25 3.4315709e+00 3.49e-01 1.03e+02 -1.0 2.21e+00 -3.5 7.78e-01 1.10e-02h 1 26 3.4395366e+00 3.48e-01 4.14e+04 -0.1 4.06e+01 -3.9 1.00e+00 3.73e-03h 1 27 3.4468255e+00 3.48e-01 6.24e+07 0.8 7.33e+01 -4.4 1.00e+00 6.11e-04h 1 28 3.4472722e+00 3.48e-01 1.15e+12 1.6 7.39e+01 -4.9 1.00e+00 5.21e-05h 1 29r 3.4472722e+00 3.48e-01 9.99e+02 2.5 0.00e+00 -5.4 0.00e+00 2.70e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.8850754e+00 2.03e-01 3.39e+02 -3.6 2.43e+00 - 7.00e-01 5.76e-01f 1 31r 3.8850754e+00 2.03e-01 9.99e+02 -0.7 0.00e+00 -5.9 0.00e+00 2.61e-07R 3 32r 3.8953994e+00 2.46e-01 9.95e+02 1.2 1.12e+02 - 3.28e-03 3.58e-03f 1 33r 3.8464713e+00 2.33e-01 9.59e+02 0.7 5.94e+00 - 1.00e+00 5.05e-03f 1 34r 3.9329979e+00 2.00e-01 1.15e+02 -0.3 5.38e-01 - 9.99e-01 8.83e-01f 1 35r 4.1826603e+00 1.99e-01 5.98e+01 -0.7 1.31e+00 - 7.92e-01 6.44e-01f 1 36r 4.2080094e+00 1.99e-01 1.85e+00 -1.1 1.95e-02 2.0 1.00e+00 1.00e+00f 1 37r 4.2303306e+00 1.99e-01 1.28e+00 -2.1 3.79e-02 1.5 9.95e-01 1.00e+00f 1 38r 4.2327147e+00 1.99e-01 9.27e-01 -3.8 8.20e-03 1.0 1.00e+00 4.21e-01f 1 39r 4.2321066e+00 1.99e-01 5.07e-03 -4.0 1.66e-03 0.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.0159117e+00 1.99e-01 2.57e-03 -4.0 1.30e+00 - 1.00e+00 9.46e-01f 1 41r 4.0328497e+00 1.99e-01 1.92e-03 -4.0 1.52e-01 - 6.87e-01 1.00e+00h 1 42r 4.0267787e+00 1.99e-01 8.23e-05 -4.0 4.99e-02 - 1.00e+00 1.00e+00h 1 43r 4.0309042e+00 1.99e-01 5.96e-07 -4.0 3.55e-03 - 1.00e+00 1.00e+00h 1 44r 4.0310115e+00 1.99e-01 2.43e-09 -4.0 2.21e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 4.0310118891803270e+00 4.0310118891803270e+00 Dual infeasibility......: 1.9645805333284398e+00 1.9645805333284398e+00 Constraint violation....: 1.9875045043386907e-01 1.9875045043386907e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000002346976e-04 1.0000000002346976e-04 Overall NLP error.......: 1.9645805333284398e+00 1.9645805333284398e+00 Number of objective function evaluations = 63 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 28.232 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: 0.045s 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.083s) evaluator created (0.083s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.184s) 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 (2.94s) optimizer initialization complete (total: 3.208s) 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 3.2263855e+00 2.43e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.4879001e+00 6.31e-02 1.87e+00 -0.9 1.87e+00 0.0 7.57e-01 1.00e+00f 1 2 2.4606175e+00 1.74e-02 2.20e-01 -1.2 3.68e-01 -0.5 9.59e-01 1.00e+00f 1 3 2.2790143e+00 4.84e-03 1.61e-01 -2.1 1.06e-01 -1.0 1.00e+00 1.00e+00h 1 4 2.1321727e+00 2.28e-03 1.61e-01 -3.0 1.63e-01 -1.4 9.97e-01 6.37e-01h 1 5 2.0931544e+00 1.74e-04 3.53e-03 -3.8 2.44e-02 -1.9 9.99e-01 1.00e+00h 1 6 2.0908001e+00 3.07e-06 5.53e-04 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908008e+00 9.26e-09 2.19e-05 -4.0 1.60e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0907964e+00 7.69e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0907832e+00 6.93e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907434e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906242e+00 5.61e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902683e+00 5.06e-06 3.56e-05 -4.0 3.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892141e+00 4.57e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861729e+00 4.17e-04 2.74e-03 -4.0 3.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798618e+00 2.38e-03 7.54e-02 -4.0 8.28e+01 -6.7 1.00e+00 7.92e-01h 1 16 2.0813932e+00 9.89e-05 1.67e-01 -4.0 6.87e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782302e+00 4.79e-03 2.34e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783817e+00 1.73e-02 3.32e-02 -3.7 1.59e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771749e+00 1.31e-02 1.77e-02 -3.8 2.88e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0762852e+00 1.01e-02 2.19e-02 -3.9 4.52e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0761593e+00 7.91e-03 1.18e-02 -4.0 1.58e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760754e+00 4.87e-04 5.87e-04 -4.0 7.06e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760669e+00 2.19e-06 8.78e-06 -4.0 1.43e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 3.38e-08 5.36e-07 -4.0 7.49e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.32e-10 3.24e-08 -4.0 2.10e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.41e-12 3.48e-10 -4.0 2.56e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693061524e+00 2.0760668693061524e+00 Dual infeasibility......: 3.4768700283216089e-10 3.4768700283216089e-10 Constraint violation....: 4.4080294969717215e-12 4.4080294969717215e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 3.4768700283216089e-10 3.4768700283216089e-10 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 = 29.084 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 (0.054s) 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: 0.103s) evaluator created (0.104s) 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: 0.104s) 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 3.5740880e+00 2.85e+00 5.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9389346e+00 6.87e-02 2.57e+00 -1.1 1.95e+00 0.0 7.92e-01 1.00e+00f 1 2 2.7949812e+00 1.15e-02 7.91e-01 -0.8 1.98e-01 0.4 1.00e+00 1.00e+00f 1 3 2.6199595e+00 4.77e-03 1.60e-01 -1.5 7.28e-02 -0.1 9.90e-01 1.00e+00h 1 4 2.2366579e+00 9.19e-03 7.16e-02 -1.8 1.59e-01 -0.5 9.25e-01 9.94e-01f 1 5 2.1452084e+00 3.94e-03 1.99e-01 -2.6 9.38e-02 -1.0 9.61e-01 5.80e-01h 1 6 2.0917478e+00 1.41e-04 3.29e-03 -3.9 1.77e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908419e+00 2.86e-07 9.75e-05 -4.0 1.89e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908392e+00 2.20e-09 2.06e-05 -4.0 5.62e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908375e+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 2.0908326e+00 9.71e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908176e+00 8.74e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907729e+00 7.87e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906388e+00 7.09e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902384e+00 6.39e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890548e+00 5.78e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856570e+00 5.27e-04 3.45e-03 -4.0 3.49e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798564e+00 2.18e-03 1.18e-01 -4.0 9.03e+01 -6.7 1.00e+00 6.67e-01h 1 18 2.0809586e+00 1.20e-04 1.71e-01 -4.0 6.45e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779529e+00 6.20e-03 2.44e-02 -4.0 1.14e+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 2.0770024e+00 1.09e-03 2.89e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766529e+00 1.93e-03 2.50e-02 -4.0 2.68e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758914e+00 1.95e-03 3.43e-02 -4.0 5.28e+02 -9.1 1.00e+00 7.47e-01h 1 23 2.0762267e+00 2.67e-03 1.49e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757996e+00 1.47e-03 7.49e-04 -4.1 9.10e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.65e-04 6.96e-06 -4.0 1.29e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.45e-07 3.68e-07 -4.0 5.75e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.65e-10 1.70e-08 -4.0 1.63e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 1.94e-12 1.58e-10 -4.0 1.78e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692990563e+00 2.0760668692990563e+00 Dual infeasibility......: 1.5812706610144993e-10 1.5812706610144993e-10 Constraint violation....: 1.9357848657364229e-12 1.9357848657364229e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 1.5812706610144993e-10 1.5812706610144993e-10 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 = 28.833 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.052s) 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: 0.101s) evaluator created (0.101s) 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 (0.113s) optimizer initialization complete (total: 0.214s) 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 5.0503061e+00 2.86e+00 4.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8148364e+00 5.65e-02 2.65e+00 -1.0 2.01e+00 0.0 8.91e-01 1.00e+00f 1 2 2.4966952e+00 5.73e-02 9.75e-01 -1.3 6.04e-01 -0.5 8.55e-01 7.31e-01h 1 3 2.3003276e+00 4.55e-02 4.32e-01 -1.6 7.15e-01 -1.0 9.91e-01 5.99e-01h 1 4 2.1194302e+00 5.26e-03 1.10e-01 -2.7 1.67e-01 -1.4 9.98e-01 9.31e-01h 1 5 2.0930681e+00 6.93e-04 4.60e-02 -3.9 2.10e-01 -1.9 1.00e+00 1.00e+00h 1 6 2.0912557e+00 5.29e-05 5.56e-02 -4.0 2.42e-01 -2.4 1.00e+00 1.00e+00h 1 7 2.0910011e+00 9.27e-07 2.08e-03 -4.0 1.92e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909850e+00 4.36e-07 4.22e-05 -4.0 4.56e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909717e+00 8.18e-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 2.0909318e+00 6.18e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908124e+00 5.54e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904556e+00 4.99e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893988e+00 4.51e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0863493e+00 4.11e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798494e+00 2.47e-03 7.08e-02 -4.0 8.33e+01 -6.7 1.00e+00 8.11e-01h 1 16 2.0815370e+00 1.28e-04 1.84e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782539e+00 4.87e-03 2.67e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783335e+00 1.64e-02 2.85e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771652e+00 1.37e-02 1.89e-02 -3.8 2.60e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760163e+00 2.50e-04 1.86e-02 -4.0 4.36e+02 -9.1 1.00e+00 9.97e-01H 1 21 2.0762024e+00 4.59e-03 1.14e-02 -4.0 1.60e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757920e+00 1.38e-03 7.03e-04 -4.1 8.53e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760677e+00 2.37e-04 7.02e-06 -4.0 1.13e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757393e+00 3.41e-04 9.69e-07 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.48e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.97e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0744293e+00 5.46e-03 1.83e-04 -6.1 5.65e+01 -14.3 9.74e-01 1.00e+00h 1 32 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -14.8 1.00e+00 1.00e+00h 1 33 2.0757459e+00 2.47e-03 3.12e-05 -4.1 9.82e+01 -15.3 1.00e+00 1.00e+00h 1 34 2.0757442e+00 1.03e-06 6.90e-07 -4.1 1.49e+01 -15.7 1.00e+00 1.00e+00h 1 35 2.0760681e+00 3.33e-04 9.13e-07 -4.0 1.39e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757393e+00 3.41e-04 8.32e-07 -4.1 1.40e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.41e-04 8.21e-07 -4.0 1.40e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0744293e+00 5.46e-03 1.83e-04 -6.1 5.65e+01 -18.1 9.74e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0744090e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0761100e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -19.1 1.00e+00 1.00e+00f 1 42 2.0757520e+00 5.77e-03 1.68e-04 -4.1 2.32e+02 -19.6 1.00e+00 1.00e+00h 1 43 2.0757498e+00 2.71e-06 3.82e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0744298e+00 5.53e-03 1.81e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 45 2.0744091e+00 6.60e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744091e+00 2.20e-09 4.39e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0761105e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 48 2.0757524e+00 5.99e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0757502e+00 2.84e-06 4.09e-06 -4.1 3.67e+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 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 51 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0743968e+00 2.64e-06 5.35e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 54 2.0761118e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 58 2.0744092e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0743968e+00 2.65e-06 5.37e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 61 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 62 2.0761118e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 63 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 66 2.0744092e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0743968e+00 2.65e-06 5.37e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 69 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0743968e+00 7.53e-16 3.75e-16 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 71 2.0743968e+00 7.53e-16 2.22e-16 -9.0 2.71e-13 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 7.53e-16 1.93e-16 -9.0 8.03e-14 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 7.53e-16 1.93e-16 -9.0 5.74e-14 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -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 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -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 2.0743968e+00 7.53e-16 1.93e-16 -9.0 4.60e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743968106912209e+00 2.0743968106912209e+00 Dual infeasibility......: 1.9300789197668027e-16 1.9300789197668027e-16 Constraint violation....: 7.5286998857393428e-16 7.5286998857393428e-16 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090977297959e-10 9.0909090977297959e-10 Overall NLP error.......: 9.9999090909091374e-05 9.9999090909091374e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.815 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: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.053s) 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 (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.13s) evaluator created (0.131s) 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: 0.131s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0128588e+00 3.25e+00 6.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6779178e+00 1.09e-01 1.84e+00 -1.1 1.83e+00 0.0 1.00e+00 1.00e+00h 1 2 3.2488511e+00 6.52e-02 1.26e+00 -0.9 5.35e-01 -0.5 9.18e-01 1.00e+00f 1 3 2.6406496e+00 1.01e-01 4.33e-01 -1.0 6.68e-01 -1.0 6.89e-01 5.80e-01h 1 4 2.4193943e+00 5.38e-02 7.14e-01 -1.7 1.39e+00 -1.4 8.88e-01 4.67e-01h 1 5 2.2620763e+00 1.96e-02 9.06e-02 -1.8 5.85e-01 -1.9 9.75e-01 1.00e+00h 1 6 2.1235993e+00 7.60e-03 9.92e-02 -2.6 5.99e-01 -2.4 9.64e-01 8.39e-01h 1 7 2.0942756e+00 2.13e-04 3.83e-03 -3.4 4.11e-02 -2.9 9.96e-01 1.00e+00h 1 8 2.0908912e+00 2.13e-05 2.29e-04 -4.0 4.64e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908681e+00 3.36e-07 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 2.0908283e+00 6.15e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907090e+00 5.59e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903527e+00 5.04e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892973e+00 4.56e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862524e+00 4.15e-04 2.74e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798581e+00 2.42e-03 7.33e-02 -4.0 8.30e+01 -6.7 1.00e+00 8.00e-01h 1 16 2.0814762e+00 1.26e-04 1.84e-01 -4.0 6.69e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782468e+00 5.06e-03 2.69e-02 -4.0 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783253e+00 1.60e-02 2.87e-02 -3.7 1.52e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771607e+00 1.36e-02 1.94e-02 -3.8 2.65e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760448e+00 2.34e-04 1.89e-02 -4.0 4.42e+02 -9.1 1.00e+00 9.96e-01H 1 21 2.0761971e+00 4.50e-03 1.06e-02 -4.0 1.64e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757897e+00 1.30e-03 7.09e-04 -4.1 8.67e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760678e+00 2.84e-04 7.39e-06 -4.0 1.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757393e+00 3.41e-04 9.45e-07 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.96e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0760681e+00 3.41e-04 8.22e-07 -4.0 1.40e+01 -14.3 1.00e+00 1.00e+00h 1 32 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -14.8 1.00e+00 1.00e+00h 1 33 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -15.3 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -15.7 1.00e+00 1.00e+00h 1 35 2.0757459e+00 2.47e-03 3.12e-05 -4.1 9.82e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757442e+00 1.03e-06 6.90e-07 -4.1 1.49e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.33e-04 9.13e-07 -4.0 1.39e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.32e-07 -4.1 1.40e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0760681e+00 3.41e-04 8.21e-07 -4.0 1.40e+01 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -19.1 9.74e-01 1.00e+00h 1 42 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -19.6 1.00e+00 1.00e+00h 1 43 2.0761101e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -20.0 1.00e+00 1.00e+00f 1 44 2.0757520e+00 5.77e-03 1.68e-04 -4.1 2.32e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0757498e+00 2.71e-06 3.82e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744297e+00 5.53e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 47 2.0744091e+00 6.60e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744091e+00 2.20e-09 4.39e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0757525e+00 5.99e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0757502e+00 2.83e-06 4.09e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 53 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0743968e+00 2.64e-06 5.40e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 56 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 57 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 63 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 64 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 68 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 71 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 1.78e-15 2.98e-16 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 9.60e-16 2.22e-16 -9.0 1.41e-13 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 9.60e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967707404747e+00 2.0743967707404747e+00 Dual infeasibility......: 1.7795315188865596e-16 1.7795315188865596e-16 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 28.645 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: 0.05s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) integrator 1 hessian structure: 0.042s 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 (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.095s) evaluator created (0.095s) 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 (0.001s) optimizer initialization complete (total: 0.097s) 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 2.1200120e+00 2.62e+00 3.37e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3851006e+00 1.73e+00 1.06e+01 -0.6 2.08e+01 -2.0 7.81e-02 3.72e-01f 1 2 1.4966596e+00 1.57e+00 2.44e+01 -0.0 3.61e+01 -1.6 4.50e-01 9.89e-02f 1 3 2.5499544e+00 1.03e+00 2.97e+02 0.1 1.78e+01 -1.1 2.17e-01 6.67e-01h 1 4 2.5820871e+00 9.77e-01 2.80e+02 -4.0 1.21e+02 -1.6 6.09e-02 5.64e-02h 1 5 3.0898015e+00 2.30e-01 7.88e+01 -0.3 7.69e+00 -1.2 8.58e-01 9.50e-01f 1 6 3.3988450e+00 2.10e-01 1.05e+01 -0.3 2.69e+00 -0.8 1.00e+00 1.00e+00f 1 7 3.4363573e+00 1.78e-01 3.14e+01 -0.5 6.89e-01 0.6 9.94e-01 1.72e-01h 1 8 3.3938122e+00 7.99e-03 1.61e+01 -0.6 9.14e-01 0.1 9.94e-01 1.00e+00f 1 9 3.2901402e+00 2.12e-03 4.44e+00 -1.0 2.76e-01 -0.4 9.96e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9114085e+00 5.08e-02 7.00e-01 -1.7 4.72e-01 -0.9 9.91e-01 1.00e+00f 1 11 2.8654749e+00 6.32e-03 2.67e-01 -1.8 5.14e-01 -1.4 9.88e-01 1.00e+00h 1 12 2.7732365e+00 1.46e-02 6.27e-02 -2.5 9.52e-01 -1.8 9.91e-01 1.00e+00h 1 13 2.6837083e+00 5.22e-02 8.22e-02 -3.5 1.70e+00 -2.3 9.97e-01 1.00e+00h 1 14 2.5750190e+00 1.04e-01 1.13e-01 -2.7 2.99e+00 -2.8 9.16e-01 1.00e+00h 1 15 2.4339361e+00 1.63e-01 7.76e-02 -3.0 5.82e+00 -3.3 9.91e-01 1.00e+00h 1 16 2.4226575e+00 8.82e-03 3.77e-02 -3.0 2.36e+00 -2.8 9.41e-01 1.00e+00h 1 17 2.4070584e+00 5.22e-03 1.02e-01 -3.5 1.05e+00 -2.4 1.00e+00 8.69e-01h 1 18 2.3959347e+00 3.03e-03 2.91e-01 -4.0 6.23e-01 -2.0 1.00e+00 1.00e+00h 1 19 2.3839966e+00 5.30e-03 2.10e+00 -2.0 1.05e+01 -1.6 3.69e-02 3.62e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.3844392e+00 4.75e-03 1.94e+00 -3.3 2.06e-01 -1.1 1.00e+00 1.03e-01h 1 21 2.3912744e+00 1.91e-03 6.59e+00 -3.7 1.17e+00 -1.6 1.00e+00 3.76e-01h 1 22 2.3912118e+00 1.60e-03 2.68e+02 -1.7 9.31e-01 -0.3 6.30e-02 1.00e+00f 1 23 2.3924938e+00 5.20e-06 2.94e+00 -2.2 4.12e-03 2.9 1.00e+00 1.00e+00h 1 24 2.3924718e+00 7.98e-09 4.62e-02 -4.0 1.93e-04 2.4 1.00e+00 1.00e+00h 1 25 2.3923387e+00 9.47e-08 5.98e-02 -4.0 7.51e-04 1.9 1.00e+00 1.00e+00h 1 26 2.3919637e+00 7.40e-07 5.79e-02 -4.0 2.18e-03 1.4 1.00e+00 1.00e+00h 1 27 2.3914857e+00 1.23e-06 4.67e-02 -4.0 4.75e-03 0.9 1.00e+00 7.13e-01h 1 28 2.3910268e+00 4.58e-06 2.48e-02 -4.0 8.48e-03 0.5 1.00e+00 1.00e+00f 1 29 2.3891560e+00 7.72e-06 2.41e-02 -4.0 2.45e-02 -0.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.3841432e+00 1.12e-04 4.02e-02 -4.0 7.96e-02 -0.5 1.00e+00 8.27e-01h 1 31 2.3717623e+00 2.70e-04 1.34e-01 -4.0 1.64e-01 -1.0 1.00e+00 8.32e-01h 1 32 2.3712486e+00 2.35e-04 1.04e+00 -3.9 1.15e-01 -1.4 1.00e+00 1.29e-01h 1 33 2.3656109e+00 3.70e-04 4.11e-01 -4.0 3.66e-01 -1.9 1.00e+00 9.10e-01h 1 34 2.3510349e+00 3.70e-03 7.26e-02 -4.0 1.04e+00 -2.4 1.00e+00 1.00e+00h 1 35 2.3400991e+00 4.88e-03 6.49e-02 -4.0 4.05e+00 -2.9 2.74e-01 1.94e-01h 1 36 2.3271586e+00 1.72e-01 3.39e-01 -3.8 8.42e+00 -3.3 1.00e+00 7.23e-01h 1 37 2.2962819e+00 1.05e-01 7.93e-01 -4.0 8.93e+00 -3.8 6.38e-03 4.85e-01h 1 38 2.2050345e+00 3.25e-01 9.92e-02 -3.5 1.33e+01 -4.3 1.00e+00 1.00e+00h 1 39 2.1596505e+00 2.27e-01 2.14e-01 -4.0 2.24e+01 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1443157e+00 1.93e-01 1.95e-01 -4.0 4.90e+01 -5.3 6.29e-01 3.46e-01h 1 41 2.1436537e+00 1.85e-01 1.70e-01 -4.0 1.74e+01 -4.8 7.47e-02 4.17e-02h 1 42 2.1440321e+00 1.72e-01 1.65e+00 -4.0 1.59e+00 -3.5 4.91e-01 6.87e-02h 1 43 2.1514483e+00 4.69e-03 2.94e-02 -4.0 3.54e+00 -4.0 1.00e+00 1.00e+00h 1 44 2.1412823e+00 2.14e-02 2.91e-02 -4.0 9.49e+00 -4.5 1.00e+00 1.00e+00h 1 45 2.1243829e+00 1.29e-01 7.37e-02 -4.0 1.72e+01 -4.9 1.00e+00 9.93e-01h 1 46 2.1097984e+00 2.23e-01 4.02e-01 -3.5 2.48e+01 -5.4 1.00e+00 1.00e+00h 1 47 2.1008628e+00 3.11e-01 1.45e-01 -3.2 4.07e+01 -5.9 1.00e+00 1.00e+00h 1 48 2.0946789e+00 5.61e-02 1.66e-01 -3.2 3.73e+01 -6.4 1.00e+00 1.00e+00h 1 49 2.0895613e+00 2.98e-02 4.89e-02 -3.3 9.13e+01 -6.8 1.00e+00 9.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0803504e+00 5.18e-02 9.19e-02 -3.8 1.65e+02 -7.3 1.00e+00 1.00e+00h 1 51 2.0820311e+00 2.03e-02 9.22e-02 -3.5 6.70e+01 -7.8 1.00e+00 1.00e+00h 1 52 2.0785617e+00 2.45e-02 9.90e-03 -4.0 1.63e+02 -8.3 1.00e+00 1.00e+00h 1 53 2.0776741e+00 1.88e-03 1.02e-02 -4.0 3.86e+02 -8.7 1.00e+00 1.00e+00h 1 54 2.0769500e+00 3.10e-03 4.74e-02 -4.0 7.46e+02 -9.2 1.00e+00 6.78e-01h 1 55 2.0772386e+00 4.24e-03 1.71e-02 -4.0 2.04e+02 -9.7 1.00e+00 1.00e+00h 1 56 2.0768850e+00 1.85e-03 8.66e-04 -4.1 1.23e+02 -10.2 1.00e+00 1.00e+00h 1 57 2.0771051e+00 2.08e-03 6.60e-05 -4.0 9.69e+01 -10.7 1.00e+00 1.00e+00h 1 58 2.0768426e+00 7.46e-04 8.79e-06 -4.1 3.04e+01 -11.1 1.00e+00 1.00e+00h 1 59 2.0771046e+00 4.85e-04 6.87e-07 -4.0 1.98e+01 -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 60 2.0771069e+00 4.06e-08 9.15e-09 -4.0 1.31e+00 -12.1 1.00e+00 1.00e+00h 1 61 2.0771069e+00 8.33e-13 2.77e-12 -4.0 1.79e-02 -12.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 61 (scaled) (unscaled) Objective...............: 2.0771068758783908e+00 2.0771068758783908e+00 Dual infeasibility......: 2.7676514237958555e-12 2.7676514237958555e-12 Constraint violation....: 8.3266726846886741e-13 8.3266726846886741e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000038364288e-04 1.0000000038364288e-04 Overall NLP error.......: 2.7676514237958555e-12 2.7676514237958555e-12 Number of objective function evaluations = 65 Number of objective gradient evaluations = 62 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 62 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 61 Total seconds in IPOPT = 28.849 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) integrator 1 hessian structure: 0.043s 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: 0.101s) evaluator created (0.101s) 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 (0.081s) optimizer initialization complete (total: 0.182s) 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 3.5134730e+00 2.47e+00 1.47e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.9315737e+01 2.42e+00 6.49e+02 -1.5 2.60e+01 - 2.62e-01 9.95e-01h 1 2 6.9219136e+01 2.41e+00 1.78e+03 0.1 2.66e+02 - 1.00e+00 2.68e-03h 1 3 2.2537613e+02 2.15e+00 1.04e+05 1.2 1.21e+03 - 9.84e-01 1.03e-01h 2 4 7.7267461e+02 1.85e+00 1.56e+05 2.4 6.53e+02 - 1.24e-01 1.83e-01f 2 5 5.9637318e+02 1.72e+00 2.72e+03 1.6 1.82e+02 - 1.00e+00 5.70e-01f 1 6 1.7373447e+03 2.16e+00 2.49e+05 1.2 8.09e+02 - 2.05e-02 3.83e-01h 2 7 6.8660157e+02 1.36e+00 7.34e+04 2.3 1.95e+02 - 1.00e+00 7.18e-01f 1 8 2.8380516e+02 5.51e+00 1.27e+04 2.2 1.03e+02 - 9.96e-01 1.00e+00f 1 9 7.9503135e+01 1.29e+00 5.65e+03 2.1 5.61e+01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.0630587e+01 5.37e-01 1.29e+03 2.1 1.26e+01 - 8.60e-01 1.00e+00f 1 11 2.8322767e+01 1.62e-01 1.61e+02 0.6 5.16e+00 - 9.16e-01 1.00e+00f 1 12 1.3260898e+01 3.35e-01 3.14e+01 0.2 6.71e+00 - 9.89e-01 1.00e+00f 1 13 9.1935980e+00 1.14e-01 7.71e+00 -0.2 1.68e+00 - 9.79e-01 1.00e+00f 1 14 7.6920485e+00 1.06e-01 1.31e+00 -0.6 1.18e+00 - 9.15e-01 1.00e+00f 1 15 7.3575416e+00 1.78e-02 3.12e-01 -1.5 3.88e-01 - 8.99e-01 1.00e+00h 1 16 7.2081161e+00 8.07e-03 4.52e-02 -2.3 2.24e-01 - 9.95e-01 1.00e+00h 1 17 7.1678524e+00 3.36e-03 1.64e-02 -3.5 1.24e-01 - 1.00e+00 1.00e+00h 1 18 7.1627238e+00 9.04e-04 3.66e-03 -4.0 5.72e-02 - 1.00e+00 1.00e+00h 1 19 7.1622328e+00 2.04e-04 6.77e-04 -4.0 2.55e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 7.1622588e+00 3.93e-05 1.31e-04 -4.0 1.10e-02 - 1.00e+00 1.00e+00h 1 21 7.1622714e+00 4.00e-06 1.34e-05 -4.0 3.52e-03 - 1.00e+00 1.00e+00h 1 22 7.1622711e+00 6.63e-08 2.22e-07 -4.0 4.53e-04 - 1.00e+00 1.00e+00h 1 23 7.1622711e+00 1.95e-11 6.53e-11 -4.0 7.77e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 7.1622710687249489e+00 7.1622710687249489e+00 Dual infeasibility......: 6.5253136227738651e-11 6.5253136227738651e-11 Constraint violation....: 1.9479085011653297e-11 1.9479085011653297e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000004298804096e-04 1.0000004298804096e-04 Overall NLP error.......: 6.5253136227738651e-11 6.5253136227738651e-11 Number of objective function evaluations = 33 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 33 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 = 29.259 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.113s) 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: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.9046177e+00 1.75e+00 4.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0104903e+00 2.54e-01 1.52e+00 -0.9 1.79e+00 0.0 1.00e+00 8.59e-01f 1 2 2.5485000e+00 1.89e-02 1.15e+00 -1.0 3.93e-01 -0.5 9.75e-01 1.00e+00f 1 3 2.3508367e+00 4.55e-03 9.61e-02 -1.8 9.56e-02 -1.0 9.82e-01 1.00e+00h 1 4 2.1489817e+00 3.84e-03 1.37e-01 -2.5 1.89e-01 -1.4 9.80e-01 7.29e-01f 1 5 2.0948749e+00 1.26e-04 6.34e-03 -3.5 1.54e-02 -1.9 9.97e-01 1.00e+00h 1 6 2.0908466e+00 2.74e-06 3.33e-04 -4.0 5.42e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0908450e+00 3.29e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908405e+00 7.68e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908273e+00 6.90e-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 2.0907875e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906682e+00 5.60e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903121e+00 5.04e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892573e+00 4.56e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862141e+00 4.15e-04 2.74e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798513e+00 2.40e-03 7.40e-02 -4.0 8.29e+01 -6.7 1.00e+00 7.97e-01h 1 16 2.0814661e+00 1.21e-04 1.81e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782420e+00 4.91e-03 2.62e-02 -4.0 1.07e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783441e+00 1.63e-02 2.83e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771566e+00 1.36e-02 1.87e-02 -3.8 2.62e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760074e+00 2.57e-04 1.88e-02 -4.0 4.34e+02 -9.1 1.00e+00 9.97e-01H 1 21 2.0762020e+00 4.45e-03 1.15e-02 -4.0 1.60e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757919e+00 1.40e-03 7.11e-04 -4.1 8.53e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760677e+00 2.89e-04 7.00e-06 -4.0 1.37e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757393e+00 3.41e-04 9.38e-07 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.26e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.96e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0760681e+00 3.41e-04 8.22e-07 -4.0 1.40e+01 -14.3 1.00e+00 1.00e+00h 1 32 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -14.8 1.00e+00 1.00e+00h 1 33 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -15.3 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -15.7 1.00e+00 1.00e+00h 1 35 2.0757459e+00 2.47e-03 3.12e-05 -4.1 9.82e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757442e+00 1.03e-06 6.90e-07 -4.1 1.49e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.33e-04 9.13e-07 -4.0 1.39e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.32e-07 -4.1 1.40e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0760681e+00 3.41e-04 8.21e-07 -4.0 1.40e+01 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -19.1 9.74e-01 1.00e+00h 1 42 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -19.6 1.00e+00 1.00e+00h 1 43 2.0761101e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -20.0 1.00e+00 1.00e+00f 1 44 2.0757520e+00 5.77e-03 1.68e-04 -4.1 2.32e+02 -20.0 1.00e+00 1.00e+00h 1 45 2.0757498e+00 2.71e-06 3.82e-06 -4.1 3.53e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744297e+00 5.53e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 47 2.0744091e+00 6.60e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744091e+00 2.20e-09 4.39e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 49 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0757525e+00 5.99e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0757502e+00 2.83e-06 4.09e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 53 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0743968e+00 2.64e-06 5.40e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 56 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 57 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 63 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 64 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0757531e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0757508e+00 3.00e-06 4.44e-06 -4.1 3.82e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 68 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0744091e+00 2.21e-09 4.42e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0743968e+00 2.65e-06 5.42e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 71 2.0743968e+00 3.94e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 1.78e-15 2.98e-16 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 7.95e-16 2.22e-16 -9.0 1.41e-13 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 7.95e-16 1.78e-16 -9.0 7.94e-14 -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 2.0743968e+00 1.78e-15 1.78e-16 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967707404747e+00 2.0743967707404747e+00 Dual infeasibility......: 1.7795315188865596e-16 1.7795315188865596e-16 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.304 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.041s 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 (0.043s) 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: 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 (0.791s) optimizer initialization complete (total: 0.897s) 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 4.6297574e+00 3.04e+00 2.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6436169e+00 2.54e-01 1.03e+00 -1.1 2.63e+00 -2.0 9.82e-01 9.91e-01f 1 2 2.3926580e+00 4.85e-02 3.69e-01 -1.4 1.17e+00 -2.5 8.13e-01 1.00e+00h 1 3 2.1763411e+00 1.01e-01 2.02e-01 -2.2 2.52e+00 -3.0 9.95e-01 9.26e-01h 1 4 2.1115371e+00 3.50e-03 8.00e-03 -2.7 3.92e-01 -3.4 9.68e-01 1.00e+00h 1 5 2.0907274e+00 2.00e-04 2.60e-03 -4.0 9.40e-02 -3.9 1.00e+00 1.00e+00h 1 6 2.0907516e+00 1.81e-05 2.23e-04 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906048e+00 1.09e-06 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901659e+00 7.75e-06 5.41e-05 -4.0 4.47e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888699e+00 7.01e-05 4.77e-04 -4.0 1.32e+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 2.0851667e+00 6.39e-04 4.15e-03 -4.0 3.81e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0798673e+00 2.01e-03 1.52e-01 -4.0 9.58e+01 -6.8 1.00e+00 5.73e-01h 1 12 2.0805210e+00 1.02e-04 1.52e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0777709e+00 6.92e-03 2.10e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.90e-01h 1 14 2.0772560e+00 1.08e-03 4.51e-02 -4.0 2.01e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0765590e+00 1.38e-03 2.73e-02 -4.0 3.45e+02 -8.7 1.00e+00 7.70e-01h 1 16 2.0759043e+00 2.27e-03 2.95e-02 -4.0 5.63e+02 -9.2 1.00e+00 7.40e-01h 1 17 2.0761724e+00 2.68e-03 1.47e-02 -4.0 1.71e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0760737e+00 3.54e-04 6.29e-04 -4.0 8.16e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0760669e+00 1.25e-06 7.99e-06 -4.0 1.30e+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 2.0760669e+00 2.31e-08 3.43e-07 -4.0 6.05e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0760669e+00 2.09e-10 1.56e-08 -4.0 1.57e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.52e-12 1.25e-10 -4.0 1.61e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0760668692971822e+00 2.0760668692971822e+00 Dual infeasibility......: 1.2485024410255514e-10 1.2485024410255514e-10 Constraint violation....: 1.5170087408478139e-12 1.5170087408478139e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000070e-04 1.0000000000000070e-04 Overall NLP error.......: 1.2485024410255514e-10 1.2485024410255514e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 30.420 EXIT: Optimal Solution Found. 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: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.105s) 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: 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: 0.106s) 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 3.9728466e+00 3.23e+00 6.88e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7115212e+00 5.58e-02 2.33e+00 -0.9 2.33e+00 0.0 9.31e-01 1.00e+00f 1 2 2.6514682e+00 3.63e-03 2.80e-01 -1.0 6.99e-02 0.4 9.90e-01 1.00e+00h 1 3 2.3708350e+00 1.68e-03 9.09e-02 -1.9 5.76e-02 -0.1 9.81e-01 1.00e+00f 1 4 2.1243710e+00 2.49e-03 4.81e-02 -3.0 8.75e-02 -0.5 9.98e-01 7.88e-01f 1 5 2.0936658e+00 2.02e-04 1.01e-02 -3.7 1.07e-02 -1.0 9.99e-01 9.19e-01h 1 6 2.0909429e+00 1.29e-06 6.73e-04 -4.0 3.34e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909414e+00 1.41e-09 9.32e-05 -4.0 8.49e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909408e+00 1.39e-11 4.80e-05 -4.0 1.31e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909391e+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 2.0909342e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909192e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908744e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907401e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903393e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891541e+00 5.76e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857513e+00 5.25e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798603e+00 2.23e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.75e-01h 1 18 2.0809978e+00 1.23e-04 1.74e-01 -4.0 6.54e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779596e+00 6.24e-03 2.49e-02 -4.0 1.14e+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 2.0769911e+00 1.07e-03 2.92e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766691e+00 1.83e-03 2.79e-02 -4.0 2.71e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758954e+00 1.94e-03 3.57e-02 -4.0 5.42e+02 -9.1 1.00e+00 7.48e-01h 1 23 2.0762324e+00 2.89e-03 1.46e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0758000e+00 1.47e-03 7.71e-04 -4.1 9.40e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.70e-04 7.74e-06 -4.0 1.32e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.50e-07 3.81e-07 -4.0 5.85e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.80e-10 1.79e-08 -4.0 1.69e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.08e-12 1.00e-09 -4.0 1.86e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692991917e+00 2.0760668692991917e+00 Dual infeasibility......: 9.9999999990732502e-10 9.9999999990732502e-10 Constraint violation....: 2.0781154574933680e-12 2.0781154574933680e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 9.9999999990732502e-10 9.9999999990732502e-10 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 = 28.191 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.113s) 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.11s) 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: 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: 0.111s) 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.: 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 3.1900267e+00 2.64e+00 5.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5213657e+00 2.31e-01 9.64e-01 -1.0 2.95e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.4031287e+00 7.58e-02 2.54e-01 -1.4 1.30e+00 -2.5 9.98e-01 1.00e+00h 1 3 2.1558927e+00 3.17e-02 5.06e-02 -2.5 9.27e-01 -3.0 9.77e-01 9.80e-01h 1 4 2.0952560e+00 1.51e-03 4.74e-03 -3.3 1.52e-01 -3.4 9.50e-01 1.00e+00h 1 5 2.0908738e+00 5.61e-05 4.74e-04 -4.0 1.60e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908232e+00 1.37e-06 2.34e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906760e+00 8.54e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902367e+00 7.69e-06 5.41e-05 -4.0 4.47e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889395e+00 6.96e-05 4.77e-04 -4.0 1.32e+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 2.0852324e+00 6.35e-04 4.14e-03 -4.0 3.82e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0798637e+00 2.04e-03 1.51e-01 -4.0 9.61e+01 -6.8 1.00e+00 5.78e-01h 1 12 2.0805752e+00 1.13e-04 1.60e-01 -4.0 6.55e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0777476e+00 7.03e-03 2.18e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 14 2.0773362e+00 1.01e-03 4.31e-02 -4.0 1.95e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0764734e+00 7.19e-04 1.79e-02 -4.0 3.40e+02 -8.7 1.00e+00 8.15e-01h 1 16 2.0758796e+00 1.59e-03 2.59e-02 -4.0 5.07e+02 -9.2 1.00e+00 7.50e-01h 1 17 2.0761615e+00 2.29e-03 1.22e-02 -4.0 1.55e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0760766e+00 2.89e-04 5.13e-04 -4.0 7.40e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0760669e+00 2.58e-06 6.43e-06 -4.0 1.33e+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 2.0760669e+00 1.93e-08 3.57e-07 -4.0 6.17e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0760669e+00 2.16e-10 1.60e-08 -4.0 1.56e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.52e-12 1.00e-09 -4.0 1.58e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0760668692968829e+00 2.0760668692968829e+00 Dual infeasibility......: 9.9999999998864018e-10 9.9999999998864018e-10 Constraint violation....: 1.5191181645946017e-12 1.5191181645946017e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000066e-04 1.0000000000000066e-04 Overall NLP error.......: 9.9999999998864018e-10 9.9999999998864018e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 24 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 23 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 30.030 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 (0.058s) 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 (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.105s) 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: 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: 0.106s) 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 2.2322511e+00 2.78e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1776497e+00 1.71e+00 2.71e+00 -4.0 2.05e+00 0.0 9.78e-02 3.85e-01h 1 2 2.4492208e+00 2.91e-01 4.60e-01 -1.9 1.07e+00 -0.5 6.40e-01 8.30e-01h 1 3 2.4649878e+00 1.45e-01 6.25e-01 -1.0 4.63e-01 -0.1 5.50e-01 5.02e-01f 1 4 2.4003059e+00 1.87e-02 7.98e-01 -1.8 3.71e-01 -0.5 7.69e-01 1.00e+00h 1 5 2.3459565e+00 4.22e-02 3.20e-01 -1.6 9.26e-01 -1.0 6.83e-01 4.57e-01h 1 6 2.2515523e+00 2.81e-02 6.72e-01 -2.0 9.45e-01 -1.5 9.97e-01 3.38e-01h 1 7 2.1131205e+00 6.05e-03 8.80e-02 -2.8 2.54e-01 -2.0 1.00e+00 7.88e-01h 1 8 2.0913777e+00 3.63e-04 3.21e-02 -3.8 5.41e-02 -2.4 9.99e-01 9.62e-01h 1 9 2.0908905e+00 3.94e-06 2.13e-03 -4.0 1.01e-01 -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 2.0908764e+00 2.87e-07 7.86e-05 -4.0 1.93e-01 -3.4 1.00e+00 1.00e+00h 1 11 2.0908614e+00 8.31e-09 5.06e-05 -4.0 3.73e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908166e+00 7.86e-08 2.99e-05 -4.0 6.62e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906824e+00 7.07e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902819e+00 6.38e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890975e+00 5.77e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856976e+00 5.25e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798610e+00 2.18e-03 1.17e-01 -4.0 9.04e+01 -6.7 1.00e+00 6.70e-01h 1 18 2.0808885e+00 1.38e-04 1.83e-01 -4.0 6.99e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779380e+00 7.00e-03 2.74e-02 -4.0 1.15e+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 2.0773190e+00 2.28e-03 6.04e-02 -4.0 1.90e+02 -8.2 1.00e+00 7.09e-01h 1 21 2.0766480e+00 1.21e-03 3.34e-02 -4.0 3.59e+02 -8.6 1.00e+00 6.64e-01h 1 22 2.0758818e+00 3.30e-03 3.47e-02 -4.0 6.16e+02 -9.1 1.00e+00 8.23e-01h 1 23 2.0762430e+00 4.55e-03 1.87e-02 -4.0 2.98e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760812e+00 7.29e-04 1.04e-03 -4.0 5.10e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.00e-06 1.63e-05 -4.0 8.65e+02 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.28e-08 3.96e-07 -4.0 1.48e+03 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.67e-10 2.03e-08 -4.0 2.51e+03 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.24e-12 5.43e-09 -4.0 4.22e+03 -12.0 1.00e+00 1.00e+00f 1 29 2.0760669e+00 2.44e-15 3.42e-09 -4.0 6.91e+03 -12.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757339e+00 3.48e-04 7.65e-07 -4.1 8.67e+03 -12.9 1.00e+00 1.00e+00f 1 31 2.0760682e+00 3.53e-04 8.61e-07 -4.0 1.94e+04 -13.4 1.00e+00 1.00e+00h 1 32 2.0757384e+00 3.43e-04 8.30e-07 -4.1 1.45e+04 -13.9 1.00e+00 1.00e+00h 1 33 2.0744292e+00 5.45e-03 1.84e-04 -6.1 1.96e+02 -14.4 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.46e-05 -4.0 2.42e+05 -14.8 1.00e+00 1.00e+00h 1 35 2.0758347e+00 1.85e-03 3.17e-05 -4.1 9.97e+04 -15.3 1.00e+00 1.00e+00h 1 36 2.0758337e+00 4.27e-07 3.44e-07 -4.1 1.05e+05 -15.8 1.00e+00 1.00e+00h 1 37 2.0760675e+00 1.73e-04 4.42e-07 -4.0 3.38e+03 -16.3 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.39e-04 7.85e-07 -4.1 4.30e+02 -16.8 1.00e+00 1.00e+00h 1 39 2.0760681e+00 3.41e-04 8.29e-07 -4.0 1.36e+02 -17.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0757393e+00 3.41e-04 8.24e-07 -4.1 2.16e+01 -17.7 1.00e+00 1.00e+00h 1 41 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -18.2 9.74e-01 1.00e+00h 1 42 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -18.7 1.00e+00 1.00e+00h 1 43 2.0761101e+00 4.75e-02 4.80e-04 -4.0 5.53e+02 -19.1 1.00e+00 1.00e+00f 1 44 2.0757520e+00 5.77e-03 1.68e-04 -4.1 4.44e+02 -19.6 1.00e+00 1.00e+00h 1 45 2.0757498e+00 2.71e-06 3.82e-06 -4.1 1.06e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0760680e+00 3.21e-04 8.45e-07 -4.0 1.37e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0757393e+00 3.41e-04 8.25e-07 -4.1 1.40e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -20.0 9.74e-01 1.00e+00h 1 49 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.11e+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 2.0744089e+00 2.17e-09 4.47e-08 -6.1 3.98e+00 -20.0 1.00e+00 1.00e+00h 1 51 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 52 2.0757522e+00 5.99e-03 1.81e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0757500e+00 2.84e-06 4.10e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0744297e+00 5.53e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 55 2.0744091e+00 6.61e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0744091e+00 2.20e-09 4.40e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0743968e+00 2.64e-06 5.39e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 58 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 59 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.52e+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 2.0757506e+00 3.00e-06 4.44e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 62 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0744091e+00 2.21e-09 4.41e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0743968e+00 2.65e-06 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 65 2.0743968e+00 3.93e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 66 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 67 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0757506e+00 3.01e-06 4.45e-06 -4.1 3.83e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0744298e+00 5.54e-03 1.82e-04 -6.1 5.68e+01 -20.0 9.75e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0744091e+00 6.62e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0744091e+00 2.21e-09 4.41e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 2.65e-06 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 73 2.0743968e+00 3.93e-12 6.57e-12 -9.0 4.71e-02 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 9.09e-15 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 1.78e-15 9.09e-15 -9.0 1.03e-13 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0743967707404747e+00 2.0743967707404747e+00 Dual infeasibility......: 9.0909090909090922e-15 9.0909090909090922e-15 Constraint violation....: 1.7763568394002505e-15 1.7763568394002505e-15 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-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 = 29.196 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: 0.052s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.052s) 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: 0.101s) evaluator created (0.101s) 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 (0.0s) optimizer initialization complete (total: 0.101s) 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 5.1562656e+00 2.72e+00 6.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4596524e+00 2.87e-01 1.09e+00 -1.0 3.44e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.5094863e+00 9.05e-02 7.82e-01 -1.2 1.90e+00 -2.5 7.45e-01 1.00e+00h 1 3 2.2572941e+00 6.94e-02 1.18e-01 -1.9 1.57e+00 -3.0 9.91e-01 1.00e+00h 1 4 2.1163826e+00 2.52e-02 4.28e-02 -2.7 1.33e+00 -3.4 9.64e-01 1.00e+00h 1 5 2.0923539e+00 7.95e-04 4.15e-03 -3.6 2.17e-01 -3.9 9.94e-01 1.00e+00h 1 6 2.0906704e+00 1.01e-04 2.99e-04 -4.0 5.01e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905192e+00 8.53e-07 2.05e-05 -4.0 1.49e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0900808e+00 7.71e-06 5.41e-05 -4.0 4.47e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0887863e+00 7.00e-05 4.77e-04 -4.0 1.32e+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 2.0850880e+00 6.38e-04 4.16e-03 -4.0 3.81e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0798619e+00 1.96e-03 1.53e-01 -4.0 9.54e+01 -6.8 1.00e+00 5.67e-01h 1 12 2.0804908e+00 9.76e-05 1.51e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0777773e+00 6.73e-03 2.11e-02 -4.0 1.18e+02 -7.7 1.00e+00 9.87e-01h 1 14 2.0772720e+00 1.04e-03 4.48e-02 -4.0 2.01e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0765567e+00 1.25e-03 2.52e-02 -4.0 3.46e+02 -8.7 1.00e+00 7.65e-01h 1 16 2.0759006e+00 2.23e-03 2.92e-02 -4.0 5.59e+02 -9.2 1.00e+00 7.43e-01h 1 17 2.0761729e+00 2.66e-03 1.45e-02 -4.0 1.70e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0760737e+00 3.50e-04 6.24e-04 -4.0 8.16e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0760669e+00 1.27e-06 8.06e-06 -4.0 1.36e+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 2.0760669e+00 2.45e-08 3.85e-07 -4.0 6.42e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0760669e+00 2.41e-10 1.77e-08 -4.0 1.65e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.71e-12 1.37e-10 -4.0 1.67e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0760668692970876e+00 2.0760668692970876e+00 Dual infeasibility......: 1.3678066958146967e-10 1.3678066958146967e-10 Constraint violation....: 1.7144063946261667e-12 1.7144063946261667e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 1.3678066958146967e-10 1.3678066958146967e-10 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 29.758 EXIT: Optimal Solution Found. ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/KFMSZ/src/problems.jl:66 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.066s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.14s) integrator 1 hessian structure: 0.063s integrator 2 hessian structure: 0.064s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.307s sub-objective 2 (QuadraticRegularizer): 0.11s sub-objective 3 (LinearRegularizer): 0.103s sub-objective 4 (MinimumTimeObjective): 0.051s objective hessian structure: 0.657s hessian structure: 2431 nonzeros (0.784s) linear index maps built (0.0s) evaluator ready (total: 0.924s) evaluator created (1.235s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.194s) 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 (1.961s) optimizer initialization complete (total: 3.39s) 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 5.2846031e+00 1.82e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9449129e+02 7.97e+02 3.96e+02 1.8 2.40e+03 -4.0 1.86e-03 5.44e-02f 1 2 7.5424339e+01 1.73e+01 1.03e+03 0.4 6.28e+00 0.9 1.00e+00 9.67e-01f 1 3 6.6079350e+01 1.56e+01 1.10e+03 0.4 1.02e+01 1.4 6.21e-02 9.84e-02h 1 4 4.9917811e+01 1.32e+01 2.23e+03 0.4 9.09e+00 1.8 6.14e-01 1.56e-01f 1 5 4.9441406e+01 1.31e+01 2.15e+03 0.4 8.82e+00 2.2 2.05e-01 5.69e-03h 1 6 8.1437411e+01 1.03e+01 3.93e+04 0.4 1.26e+01 1.7 5.59e-01 7.48e-01h 1 7 7.8133689e+01 8.75e+00 3.43e+04 0.4 5.43e+00 2.2 3.13e-01 1.56e-01h 1 8 8.8449317e+01 7.93e+00 3.11e+04 0.4 1.87e+01 1.7 7.43e-02 9.77e-02h 1 9 8.6040591e+01 7.50e+00 7.95e+04 0.4 5.58e+00 2.1 8.83e-01 5.51e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2216742e+02 6.06e+00 6.25e+04 0.4 1.96e+01 1.6 2.56e-01 1.98e-01h 1 11 1.0592814e+02 5.33e+00 5.33e+04 0.4 6.19e+00 2.1 7.20e-01 1.21e-01f 1 12 1.2121025e+02 6.10e+00 9.12e+03 0.4 1.09e+01 1.6 1.00e+00 7.00e-01h 1 13 1.2570366e+02 9.57e+00 3.67e+04 1.3 8.72e+00 2.0 5.44e-01 1.00e+00f 1 14 9.9653149e+01 7.56e+00 3.33e+04 1.2 6.71e+00 2.4 1.00e+00 2.00e-01h 1 15 7.3319131e+01 5.27e+00 3.38e+04 1.3 4.53e+00 2.9 1.00e+00 3.04e-01h 1 16 1.6914989e+01 1.78e+00 4.17e+03 1.6 5.41e+00 2.4 9.36e-01 1.00e+00f 1 17 2.6993590e+01 2.28e+00 1.56e+04 2.4 9.43e+00 1.9 4.15e-01 6.27e-01f 1 18 1.0957610e+01 1.87e-01 4.66e+03 2.1 2.40e+00 2.3 1.00e+00 1.00e+00f 1 19 1.0909983e+01 2.42e-03 1.52e+02 1.0 2.66e-01 2.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900142e+01 2.75e-06 8.26e+00 -1.0 2.54e-03 2.3 9.91e-01 1.00e+00h 1 21 1.0876492e+01 1.50e-05 4.80e-01 -2.5 7.43e-03 1.8 9.92e-01 1.00e+00f 1 22 1.0807614e+01 1.29e-04 4.71e-01 -3.9 2.19e-02 1.3 1.00e+00 1.00e+00f 1 23 1.0618605e+01 1.02e-03 4.45e-01 -4.0 6.19e-02 0.9 1.00e+00 1.00e+00f 1 24 1.0175741e+01 6.27e-03 3.78e-01 -4.0 1.58e-01 0.4 1.00e+00 1.00e+00f 1 25 9.4519597e+00 2.70e-02 2.47e-01 -4.0 3.10e-01 -0.1 1.00e+00 1.00e+00f 1 26 8.7817164e+00 6.97e-02 2.76e-01 -4.0 3.84e-01 -0.6 1.00e+00 1.00e+00f 1 27 8.2868908e+00 8.37e-02 4.35e-01 -4.0 9.79e-01 -1.1 1.00e+00 1.00e+00f 1 28 8.1877088e+00 8.71e-02 4.58e-01 -4.0 2.84e+00 -1.5 1.00e+00 1.16e-01f 4 29 8.1075213e+00 9.91e-02 4.73e-01 -4.0 2.44e+00 -1.1 1.00e+00 1.25e-01f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 7.7397496e+00 1.34e-01 3.02e-01 -4.0 6.63e-01 -0.7 1.00e+00 1.00e+00f 1 31 6.4494847e+00 1.42e-02 4.21e-01 -4.0 3.28e-01 -0.3 1.00e+00 1.00e+00f 1 32 5.6931453e+00 1.27e-01 4.98e-01 -4.0 8.19e-01 -0.7 1.00e+00 1.00e+00f 1 33 3.8534723e+00 1.96e-01 9.69e-01 -3.5 1.74e+00 -1.2 1.00e+00 5.78e-01f 1 34 3.5783692e+00 1.72e-01 3.69e+00 -2.7 3.55e+00 -1.7 1.00e+00 1.28e-01h 1 35 3.3606451e+00 1.62e-01 3.48e+00 -1.7 2.47e+01 -2.2 1.00e+00 6.57e-02f 1 36 2.5757079e+00 6.50e-02 5.25e-01 -2.2 9.17e-01 -1.7 1.00e+00 7.14e-01h 1 37 2.3077525e+00 6.42e-02 7.20e-01 -2.0 2.93e+00 -2.2 1.00e+00 5.43e-01f 1 38 2.1412174e+00 1.80e-02 2.65e-01 -2.9 4.93e-01 -1.8 1.00e+00 9.57e-01h 1 39 2.1157738e+00 1.31e-02 4.14e-01 -3.8 6.79e-01 -2.3 1.00e+00 2.98e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0441774e+00 1.74e-02 3.67e-01 -4.0 1.62e+00 -2.7 1.00e+00 4.99e-01h 1 41 2.0322574e+00 1.75e-02 2.08e+00 -4.0 1.04e+01 -3.2 1.00e+00 3.71e-02h 1 42 2.0012053e+00 2.12e-02 1.25e+00 -4.0 1.23e+00 -2.8 1.00e+00 7.87e-01h 1 43 2.0037420e+00 1.56e-04 2.58e+00 -3.2 7.09e-01 -3.3 1.00e+00 1.00e+00h 1 44 2.0018045e+00 2.90e-05 4.63e-01 -4.0 2.36e-01 -3.7 1.00e+00 1.00e+00h 1 45 2.0010916e+00 7.13e-06 7.90e-02 -4.0 3.87e-01 -4.2 1.00e+00 1.00e+00h 1 46 2.0010020e+00 7.42e-07 2.19e-02 -4.0 8.63e-01 -4.7 1.00e+00 1.00e+00h 1 47 2.0010498e+00 6.45e-09 3.49e-02 -4.0 1.78e+00 -5.2 1.00e+00 1.00e+00h 1 48 2.0010798e+00 8.43e-10 6.74e-02 -4.0 3.39e+00 -5.7 1.00e+00 1.00e+00f 1 49 2.0007319e+00 1.03e-07 8.57e-02 -4.1 4.30e+00 -6.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0013133e+00 5.19e-08 2.69e-01 -4.0 1.35e+01 -6.6 1.00e+00 1.00e+00f 1 51 2.0008124e+00 9.52e-08 2.09e-01 -4.1 1.24e+01 -7.1 1.00e+00 8.39e-01f 1 52 2.0011463e+00 4.79e-09 6.25e-01 -4.1 3.13e+01 -7.6 1.00e+00 1.00e+00f 1 53 2.0008771e+00 2.18e-08 7.71e-01 -4.1 4.20e+01 -8.0 1.00e+00 9.19e-01f 1 54 2.0012304e+00 6.02e-09 1.60e+00 -4.1 8.01e+01 -8.5 1.00e+00 1.00e+00f 1 55 2.0009007e+00 1.04e-08 2.19e+00 -4.1 1.21e+02 -9.0 1.00e+00 9.04e-01f 1 56 2.0012578e+00 2.04e-09 4.33e+00 -4.1 2.17e+02 -9.5 1.00e+00 1.00e+00f 1 57 2.0008816e+00 2.70e-09 6.96e+00 -4.1 3.77e+02 -9.9 1.00e+00 9.25e-01f 1 58 2.0012937e+00 2.96e-10 1.22e+01 -4.1 6.10e+02 -10.4 1.00e+00 1.00e+00f 1 59 2.0008481e+00 4.91e-10 2.06e+01 -4.1 1.11e+03 -10.9 1.00e+00 9.29e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0013215e+00 2.78e-11 3.46e+01 -4.1 1.73e+03 -11.4 1.00e+00 1.00e+00f 1 61 2.0007870e+00 9.66e-11 6.03e+01 -4.1 3.19e+03 -11.9 1.00e+00 9.44e-01f 1 62 2.0013439e+00 8.40e-12 9.48e+01 -4.1 4.74e+03 -12.3 1.00e+00 1.00e+00f 1 63 2.0006969e+00 6.74e-11 1.50e+02 -4.1 7.79e+03 -12.8 1.00e+00 9.65e-01f 1 64 2.0020134e+00 4.45e-12 2.93e+02 -4.0 1.47e+04 -13.3 1.00e+00 1.00e+00f 1 65 2.0000981e+00 1.16e-10 6.53e+01 -4.2 4.24e+03 -13.8 1.00e+00 7.70e-01f 1 66 2.0018868e+00 1.17e-11 6.43e+02 -4.0 3.21e+04 -14.2 1.00e+00 1.00e+00f 1 67 2.0008627e+00 1.32e-11 5.61e+01 -4.2 7.12e+03 -14.7 1.00e+00 3.94e-01f 2 68 2.0006474e+00 1.56e-12 2.27e+02 -4.2 1.13e+04 -15.2 1.00e+00 1.00e+00f 1 69 2.0005928e+00 2.99e-14 1.81e+02 -4.2 9.06e+03 -15.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0005448e+00 3.80e-14 9.12e+01 -4.2 4.56e+03 -16.2 1.00e+00 1.00e+00h 1 71 2.0005322e+00 3.07e-14 3.38e+01 -4.2 1.69e+03 -16.6 1.00e+00 1.00e+00h 1 72 2.0005227e+00 4.96e-14 1.48e+01 -4.2 7.38e+02 -17.1 1.00e+00 1.00e+00h 1 73 2.0005204e+00 4.24e-14 5.36e+00 -4.2 2.68e+02 -17.6 1.00e+00 1.00e+00h 1 74 2.0005188e+00 7.21e-14 2.43e+00 -4.2 1.22e+02 -18.1 1.00e+00 1.00e+00h 1 75 2.0005184e+00 6.26e-14 8.92e-01 -4.2 4.46e+01 -18.5 1.00e+00 1.00e+00h 1 76 2.0005182e+00 1.07e-13 4.05e-01 -4.2 2.02e+01 -19.0 1.00e+00 1.00e+00h 1 77 2.0005181e+00 9.36e-14 1.48e-01 -4.2 7.42e+00 -19.5 1.00e+00 1.00e+00h 1 78 2.0005181e+00 1.61e-13 6.74e-02 -4.2 3.37e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0005181e+00 5.04e-14 2.47e-02 -4.2 1.24e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0005180e+00 2.89e-14 1.12e-02 -4.2 5.62e-01 -20.0 1.00e+00 1.00e+00h 1 81 2.0005180e+00 8.39e-15 4.11e-03 -4.2 2.06e-01 -20.0 1.00e+00 1.00e+00h 1 82 2.0005180e+00 4.80e-15 1.87e-03 -4.2 9.37e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0005180e+00 1.40e-15 6.85e-04 -4.2 5.17e-02 -20.0 1.00e+00 1.00e+00h 1 84 1.9998515e+00 6.05e-09 2.16e+02 -6.2 1.08e+04 -20.0 1.00e+00 1.00e+00f 1 85 2.0007493e+00 9.68e-10 2.47e+03 -4.0 2.47e+05 -20.0 1.00e+00 5.00e-01f 2 86 2.0003006e+00 3.68e-11 3.11e+03 -3.9 1.55e+05 -20.0 1.00e+00 1.00e+00f 1 87 2.0010977e+00 5.73e-09 9.89e+02 -3.9 4.94e+04 -20.0 1.00e+00 1.00e+00f 1 88 2.0011973e+00 6.08e-09 1.37e+02 -3.9 6.85e+03 -20.0 1.00e+00 1.00e+00h 1 89 2.0011816e+00 2.09e-10 3.09e+01 -3.9 1.54e+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 2.0012056e+00 9.82e-10 4.80e-01 -3.9 2.40e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0012029e+00 3.33e-11 5.05e+00 -3.9 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0012068e+00 1.66e-10 1.55e-01 -3.9 7.73e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0012063e+00 5.61e-12 8.37e-01 -3.9 4.18e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0012070e+00 2.76e-11 2.78e-02 -3.9 1.39e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0012069e+00 9.35e-13 1.39e-01 -3.9 6.97e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0012070e+00 4.60e-12 4.68e-03 -3.9 7.04e-01 -20.0 1.00e+00 1.00e+00h 1 97 2.0012070e+00 1.56e-13 2.32e-02 -3.9 1.16e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0012070e+00 7.66e-13 7.80e-04 -3.9 7.04e-01 -20.0 1.00e+00 1.00e+00h 1 99 1.9998676e+00 1.34e-07 2.46e+02 -5.8 1.23e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.9998508e+00 4.29e-13 1.97e+02 -5.8 1.05e+04 -20.0 9.47e-01 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9998508438269975e+00 1.9998508438269975e+00 Dual infeasibility......: 1.9694436630358609e+02 1.9694436630358609e+02 Constraint violation....: 4.2925085428105155e-13 4.2925085428105155e-13 Variable bound violation: 8.9172519657977102e-09 8.9172519657977102e-09 Complementarity.........: 1.5980232122663566e-06 1.5980232122663566e-06 Overall NLP error.......: 1.9694436630358609e+02 1.9694436630358609e+02 Number of objective function evaluations = 117 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 117 Number of inequality constraint evaluations = 117 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 50.313 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: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.117s) evaluator created (0.117s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (2.232s) optimizer initialization complete (total: 2.35s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.1063293e+00 2.41e+00 4.63e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9628727e+00 6.26e-02 2.24e+00 -1.0 2.16e+00 -2.0 9.76e-01 1.00e+00f 1 2 2.4802293e+00 3.55e-02 4.04e-01 -1.5 5.61e-01 -1.6 9.87e-01 1.00e+00h 1 3 2.2029058e+00 5.65e-03 1.94e-01 -2.4 1.72e-01 -1.1 9.31e-01 1.00e+00h 1 4 2.1090020e+00 1.35e-03 2.15e-01 -3.4 9.07e-02 -1.6 1.00e+00 9.78e-01h 1 5 2.0929347e+00 5.76e-04 5.34e-01 -3.9 8.98e-01 -2.1 1.00e+00 5.75e-01h 1 6 2.0913957e+00 3.46e-04 1.86e+00 -4.0 2.02e+00 -2.6 1.00e+00 3.91e-01h 1 7 2.0910958e+00 2.45e-04 2.34e-01 -4.0 1.43e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0910743e+00 6.02e-06 9.87e-03 -4.0 8.68e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0910260e+00 1.72e-06 1.82e-04 -4.0 2.36e-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 2.0909742e+00 1.26e-07 3.11e-04 -4.0 5.41e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0909202e+00 2.10e-07 7.70e-04 -4.0 8.56e-01 -5.0 1.00e+00 1.00e+00h 1 12 2.0908946e+00 1.21e-07 6.41e-04 -4.0 1.01e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0908850e+00 5.05e-08 2.85e-04 -4.0 1.94e+00 -5.9 1.00e+00 1.00e+00h 1 14 2.0908809e+00 1.11e-08 3.72e-04 -4.0 2.25e+00 -6.4 1.00e+00 1.00e+00h 1 15 2.0908799e+00 3.22e-08 1.35e-04 -4.0 1.43e+00 -6.9 1.00e+00 1.00e+00h 1 16 2.0908798e+00 4.18e-09 1.08e-05 -4.0 4.16e-01 -7.4 1.00e+00 1.00e+00h 1 17 2.0908798e+00 4.51e-11 1.40e-07 -4.0 5.25e-02 -7.8 1.00e+00 1.00e+00h 1 18 2.0908798e+00 4.43e-14 2.51e-10 -4.0 2.50e-03 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0908797984798486e+00 2.0908797984798486e+00 Dual infeasibility......: 2.5139913566694927e-10 2.5139913566694927e-10 Constraint violation....: 4.4311776470351560e-14 4.4311776470351560e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 2.5139913566694927e-10 2.5139913566694927e-10 Number of objective function evaluations = 19 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 19 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 30.314 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 (0.058s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.11s) 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: 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 (0.08s) optimizer initialization complete (total: 0.191s) 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 5.4339355e+00 3.22e+00 4.53e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.7640497e+00 3.42e-01 2.63e+00 -1.7 3.78e+00 -2.0 2.35e-01 9.91e-01h 1 2 2.9476032e+00 2.96e-01 1.12e+00 -1.0 2.44e+00 -1.6 8.99e-01 6.99e-01f 1 3 2.4525443e+00 1.28e-02 2.51e-01 -1.4 2.71e-01 -1.1 9.89e-01 1.00e+00f 1 4 2.2101678e+00 1.39e-02 2.08e-01 -2.4 3.08e-01 -1.6 9.86e-01 8.21e-01h 1 5 2.1228495e+00 4.64e-03 4.53e-01 -3.1 5.79e-01 -2.1 9.95e-01 8.33e-01h 1 6 2.1008050e+00 4.30e-03 1.10e+00 -3.7 1.15e+00 -2.6 1.00e+00 6.46e-01h 1 7 2.0976000e+00 2.57e-03 7.68e-01 -2.9 2.07e+00 -3.1 1.00e+00 3.47e-01h 1 8 2.0936410e+00 7.70e-04 2.37e-01 -4.0 1.81e+00 -3.5 1.00e+00 6.45e-01h 1 9 2.0911979e+00 2.20e-04 3.06e-02 -4.0 8.00e-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 2.0908462e+00 8.88e-05 7.88e-03 -4.0 1.37e+00 -4.5 6.62e-01 1.00e+00h 1 11 2.0908254e+00 7.48e-05 2.51e-02 -4.0 3.33e+00 -4.1 1.00e+00 1.59e-01h 1 12 2.0908173e+00 2.54e-07 2.09e-03 -4.0 3.11e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0908061e+00 1.54e-07 2.18e-04 -4.0 6.67e-01 -5.0 1.00e+00 1.00e+00h 1 14 2.0907946e+00 1.54e-07 3.74e-04 -4.0 1.36e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0907849e+00 8.90e-08 6.27e-04 -4.0 1.74e+00 -6.0 1.00e+00 1.00e+00h 1 16 2.0907806e+00 5.95e-08 3.54e-04 -4.0 1.58e+00 -6.4 1.00e+00 1.00e+00h 1 17 2.0907799e+00 3.44e-08 6.86e-05 -4.0 8.17e-01 -6.9 1.00e+00 1.00e+00h 1 18 2.0907799e+00 1.67e-09 2.82e-06 -4.0 2.19e-01 -7.4 1.00e+00 1.00e+00h 1 19 2.0907799e+00 7.56e-12 2.15e-08 -4.0 2.17e-02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0907799e+00 5.20e-15 2.64e-11 -4.0 7.57e-04 -8.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0907798543034852e+00 2.0907798543034852e+00 Dual infeasibility......: 2.6422811069118021e-11 2.6422811069118021e-11 Constraint violation....: 5.2041704279304213e-15 5.2041704279304213e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 2.6422811069118021e-11 2.6422811069118021e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 31.257 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.108s jacobian structure: 180 nonzeros (0.244s) integrator 1 hessian structure: 0.105s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.403s sub-objective 2 (QuadraticRegularizer): 0.141s sub-objective 3 (MinimumTimeObjective): 0.064s objective hessian structure: 0.74s hessian structure: 375 nonzeros (0.846s) linear index maps built (0.0s) evaluator ready (total: 1.314s) evaluator created (1.927s) NL constraint bounds extracted (0.064s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.353s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (4.026s) optimizer initialization complete (total: 6.372s) 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 1.9704323e+00 8.59e-01 1.48e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0591933e+00 1.61e-01 2.50e+00 -4.0 2.13e+00 - 3.10e-01 1.00e+00h 1 2 1.8148131e+00 7.14e-02 1.09e+00 -0.8 3.01e-01 0.0 6.34e-01 5.27e-01h 1 3 1.6669411e+00 7.06e-02 3.37e+01 -1.0 1.59e+01 -0.5 1.00e+00 1.15e-02h 1 4 1.6622063e+00 5.26e-02 2.58e+01 -4.0 1.59e+00 - 2.32e-01 2.50e-01h 3 5 2.0175706e+00 5.35e-02 1.57e+00 -1.8 1.08e+00 - 9.49e-01 1.00e+00h 1 6 1.4805184e+00 5.06e-02 1.01e+00 -1.3 4.59e-01 -0.1 1.00e+00 3.35e-01f 1 7 1.3155711e+00 4.66e-02 1.19e+00 -1.7 7.44e+00 - 3.39e-01 7.78e-02f 1 8 1.2434607e+00 2.68e-02 3.72e-01 -2.1 6.88e-02 -0.5 1.00e+00 4.24e-01h 1 9 1.1302398e+00 6.16e-04 9.81e-01 -3.4 1.36e+00 - 9.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1163560e+00 6.00e-04 1.37e-01 -3.3 4.37e-01 - 1.00e+00 2.57e-02f 1 11 1.0913465e+00 7.92e-06 3.79e-02 -4.0 2.64e-01 - 1.00e+00 9.93e-01h 1 12 1.0909030e+00 1.05e-08 1.82e-02 -4.0 1.84e-01 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 9.37e-15 9.46e-05 -4.0 3.94e-04 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 1.48e-24 3.13e-12 -4.0 7.48e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997263265516e+00 1.0908997263265516e+00 Dual infeasibility......: 3.1288166502108083e-12 3.1288166502108083e-12 Constraint violation....: 1.4785013071602441e-24 1.4785013071602441e-24 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000291037e-04 1.0000000000291037e-04 Overall NLP error.......: 3.1288166502108083e-12 3.1288166502108083e-12 Number of objective function evaluations = 20 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 28.548 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.067s hessian structure: 20 nonzeros (0.067s) linear index maps built (0.0s) evaluator ready (total: 0.067s) evaluator created (0.396s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.118s) 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 (1.987s) optimizer initialization complete (total: 2.502s) 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.............: 20 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 6.4681488e-02 8.33e-17 9.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Number of Iterations....: 1 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 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 = 1 Total seconds in IPOPT = 1.768 EXIT: Invalid number in NLP function or derivative detected. 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): 0.122s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.239s hessian structure: 30 nonzeros (0.239s) linear index maps built (0.0s) evaluator ready (total: 0.239s) evaluator created (0.55s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.209s) 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 (2.191s) optimizer initialization complete (total: 2.95s) 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.............: 29 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 2.4984167e+00 5.49e-01 9.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5605691e+00 3.37e-09 1.24e-01 -0.5 3.40e-01 -2.0 1.00e+00 1.00e+00f 1 2 3.1110904e-01 2.15e-09 5.37e-01 -1.6 1.58e+00 -1.6 8.62e-01 1.00e+00f 1 3 1.6745719e-01 2.95e-10 9.51e-02 -2.3 4.05e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.4278680e-02 2.87e-11 1.50e-01 -3.2 8.53e-01 -1.6 9.92e-01 1.00e+00f 1 5 6.2294612e-03 2.63e-11 5.80e-02 -4.0 5.60e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.2091545e-03 7.80e-12 1.83e-02 -4.0 3.07e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.0869427e-04 2.28e-12 3.68e-03 -4.0 9.67e-02 -3.1 1.00e+00 1.00e+00f 1 8 6.7218423e-04 3.69e-13 8.54e-04 -4.0 3.77e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.0526800e-04 1.02e-13 2.08e-03 -4.1 6.33e-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 8.8374124e-04 1.42e-13 2.65e-03 -4.0 7.87e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.8283370e-04 7.95e-14 2.22e-03 -4.1 1.29e-01 -5.0 1.00e+00 5.00e-01f 2 12 5.0952556e-04 4.05e-14 1.83e-04 -4.1 1.51e-02 -5.4 1.00e+00 1.00e+00f 1 13 2.1152124e-05 9.56e-14 4.19e-03 -6.2 1.95e-01 -5.9 9.89e-01 9.96e-01f 1 14 9.5897433e-04 5.77e-14 7.31e-03 -4.0 5.63e-01 -6.4 1.00e+00 5.00e-01f 2 15 5.4646732e-04 1.17e-13 2.21e-03 -4.2 4.57e-01 -6.9 1.00e+00 1.30e-01f 2 16 2.7616451e-04 1.24e-13 2.43e-03 -4.2 9.03e-02 -7.4 1.00e+00 1.00e+00f 1 17 4.6900842e-04 3.44e-13 1.23e-03 -4.2 4.32e-02 -7.8 1.00e+00 1.00e+00f 1 18 3.0916204e-04 1.04e-13 1.16e-03 -4.2 4.07e-02 -8.3 1.00e+00 1.00e+00f 1 19 4.4681018e-04 4.71e-14 9.00e-04 -4.2 3.19e-02 -8.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.7718265e-04 5.24e-14 4.55e-04 -4.2 3.14e-02 -9.3 1.00e+00 5.00e-01f 2 21 2.2358543e-05 8.53e-14 3.30e-03 -6.3 1.65e-01 -9.7 9.91e-01 1.00e+00f 1 22 1.1874404e-05 3.92e-14 2.39e-04 -6.3 2.26e-02 -10.2 1.00e+00 1.00e+00f 1 23 1.0354601e-03 1.25e-14 7.38e-03 -4.0 2.41e+00 -10.7 1.00e+00 1.25e-01f 4 24 8.0728870e-04 2.58e-14 8.38e-04 -4.1 3.73e-01 -11.2 1.00e+00 5.84e-02f 2 25 3.1921149e-04 3.11e-13 3.32e-03 -4.1 1.03e-01 -11.6 1.00e+00 1.00e+00f 1 26 6.2738454e-04 2.03e-13 1.95e-03 -4.1 6.44e-02 -12.1 1.00e+00 1.00e+00f 1 27 4.8180467e-04 1.24e-13 8.84e-04 -4.1 5.50e-02 -12.6 1.00e+00 5.00e-01f 2 28 5.0690006e-04 4.69e-14 1.04e-04 -4.1 4.25e-03 -13.1 1.00e+00 1.00e+00f 1 29 2.2674720e-05 1.11e-13 4.10e-03 -6.2 1.93e-01 -13.6 9.89e-01 9.87e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.3526134e-05 5.52e-14 2.16e-04 -6.2 1.95e-02 -14.0 1.00e+00 1.00e+00f 1 31 3.6552269e-06 4.73e-15 3.05e-04 -6.2 3.71e-02 -14.5 1.00e+00 1.00e+00f 1 32 3.1160689e-03 2.49e-14 1.64e-02 -4.0 4.10e+00 -15.0 1.00e+00 1.25e-01f 4 33 2.6878205e-03 2.33e-14 6.00e-03 -4.0 1.71e+00 -15.5 1.00e+00 8.23e-03f 2 34 9.0677363e-04 3.43e-13 7.99e-03 -4.0 4.11e-01 -15.9 1.00e+00 4.05e-01f 2 35 5.1154043e-04 3.39e-13 2.70e-03 -4.0 7.64e-02 -16.4 1.00e+00 1.00e+00f 1 36 7.1582581e-04 3.75e-13 1.04e-03 -4.0 3.08e-02 -16.9 1.00e+00 1.00e+00f 1 37 5.4663742e-04 1.61e-13 1.06e-03 -4.0 3.16e-02 -17.4 1.00e+00 1.00e+00f 1 38 6.9116577e-04 5.79e-14 7.94e-04 -4.0 2.39e-02 -17.8 1.00e+00 1.00e+00f 1 39 4.1264393e-05 1.23e-13 4.83e-03 -6.0 2.26e-01 -18.3 9.87e-01 8.74e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1024301e-05 8.50e-14 3.95e-04 -6.0 2.99e-02 -18.8 1.00e+00 1.00e+00f 1 41 5.7567235e-06 7.81e-15 4.02e-04 -6.0 4.21e-02 -19.3 1.00e+00 1.00e+00f 1 42 6.2913826e-06 7.01e-15 2.35e-05 -6.0 4.33e-03 -19.8 1.00e+00 1.00e+00f 1 43 6.7811064e-06 3.75e-15 3.29e-05 -6.0 6.45e-03 -20.0 1.00e+00 1.00e+00f 1 44 5.8747396e-06 4.37e-15 2.86e-05 -6.0 4.73e-03 -20.0 1.00e+00 1.00e+00h 1 45 6.5751056e-06 1.31e-15 1.69e-05 -6.0 2.36e-03 -20.0 1.00e+00 1.00e+00h 1 46 5.8570547e-06 8.12e-16 1.92e-05 -6.0 2.68e-03 -20.0 1.00e+00 1.00e+00h 1 47 6.5190447e-06 7.89e-17 1.70e-05 -6.0 2.37e-03 -20.0 1.00e+00 1.00e+00h 1 48 5.8625019e-06 1.13e-17 1.71e-05 -6.0 2.39e-03 -20.0 1.00e+00 1.00e+00H 1 49 6.4978061e-06 2.21e-16 1.64e-05 -6.0 2.30e-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 50 5.8742160e-06 1.30e-17 1.62e-05 -6.0 2.26e-03 -20.0 1.00e+00 1.00e+00H 1 51 6.4834486e-06 2.39e-16 1.58e-05 -6.0 2.21e-03 -20.0 1.00e+00 1.00e+00f 1 52 5.8866828e-06 6.94e-18 1.55e-05 -6.0 2.16e-03 -20.0 1.00e+00 1.00e+00H 1 53 6.4707342e-06 2.38e-16 1.51e-05 -6.0 2.12e-03 -20.0 1.00e+00 1.00e+00f 1 54 5.8988567e-06 2.35e-16 1.48e-05 -6.0 2.07e-03 -20.0 1.00e+00 1.00e+00h 1 55 6.4587254e-06 2.28e-16 1.45e-05 -6.0 2.03e-03 -20.0 1.00e+00 1.00e+00h 1 56 5.9105670e-06 2.23e-16 1.42e-05 -6.0 1.99e-03 -20.0 1.00e+00 1.00e+00h 1 57 6.4472436e-06 2.21e-16 1.39e-05 -6.0 1.95e-03 -20.0 1.00e+00 1.00e+00h 1 58 5.9218004e-06 2.19e-16 1.36e-05 -6.0 1.90e-03 -20.0 1.00e+00 1.00e+00h 1 59 6.4362414e-06 2.10e-16 1.33e-05 -6.0 1.87e-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 60 5.9325708e-06 2.07e-16 1.30e-05 -6.0 1.83e-03 -20.0 1.00e+00 1.00e+00h 1 61 6.4256949e-06 2.01e-16 1.28e-05 -6.0 1.79e-03 -20.0 1.00e+00 1.00e+00h 1 62 5.9428962e-06 1.99e-16 1.25e-05 -6.0 1.75e-03 -20.0 1.00e+00 1.00e+00h 1 63 6.4155846e-06 1.93e-16 1.22e-05 -6.0 1.71e-03 -20.0 1.00e+00 1.00e+00h 1 64 5.9527947e-06 1.94e-16 1.20e-05 -6.0 1.68e-03 -20.0 1.00e+00 1.00e+00h 1 65 6.4058925e-06 1.86e-16 1.17e-05 -6.0 1.64e-03 -20.0 1.00e+00 1.00e+00h 1 66 5.9622838e-06 1.82e-16 1.15e-05 -6.0 1.61e-03 -20.0 1.00e+00 1.00e+00h 1 67 6.3966013e-06 1.80e-16 1.12e-05 -6.0 1.57e-03 -20.0 1.00e+00 1.00e+00h 1 68 5.9713803e-06 1.73e-16 1.10e-05 -6.0 1.54e-03 -20.0 1.00e+00 1.00e+00h 1 69 6.3876946e-06 1.74e-16 1.08e-05 -6.0 1.51e-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 70 5.9801003e-06 1.73e-16 1.06e-05 -6.0 1.48e-03 -20.0 1.00e+00 1.00e+00h 1 71 6.3791565e-06 1.61e-16 1.03e-05 -6.0 1.45e-03 -20.0 1.00e+00 1.00e+00h 1 72 5.9884595e-06 1.61e-16 1.01e-05 -6.0 1.42e-03 -20.0 1.00e+00 1.00e+00h 1 73 6.3709719e-06 1.57e-16 9.90e-06 -6.0 1.39e-03 -20.0 1.00e+00 1.00e+00h 1 74 5.9964726e-06 1.58e-16 9.70e-06 -6.0 1.36e-03 -20.0 1.00e+00 1.00e+00h 1 75 2.9995975e-07 1.35e-15 2.11e-04 -9.0 4.25e-02 -20.0 9.97e-01 1.00e+00f 1 76 4.3552841e-03 2.86e-15 2.11e-02 -4.0 1.10e+01 -20.0 7.03e-01 5.67e-02f 5 77 3.4655825e-03 3.12e-14 1.52e-02 -4.1 6.43e+00 -20.0 1.00e+00 4.22e-03f 1 78 9.4087127e-04 5.65e-13 1.06e-02 -4.1 8.26e-01 -20.0 1.00e+00 2.50e-01f 1 79 2.8669013e-04 3.86e-13 5.15e-03 -4.1 1.56e-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 6.7304583e-04 1.07e-12 2.25e-03 -4.1 7.08e-02 -20.0 9.96e-01 1.00e+00f 1 81 3.9447959e-04 7.18e-14 2.08e-03 -4.1 6.53e-02 -20.0 1.00e+00 1.00e+00f 1 82 6.1550992e-04 1.44e-13 1.30e-03 -4.1 4.15e-02 -20.0 1.00e+00 1.00e+00f 1 83 4.1956344e-04 1.14e-13 1.22e-03 -4.1 3.90e-02 -20.0 1.00e+00 1.00e+00f 1 84 5.9909490e-04 1.39e-14 1.07e-03 -4.1 3.43e-02 -20.0 1.00e+00 1.00e+00f 1 85 5.0711547e-04 3.44e-14 5.40e-04 -4.1 3.38e-02 -20.0 1.00e+00 5.00e-01f 2 86 3.0382620e-05 1.22e-13 4.01e-03 -6.1 1.82e-01 -20.0 9.90e-01 1.00e+00f 1 87 1.6351810e-05 5.51e-14 2.88e-04 -6.1 2.45e-02 -20.0 1.00e+00 1.00e+00f 1 88 4.2106966e-06 5.81e-15 3.30e-04 -6.1 3.84e-02 -20.0 1.00e+00 1.00e+00f 1 89 4.7339815e-06 3.22e-15 1.35e-05 -6.1 3.05e-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 5.0045882e-06 2.44e-15 2.37e-05 -6.1 5.38e-03 -20.0 1.00e+00 1.00e+00f 1 91 4.4387479e-06 2.86e-15 1.93e-05 -6.1 3.59e-03 -20.0 1.00e+00 1.00e+00h 1 92 4.8771940e-06 8.34e-16 1.17e-05 -6.1 1.79e-03 -20.0 1.00e+00 1.00e+00h 1 93 4.4228889e-06 5.22e-16 1.34e-05 -6.1 2.06e-03 -20.0 1.00e+00 1.00e+00h 1 94 4.8430168e-06 5.29e-17 1.19e-05 -6.1 1.83e-03 -20.0 1.00e+00 1.00e+00h 1 95 4.4259462e-06 5.20e-18 1.20e-05 -6.1 1.84e-03 -20.0 1.00e+00 1.00e+00H 1 96 4.8298700e-06 1.48e-16 1.15e-05 -6.1 1.77e-03 -20.0 1.00e+00 1.00e+00f 1 97 4.4333189e-06 8.24e-18 1.13e-05 -6.1 1.74e-03 -20.0 1.00e+00 1.00e+00H 1 98 4.8208338e-06 1.57e-16 1.10e-05 -6.1 1.70e-03 -20.0 1.00e+00 1.00e+00f 1 99 4.4412103e-06 8.67e-18 1.08e-05 -6.1 1.67e-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 4.8127894e-06 1.57e-16 1.06e-05 -6.1 1.63e-03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 4.8127893878484996e-06 4.8127893878484996e-06 Dual infeasibility......: 1.0595691790365243e-05 1.0595691790365243e-05 Constraint violation....: 1.5699247457590104e-16 1.5699247457590104e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.3249052191437556e-07 7.3249052191437556e-07 Overall NLP error.......: 9.9269447249279551e-05 9.9269447249279551e-05 Number of objective function evaluations = 149 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 149 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 = 3.320 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.074s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.074s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.054s) linear index maps built (0.0s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.621s) optimizer initialization complete (total: 0.75s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 6.8310369e+00 3.10e+00 1.76e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.5221602e+00 2.60e+00 2.49e+00 -4.0 2.50e+00 0.0 4.91e-02 1.63e-01h 1 2 3.8038631e+00 1.89e+00 1.98e+00 -1.9 2.66e+00 -0.5 1.96e-01 2.71e-01h 1 3 3.1464156e+00 1.55e+00 4.10e+00 -0.5 1.66e+00 -0.1 4.16e-01 1.80e-01f 1 4 2.4237463e+00 9.90e-01 7.69e+00 -0.2 1.42e+00 0.4 5.41e-01 3.62e-01f 1 5 2.2367985e+00 6.78e-01 4.40e+00 -0.2 7.03e-01 0.8 6.91e-01 3.15e-01f 1 6 2.1069589e+00 2.09e-01 4.28e+00 -0.3 1.06e+00 0.3 6.91e-01 6.92e-01h 1 7 2.0800283e+00 1.03e-01 4.18e+00 -0.5 2.05e-01 0.7 7.66e-01 5.06e-01f 1 8 2.0757897e+00 2.18e-01 7.26e+00 -4.0 1.11e+00 0.3 2.97e-01 8.44e-01h 1 9 2.0414489e+00 1.55e-01 7.90e+00 -0.5 3.62e-01 0.7 1.00e+00 3.23e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9860088e+00 3.52e-02 3.11e+00 -0.2 4.41e-01 0.2 1.00e+00 1.00e+00f 1 11 1.9328384e+00 5.40e-05 1.23e+00 -4.0 6.83e-02 -0.3 8.87e-01 1.00e+00h 1 12 1.6470582e+00 3.11e-03 6.02e-02 -1.7 2.21e-01 -0.7 9.93e-01 1.00e+00f 1 13 1.4035558e+00 3.63e-03 7.33e-02 -2.4 3.25e-01 -1.2 8.28e-01 1.00e+00f 1 14 1.3215330e+00 3.57e-02 4.62e-02 -2.5 3.54e-01 -1.7 1.00e+00 8.29e-01h 1 15 1.2754320e+00 5.80e-02 1.12e-02 -3.2 7.22e-01 -2.2 9.92e-01 1.00e+00h 1 16 1.2696052e+00 8.58e-03 1.28e-02 -3.7 7.51e-01 -2.6 9.65e-01 1.00e+00h 1 17 1.2659949e+00 1.45e-02 3.29e-03 -3.8 5.71e-01 -3.1 9.83e-01 9.83e-01h 1 18 1.2660920e+00 2.83e-03 9.50e-04 -4.0 3.95e-01 -3.6 1.00e+00 1.00e+00h 1 19 1.2662326e+00 2.45e-04 6.43e-05 -4.0 8.00e-02 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2662587e+00 2.64e-06 5.13e-07 -4.0 1.38e-02 -4.5 1.00e+00 1.00e+00h 1 21 1.2662587e+00 5.94e-09 2.45e-09 -4.0 2.60e-04 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 1.2662587173259743e+00 1.2662587173259743e+00 Dual infeasibility......: 2.4499535328510616e-09 2.4499535328510616e-09 Constraint violation....: 5.9449004885525625e-09 5.9449004885525625e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 5.9449004885525625e-09 5.9449004885525625e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 33.837 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.051s jacobian structure: 180 nonzeros (0.154s) integrator 1 hessian structure: 0.052s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.094s sub-objective 2 (QuadraticRegularizer): 0.061s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.101s objective hessian structure: 0.377s hessian structure: 375 nonzeros (0.429s) linear index maps built (0.0s) evaluator ready (total: 0.78s) evaluator created (1.142s) NL constraint bounds extracted (0.041s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.148s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.17s) optimizer initialization complete (total: 3.502s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1255896e+00 9.63e-01 1.34e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7402453e+00 3.31e-01 1.67e+00 -0.8 9.63e-01 0.0 1.00e+00 6.96e-01h 1 2 1.6531737e+00 1.44e-01 1.46e+00 -4.0 1.46e+00 - 4.53e-01 5.64e-01h 1 3 1.5545807e+00 8.57e-02 9.97e-01 -2.1 9.74e-01 -0.5 3.84e-01 4.03e-01h 1 4 1.5550806e+00 7.14e-02 7.48e-01 -1.2 8.57e-01 -0.1 1.00e+00 1.70e-01f 1 5 2.5158486e+00 1.12e-01 8.25e+00 0.7 5.78e+01 -0.5 3.28e-01 1.01e-02f 1 6 2.9542332e+00 1.23e-01 8.94e+00 -0.0 5.83e+00 -0.1 7.24e-01 7.84e-02f 2 7 2.1980941e+00 1.26e-01 2.72e+00 -0.7 4.06e+00 - 1.00e+00 3.67e-01f 1 8 2.2130605e+00 1.47e-01 2.22e+00 -1.0 1.59e+00 -0.6 6.30e-01 5.61e-01h 1 9 2.1738153e+00 1.71e-01 1.93e+00 -4.0 1.16e+00 -1.1 3.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.9344235e+00 1.66e-01 2.08e+00 -1.2 1.30e+01 -0.6 1.10e-01 2.14e-02f 1 11 2.3389998e+00 8.36e-02 1.21e+00 -0.7 1.91e+00 -0.2 4.00e-01 2.52e-01f 1 12 1.8281293e+00 6.73e-02 1.18e+00 -1.0 1.37e+00 -0.7 1.00e+00 3.09e-01f 1 13 1.9645649e+00 3.13e-02 1.77e+00 -0.8 1.79e+00 -1.2 1.00e+00 4.66e-01f 1 14 1.7754675e+00 1.94e-02 2.63e-01 -1.2 1.74e-01 0.2 9.92e-01 3.77e-01h 1 15 1.3098711e+00 1.23e-03 1.21e+00 -1.7 1.56e+00 - 9.53e-01 1.00e+00f 1 16 1.2374673e+00 8.61e-04 1.66e-01 -2.7 5.46e-02 -0.3 9.99e-01 2.99e-01f 1 17 1.1106410e+00 3.62e-05 4.59e-01 -4.0 9.53e-01 - 1.00e+00 9.68e-01f 1 18 1.1048640e+00 8.51e-09 2.39e-02 -3.9 2.19e-01 - 1.00e+00 1.00e+00h 1 19 1.1046143e+00 1.46e-13 1.66e-03 -4.0 1.01e-02 -0.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1045797e+00 8.04e-19 1.01e-03 -4.0 1.60e-02 -1.3 1.00e+00 1.00e+00f 1 21 1.1066425e+00 8.01e-19 3.03e-02 -2.0 5.88e+01 -1.7 1.13e-03 3.66e-03f 2 22 1.1047908e+00 8.88e-16 1.04e-02 -4.0 1.34e-01 -1.3 1.00e+00 1.00e+00f 1 23 1.1046608e+00 1.78e-15 1.55e-03 -4.0 1.41e-01 - 1.00e+00 1.00e+00f 1 24 1.1046528e+00 8.88e-16 2.83e-04 -4.0 1.70e-02 -1.8 1.00e+00 1.00e+00f 1 25 1.1037574e+00 3.23e-27 2.33e-03 -6.1 1.71e-01 - 5.86e-01 1.00e+00f 1 26 1.1046111e+00 4.60e-31 9.19e-04 -4.0 1.86e-02 -1.4 1.00e+00 1.00e+00f 1 27 1.1044863e+00 2.24e-29 1.01e-02 -4.1 3.41e-01 -1.8 9.68e-01 1.08e-01f 2 28 1.1042693e+00 4.65e-28 5.97e-03 -4.1 1.33e-01 - 1.00e+00 3.15e-01f 2 29 1.1040487e+00 8.88e-16 2.25e-02 -4.1 2.55e-01 - 1.00e+00 2.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1033522e+00 8.88e-16 1.66e-02 -4.1 1.82e-01 - 1.00e+00 1.00e+00f 1 31 1.1036189e+00 1.16e-26 3.85e-03 -4.0 8.77e-02 - 1.00e+00 1.00e+00f 1 32 1.1033021e+00 3.34e-27 8.71e-04 -4.1 4.17e-02 - 1.00e+00 1.00e+00f 1 33 1.1035035e+00 8.88e-16 9.12e-05 -4.0 1.35e-02 - 1.00e+00 1.00e+00f 1 34 1.1033022e+00 8.88e-16 2.51e-05 -4.1 7.08e-03 - 1.00e+00 1.00e+00f 1 35 1.1025781e+00 3.29e-26 1.01e-03 -6.1 2.86e-02 - 1.00e+00 9.01e-01f 1 36 1.1034943e+00 5.11e-25 4.64e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 37 1.1032989e+00 8.88e-16 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 38 1.1025776e+00 5.50e-27 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 39 1.1034943e+00 8.88e-16 4.65e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1032989e+00 8.88e-16 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 41 1.1025776e+00 1.61e-26 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 42 1.1025070e+00 4.92e-26 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 43 1.1034948e+00 1.72e-24 5.06e-04 -4.0 3.18e-02 - 1.00e+00 1.00e+00f 1 44 1.1032990e+00 1.92e-27 1.28e-05 -4.1 5.05e-03 - 1.00e+00 1.00e+00f 1 45 1.1025776e+00 8.20e-27 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 46 1.1025070e+00 1.38e-25 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 47 1.1024999e+00 1.32e-25 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 48 1.1034946e+00 8.88e-16 5.12e-04 -4.0 3.20e-02 - 1.00e+00 1.00e+00f 1 49 1.1032990e+00 1.78e-15 1.26e-05 -4.1 5.02e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 51 1.1025070e+00 8.88e-16 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 52 1.1024999e+00 2.97e-25 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 53 1.1024999e+00 2.06e-36 6.26e-15 -9.0 1.12e-07 - 1.00e+00 1.00e+00f 1 54 1.1024999e+00 1.78e-15 2.18e-16 -9.0 4.54e-15 - 1.00e+00 1.00e+00h 1 55 1.1024999e+00 8.88e-16 2.18e-16 -9.0 1.86e-16 - 1.00e+00 1.00e+00 0 56 1.1024999e+00 7.59e-46 2.40e-16 -9.0 9.84e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 56 (scaled) (unscaled) Objective...............: 1.1024999065909094e+00 1.1024999065909094e+00 Dual infeasibility......: 2.3974934425041265e-16 2.3974934425041265e-16 Constraint violation....: 7.5943886601155497e-46 7.5943886601155497e-46 Variable bound violation: 9.1919192049538800e-09 9.1919192049538800e-09 Complementarity.........: 9.0909090909090910e-10 9.0909090909090910e-10 Overall NLP error.......: 9.9999090909091089e-05 9.9999090909091089e-05 Number of objective function evaluations = 68 Number of objective gradient evaluations = 57 Number of equality constraint evaluations = 68 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 57 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 57 Total seconds in IPOPT = 19.674 EXIT: Search Direction is becoming Too Small. Difference in Hessian Difference in Jacobian [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=10 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... Difference in jacobian [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... Difference in hessian [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... Difference in hessian (GN components only) [test_integrator] Testing Hessian (GN components)... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=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... ====================================================================================== 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 35 running 1 of 1 signal (10): User defined signal 1 _ZNK12_GLOBAL__N_114MachineCSEImpl21hasLivePhysRegDefUsesEPKN4llvm12MachineInstrEPKNS1_17MachineBasicBlockERNS1_8SmallSetINS1_10MCRegisterELj8ESt4lessIS9_EEERNS1_11SmallVectorISt4pairIjNS1_8RegisterEELj2EEERb.constprop.0 at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_114MachineCSEImpl15ProcessBlockCSEEPN4llvm17MachineBasicBlockE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_114MachineCSEImpl10PerformCSEEPN4llvm15DomTreeNodeBaseINS1_17MachineBasicBlockEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_114MachineCSEImpl3runERN4llvm15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_116MachineCSELegacy20runOnMachineFunctionERN4llvm15MachineFunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm19MachineFunctionPass13runOnFunctionERNS_8FunctionE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm13FPPassManager13runOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm13FPPassManager11runOnModuleERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm6legacy15PassManagerImpl3runERNS_6ModuleE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) operator() at /source/src/jitlayers.cpp:1578:23 compileModule at /source/src/jitlayers.cpp:2702:79 operator() at /source/src/jitlayers.cpp:1052:53 [inlined] CallImpl):: > at /source/usr/include/llvm/ADT/FunctionExtras.h:212:49 operator() at /source/usr/include/llvm/ADT/FunctionExtras.h:366:62 [inlined] operator() at /source/src/objcache.cpp:340:24 [inlined] get at /source/src/objcache.cpp:381:30 materialize at /source/src/jitlayers.cpp:1061:37 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:377:13 [inlined] dispatch at /source/src/julia-task-dispatcher.h:366:6 _ZN4llvm3orc16ExecutionSession12dispatchTaskESt10unique_ptrINS0_4TaskESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (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.22.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (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.22.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2247:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:521:39 jl_compile_method_very_internal at /source/src/gf.c:4105:27 _jl_invoke at /source/src/gf.c:4582:16 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #solve_up#34 at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:667:0 (pc: 19) solve_up at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:637:0 [inlined] #solve#33 at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:621:0 (pc: 10) solve at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:609:0 [inlined] #28 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:121:0 (pc: 113) #eval_hessian_of_lagrangian##4 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:213:0 (pc: 1138) chunk_mode_gradient at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/gradient.jl:135:0 (pc: 273) gradient at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/gradient.jl:22:0 [inlined] #hessian##0 at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:17:0 [inlined] chunk_mode_jacobian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/jacobian.jl:191:0 (pc: 280) jacobian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/jacobian.jl:24:0 [inlined] hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:18:0 [inlined] hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:15:0 (pc: 9) unknown function (ip: 0x703c20c3d59e) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 hessian at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/hessian.jl:15:0 (pc: 2) unknown function (ip: 0x703c20c3bd18) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 eval_hessian_of_lagrangian at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:200:0 (pc: 182) #test_integrator#37 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:187:0 (pc: 458) test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:97:0 (pc: 15) unknown function (ip: 0x703c20d9e9bd) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3258:0 (pc: 140) include_string at ./loading.jl:3268:0 (pc: 1) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:1054:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:258:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:257:0 [inlined] cd at ./file.jl:113:0 (pc: 19) run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:256:0 (pc: 318) unknown function (ip: 0x703cf6fb24ac) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_testitem_in_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:298:0 (pc: 45) #run_node!##0 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:737:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 110) unknown function (ip: 0x703cf6fac8d0) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:736:0 (pc: 68) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) unknown function (ip: 0x703cf6faa982) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #29 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:861:0 (pc: 11) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:713:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_root_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:712:0 (pc: 105) #run_tests#18 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:860:0 (pc: 1085) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:791:0 (pc: 11) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3258:0 (pc: 140) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 _include at ./loading.jl:3320:0 (pc: 123) include at ./Base.jl:335:0 (pc: 1) IncludeInto at ./Base.jl:336:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) __script_entry_eval at ./client.jl:106:0 [inlined] exec_options at ./client.jl:350:0 (pc: 426) _start at ./client.jl:695:0 (pc: 217) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [inlined] true_main at /source/src/jlapi.c:989:29 jl_repl_entrypoint at /source/src/jlapi.c:1156:15 main at /source/cli/loader_exe.c:117:15 unknown function (ip: 0x703d15185249) 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:573:34 wait at ./task.jl:1652:0 (pc: 108) wait_forever at ./task.jl:1528:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [inlined] start_task at /source/src/task.c:1278:23 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x0000733322dd1e70 Total snapshots: 441. Utilization: 0% ╎441 @Base/task.jl:1528 wait_forever() 440╎ 441 @Base/task.jl:? wait() [test_integrator] Computing finite diff Hessian... [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:573:34 wait at ./task.jl:1652:0 (pc: 108) [35] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:233 jl_svecref at /source/src/julia.h:1329:5 [inlined] obvious_subtype at /source/src/subtype.c:3734:33 obvious_subtype at /source/src/subtype.c:3487:16 [inlined] obvious_subtype at /source/src/subtype.c:3493:17 obvious_subtype at /source/src/subtype.c:3671:31 ijl_subtype_env at /source/src/subtype.c:3881:9 [inlined] ijl_subtype_env at /source/src/subtype.c:3857:18 wait_safe_interrupt at ./park.jl:231:0 (pc: 6) #wait#428 at ./condition.jl:390:0 (pc: 117) #_ode_init#95 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:811:0 (pc: 2259) _ode_init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:128:0 [inlined] #__init#94 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:71:0 [inlined] __init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:53:0 [inlined] __init at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:53:0 [inlined] #__solve#93 at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:9:0 [inlined] __solve at /home/pkgeval/.julia/packages/OrdinaryDiffEqCore/JEGPE/src/solve.jl:1:0 [inlined] #solve_call#27 at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:190:0 [inlined] solve_call at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:155:0 [inlined] #solve_up#34 at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:667:0 [inlined] solve_up at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:637:0 [inlined] #solve#33 at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:621:0 [inlined] solve at /home/pkgeval/.julia/packages/DiffEqBase/wagoT/src/solve.jl:609:0 [inlined] #28 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:121:0 (pc: 151) unknown function (ip: 0x703c20db074c) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #evaluate!#30 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:156:0 (pc: 48) evaluate! at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:140:0 [inlined] #40 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:138:0 (pc: 132) #42 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:191:0 [inlined] #finite_difference_hessian!#35 at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:268:0 (pc: 883) unknown function (ip: 0x703c20cbfe56) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 finite_difference_hessian! at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:202:0 (pc: 7) #finite_difference_hessian#33 at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:165:0 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:159:0 [inlined] #finite_difference_hessian#32 at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:146:0 (pc: 70) finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:140:0 [inlined] finite_difference_hessian at /home/pkgeval/.julia/packages/FiniteDiff/Z4dvL/src/hessians.jl:140:0 (pc: 1) unknown function (ip: 0x703c3119641a) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #test_integrator#37 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:191:0 (pc: 463) test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:97:0 (pc: 15) unknown function (ip: 0x703c20d9e9bd) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3258:0 (pc: 140) include_string at ./loading.jl:3268:0 (pc: 1) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:1054:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:258:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:257:0 [inlined] cd at ./file.jl:113:0 (pc: 19) run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:256:0 (pc: 318) unknown function (ip: 0x703cf6fb24ac) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_testitem_in_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:298:0 (pc: 45) #run_node!##0 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:737:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 110) unknown function (ip: 0x703cf6fac8d0) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:736:0 (pc: 68) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) #run_node!##2 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:746:0 (pc: 7) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:703:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 105) run_node! at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:745:0 (pc: 179) unknown function (ip: 0x703cf6faa982) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #29 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:861:0 (pc: 11) macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:713:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2416:0 [inlined] with_root_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:712:0 (pc: 105) #run_tests#18 at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:860:0 (pc: 1085) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:791:0 (pc: 11) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) include_string at ./loading.jl:3258:0 (pc: 140) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 _include at ./loading.jl:3320:0 (pc: 123) include at ./Base.jl:335:0 (pc: 1) IncludeInto at ./Base.jl:336:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [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:829:21 jl_interpret_toplevel_thunk at /source/src/interpreter.c:1052:21 ijl_eval_thunk at /source/src/toplevel.c:772:18 jl_toplevel_eval_flex at /source/src/toplevel.c:716:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:601:15 jl_toplevel_eval_flex at /source/src/toplevel.c:688:27 ijl_toplevel_eval at /source/src/toplevel.c:786:12 ijl_toplevel_eval_in at /source/src/toplevel.c:831:13 eval at ./boot.jl:618:0 (pc: 1) __script_entry_eval at ./client.jl:106:0 [inlined] exec_options at ./client.jl:350:0 (pc: 426) _start at ./client.jl:695:0 (pc: 217) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 jl_apply at /source/src/julia.h:2533:12 [inlined] true_main at /source/src/jlapi.c:989:29 jl_repl_entrypoint at /source/src/jlapi.c:1156:15 main at /source/cli/loader_exe.c:117:15 unknown function (ip: 0x703d15185249) 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: 1463012326 (Pool: 1462949985; Big: 62341); GC: 563 wait at ./condition.jl:325:0 [inlined] _trywait at ./asyncevent.jl:204:0 (pc: 38) #_trywait#722 at ./asyncevent.jl:175:0 [inlined] _trywait at ./asyncevent.jl:175:0 [inlined] profile_printing_listener at ./Base.jl:366:0 (pc: 23) #start_profile_listener##0 at ./Base.jl:386:0 (pc: 2) jfptr_YY.start_profile_listenerYY.YY.0_0.1 at /opt/julia/lib/julia/sys.so (unknown line) start_task at /source/src/task.c:1275:23 unknown function (ip: (nil)) at (unknown file) Allocations: 22728026 (Pool: 22727229; Big: 797); GC: 21 PkgEval terminated after 2762.79s: test duration exceeded the time limit