Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.3128 (f573e2bf71*) started at 2026-09-07T02:27:05.417 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 16.29s ################################################################################ # 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 v1.8.0 [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 v2.49.3 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.16.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.1.4 [69de0a69] + Parsers v3.0.0 [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 v1.9.20 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.5 ⌅ [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 v1.2.1 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.5+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+1 ⌅ [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 v0.8.8+0 [458c3c95] + OpenSSL_jll v3.5.8+0 [efcefdf7] + PCRE2_jll v10.48.0+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 5.26s ################################################################################ # 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 16.5 s ✓ MadNLP → MadNLPMOI 46.8 s ✓ Ipopt → IpoptMathOptInterfaceExt 4.1 s ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 26.5 s ✓ DirectTrajOpt 27.1 s ✓ DirectTrajOpt → MadNLPSolverExt 5 dependencies successfully precompiled in 142 seconds. 225 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_Vh0yAN" (ProcessExited(1)). in expression starting at /PkgEval.jl/scripts/precompile.jl:34 Precompilation failed after 166.0s ################################################################################ # 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_U2hOWy/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_U2hOWy/Manifest.toml` [14f7f29c] + AMD v0.5.4 [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 v2.49.3 ⇒ 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 v1.2.1 ⇒ 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_U2hOWy/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_U2hOWy/Manifest.toml` [47edcb42] ADTypes v1.24.0 [14f7f29c] AMD v0.5.4 ⌃ [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 v1.8.0 [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 v3.0.0 [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 v1.9.20 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.5 [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 v0.1.5+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+1 ⌅ [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 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[efcefdf7] PCRE2_jll v10.48.0+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 3.0811590e+00 2.40e+00 8.57e-01 9.74e-01 -1.0 - 0.00e+00 1 0 1 3.0811585e+00 2.40e+00 1.19e-03 1.73e-05 -1.0 0.0 1.00e-07 1 2h 2 2.5454289e+00 8.57e-02 1.72e-04 1.61e-05 -1.0 -0.5 1.00e+00 1 1h 3 2.2643856e+00 6.34e-02 2.57e-04 1.68e-05 -2.5 -1.0 7.95e-01 1 1h 4 2.1556362e+00 3.91e-03 3.01e-04 1.60e-05 -2.5 -1.4 1.00e+00 1 1h 5 2.0985925e+00 6.63e-04 7.99e-04 3.23e-05 -3.8 -1.9 9.50e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.0985925367802403e+00 2.0985925367802403e+00 Dual infeasibility......: 7.9909040597993372e-04 7.9909040597993372e-04 Constraint violation....: 6.6262658016313924e-04 6.6262658016313924e-04 Complementarity.........: 3.2273715218945721e-05 3.2273715218945721e-05 Overall NLP error.......: 7.9909040597993372e-04 7.9909040597993372e-04 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 = 19.583 s Total wall secs in linear solver = 0.031 s Total wall secs in NLP function evaluations = 32.335 s Total wall secs in solver (w/o init./fun./lin. alg.) = 60.077 s Total wall secs = 112.026 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 4.5442248e+00 3.21e+00 9.51e-01 9.45e-01 -1.0 - 0.00e+00 1 0 1 4.5442243e+00 3.21e+00 1.75e-03 5.61e-04 -1.0 0.0 1.00e-07 1 2h 2 2.7904157e+00 9.51e-02 3.48e-03 1.35e-04 -1.0 -0.5 1.00e+00 1 1h 3 2.3633555e+00 4.34e-02 2.58e-03 1.31e-04 -2.5 -0.1 5.43e-01 1 1h 4 2.2285399e+00 2.04e-02 2.69e-03 1.15e-04 -2.5 -0.5 5.94e-01 1 1h 5 2.1311775e+00 9.40e-03 1.15e-02 8.04e-05 -3.8 -1.0 5.40e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1311775477279107e+00 2.1311775477279107e+00 Dual infeasibility......: 1.1533262470087397e-02 1.1533262470087397e-02 Constraint violation....: 9.4045207272973608e-03 9.4045207272973608e-03 Complementarity.........: 8.0420257555899181e-05 8.0420257555899181e-05 Overall NLP error.......: 1.1533262470087397e-02 1.1533262470087397e-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 = 0.006 s Total wall secs in NLP function evaluations = 16.796 s Total wall secs in solver (w/o init./fun./lin. alg.) = 21.431 s Total wall secs = 38.235 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 2.4684527e+00 1.92e+00 8.16e-01 9.52e-01 -1.0 - 0.00e+00 1 0 1 2.4684525e+00 1.92e+00 1.35e-03 3.16e-04 -1.0 0.0 1.00e-07 1 2h 2 2.1481414e+00 1.40e+00 5.79e-04 9.78e-05 -1.0 -0.5 2.74e-01 1 1h 3 2.5897727e+00 9.16e-02 1.14e-04 1.00e-05 -1.0 -1.0 1.00e+00 1 1h 4 2.3864547e+00 4.89e-02 2.63e-04 9.06e-06 -2.5 -1.4 4.70e-01 1 1h 5 2.1566505e+00 1.99e-02 2.88e-04 7.39e-06 -2.5 -1.9 9.28e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1566505176860264e+00 2.1566505176860264e+00 Dual infeasibility......: 2.8778651520115523e-04 2.8778651520115523e-04 Constraint violation....: 1.9871648970823753e-02 1.9871648970823753e-02 Complementarity.........: 7.3887239370021362e-06 7.3887239370021362e-06 Overall NLP error.......: 1.9871648970823753e-02 1.9871648970823753e-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 = 13 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 = 17.358 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.934 s Total wall secs = 26.299 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 2.5341241e+00 2.51e+00 3.53e+00 9.73e-01 -1.0 - 0.00e+00 0 0 1 2.5341235e+00 2.51e+00 1.22e-03 2.26e-04 -1.0 -2.0 2.00e-07 1 1h 2 2.1440802e+00 2.02e+00 3.49e-04 6.62e-05 -1.0 -2.5 1.94e-01 1 1h 3 2.1464663e+00 9.78e-01 6.24e-05 7.58e-06 -1.0 -2.1 5.47e-01 1 1h 4 2.2957693e+00 2.00e-01 8.19e-05 6.45e-06 -1.7 -1.6 9.44e-01 1 1h 5 2.2028222e+00 1.28e-01 2.35e-04 7.39e-06 -2.5 -2.1 2.23e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.2028222388414154e+00 2.2028222388414154e+00 Dual infeasibility......: 2.3495729063638610e-04 2.3495729063638610e-04 Constraint violation....: 1.2811236264219830e-01 1.2811236264219830e-01 Complementarity.........: 7.3871628041248445e-06 7.3871628041248445e-06 Overall NLP error.......: 1.2811236264219830e-01 1.2811236264219830e-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 = 13 Number of KKT backsolves = 5 Total wall secs in initialization = 13.037 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 16.860 s Total wall secs in solver (w/o init./fun./lin. alg.) = 30.580 s Total wall secs = 60.481 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 3.7814842e+00 2.35e+00 8.63e-01 9.38e-01 -1.0 - 0.00e+00 1 0 1 3.7814840e+00 2.35e+00 1.09e-03 1.32e-04 -1.0 0.0 1.00e-07 1 2h 2 2.8572294e+00 5.44e-02 7.48e-04 4.19e-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 3.5032034e+00 2.48e+00 1.60e+00 9.44e-01 -1.0 - 0.00e+00 1 0 1 2.9305749e+00 1.01e-01 2.11e+00 2.63e-01 -1.0 0.0 1.00e+00 1 1h 2 2.8635639e+00 9.76e-02 1.22e+00 1.95e-01 -1.0 -0.5 4.14e-01 2 1h 3 2.6696711e+00 6.08e-02 3.81e+00 3.29e-01 -1.0 0.9 9.17e-01 1 1h 4 2.7930962e+00 2.81e-02 7.29e-01 1.19e-01 -1.0 0.4 1.00e+00 2 1h 5 2.4595911e+00 5.21e-02 4.40e-01 6.72e-02 -1.7 -0.1 5.77e-01 2 1h 6 2.3569527e+00 2.64e-02 4.57e-01 3.96e-02 -1.7 -0.6 4.95e-01 2 1h 7 2.2459563e+00 2.70e-03 7.35e-02 2.50e-02 -1.7 -1.1 1.00e+00 2 1h 8 2.1207166e+00 5.99e-04 1.01e-02 4.02e-03 -2.5 -1.5 1.00e+00 2 1h 9 2.0915335e+00 1.04e-03 9.78e-03 2.33e-04 -3.8 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0914827e+00 3.74e-07 3.46e-04 1.75e-04 -3.8 -2.5 1.00e+00 2 1h 11 2.0900703e+00 3.06e-06 7.89e-04 3.63e-05 -5.7 -3.0 1.00e+00 2 1h 12 2.0900206e+00 1.53e-06 1.80e-04 2.03e-06 -5.7 -3.4 9.41e-01 2 1h 13 2.0900077e+00 1.49e-05 1.63e-05 1.85e-06 -5.7 -3.9 1.00e+00 2 1h 14 2.0899600e+00 7.47e-05 1.35e-04 2.02e-07 -8.6 -4.4 1.00e+00 2 1h 15 2.0899225e+00 1.18e-04 3.79e-04 2.55e-09 -8.6 -4.9 9.99e-01 2 1h 16 2.0899001e+00 3.21e-05 4.02e-04 2.83e-09 -8.6 -5.4 1.00e+00 2 1h 17 2.0898885e+00 3.72e-06 2.90e-04 2.51e-09 -8.6 -5.8 1.00e+00 2 1h 18 2.0898819e+00 6.44e-07 4.41e-04 2.51e-09 -8.6 -6.3 1.00e+00 2 1h 19 2.0898929e+00 3.61e-10 1.82e-04 2.99e-05 -8.6 -3.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898881e+00 9.24e-10 6.38e-05 4.91e-06 -8.6 -3.6 1.00e+00 2 1h 21 2.0898819e+00 2.22e-10 2.72e-04 2.51e-09 -8.6 -4.1 9.63e-01 1 1h 22 2.0898818e+00 8.30e-10 1.41e-06 3.33e-09 -8.6 -4.6 1.00e+00 2 1h 23 2.0898816e+00 3.43e-09 1.10e-06 2.51e-09 -8.6 -5.1 1.00e+00 1 1h 24 2.0898812e+00 9.84e-09 6.14e-06 2.51e-09 -8.6 -5.6 1.00e+00 1 1h 25 2.0898806e+00 1.71e-08 2.45e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898801e+00 1.64e-08 6.92e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 27 2.0898802e+00 2.27e-10 3.16e-04 1.05e-06 -8.6 -4.3 1.00e+00 1 1h 28 2.0898802e+00 2.95e-11 6.87e-06 3.63e-09 -8.6 -4.8 1.00e+00 2 1h 29 2.0898801e+00 9.98e-11 3.77e-07 2.51e-09 -8.6 -5.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 2.59e-10 1.56e-06 2.51e-09 -8.6 -5.7 1.00e+00 2 1h 31 2.0898801e+00 5.82e-10 2.28e-06 2.51e-09 -8.6 -6.2 1.00e+00 2 1h 32 2.0898800e+00 8.28e-10 1.40e-06 2.51e-09 -8.6 -6.7 1.00e+00 2 1h 33 2.0898800e+00 2.92e-10 3.06e-07 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 34 2.0898800e+00 1.89e-11 1.32e-08 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 35 2.0898800e+00 2.02e-12 7.34e-11 9.20e-10 -9.0 -8.1 1.00e+00 1 1h Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 2.0898800181311179e+00 2.0898800181311179e+00 Dual infeasibility......: 7.3420372212473772e-11 7.3420372212473772e-11 Constraint violation....: 2.0181183113532342e-12 2.0181183113532342e-12 Complementarity.........: 9.2009392217370136e-10 9.2009392217370136e-10 Overall NLP error.......: 9.2009392217370136e-10 9.2009392217370136e-10 Number of objective function evaluations = 36 Number of objective gradient evaluations = 36 Number of constraint evaluations = 36 Number of constraint Jacobian evaluations = 36 Number of Lagrangian Hessian evaluations = 35 Number of KKT factorizations = 82 Number of KKT backsolves = 58 Total wall secs in initialization = 2.226 s Total wall secs in linear solver = 0.038 s Total wall secs in NLP function evaluations = 17.896 s Total wall secs in solver (w/o init./fun./lin. alg.) = 27.873 s Total wall secs = 48.033 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 4.1129537e+00 3.51e+00 8.39e-01 9.29e-01 -1.0 - 0.00e+00 1 0 1 2.7235202e+00 8.28e-02 2.00e+00 1.53e-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 2.7061186e+00 3.32e-02 3.24e-01 1.03e-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 2.4110869e+00 2.26e-03 1.32e-01 3.49e-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 2.1305641e+00 9.22e-03 7.73e-02 5.44e-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 2.1135554e+00 1.33e-03 1.09e-02 2.84e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1135554416971485e+00 2.1135554416971485e+00 Dual infeasibility......: 1.0928121356467481e-02 1.0928121356467481e-02 Constraint violation....: 1.3323734558149392e-03 1.3323734558149392e-03 Complementarity.........: 2.8352711397386238e-03 2.8352711397386238e-03 Overall NLP error.......: 1.0928121356467481e-02 1.0928121356467481e-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 = 0.484 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 0.031 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.426 s Total wall secs = 31.945 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 4.8264142e+00 2.77e+00 1.04e+00 9.57e-01 -1.0 - 0.00e+00 1 0 1 2.6915248e+00 6.48e-02 2.16e+00 1.86e-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 2.7312701e+00 2.66e-02 2.18e-01 1.01e-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 2.3756109e+00 6.33e-03 1.70e-01 3.49e-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 2.1263485e+00 2.95e-03 7.11e-02 5.16e-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 2.1149133e+00 8.83e-04 1.61e-02 2.86e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1149132566104201e+00 2.1149132566104201e+00 Dual infeasibility......: 1.6107959879972187e-02 1.6107959879972187e-02 Constraint violation....: 8.8340921613661028e-04 8.8340921613661028e-04 Complementarity.........: 2.8587969946082576e-03 2.8587969946082576e-03 Overall NLP error.......: 1.6107959879972187e-02 1.6107959879972187e-02 Number of objective function evaluations = 6 Number of objective gradient evaluations = 6 Number of constraint evaluations = 6 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 6 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.094 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.945 s Total wall secs = 8.045 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 2.5446822e+00 2.61e+00 2.85e+00 9.83e-01 -1.0 - 0.00e+00 1 0 1 1.7945279e+00 1.01e+00 2.07e+00 1.82e-01 -1.0 - 6.14e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 2 2.8161771e+00 2.02e-02 4.23e-01 1.16e-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 2.3776130e+00 1.78e-02 1.80e-01 1.04e-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 2.1293589e+00 5.73e-03 1.64e-01 6.82e-03 -2.5 - 9.91e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 5 2.1132767e+00 1.24e-03 1.58e-02 3.27e-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 2.0914623e+00 1.63e-05 4.71e-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 2.0913380e+00 1.98e-08 2.92e-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 2.0900011e+00 1.44e-06 3.75e-04 8.38e-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 2.0899925e+00 3.36e-06 4.05e-03 3.12e-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 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899610e+00 3.11e-05 1.34e-03 1.85e-06 -5.7 - 4.88e-01 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899609797738750e+00 2.0899609797738750e+00 Dual infeasibility......: 1.3435067847425372e-03 1.3435067847425372e-03 Constraint violation....: 3.1102618928358083e-05 3.1102618928358083e-05 Complementarity.........: 1.8473789577876967e-06 1.8473789577876967e-06 Overall NLP error.......: 1.3435067847425372e-03 1.3435067847425372e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.149 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.900 s Total wall secs = 8.059 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 1.1950511e+01 4.52e+00 3.83e+00 1.91e+00 -1.0 - 0.00e+00 1 0 1 3.7789924e+00 4.43e-01 4.07e+00 9.53e-01 -1.0 0.0 9.02e-01 1 1h 2 3.2630020e+00 1.35e-01 5.16e+00 5.34e-01 -1.0 0.4 6.96e-01 2 1h 3 2.6186896e+00 4.89e-02 5.05e-01 1.73e-01 -1.0 -0.1 9.30e-01 2 1h 4 2.3482500e+00 1.30e-02 3.74e-01 3.60e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.2386053e+00 1.75e-03 2.26e-02 2.34e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.1050603e+00 1.03e-03 2.72e-02 2.84e-03 -3.8 -1.5 1.00e+00 2 1h 7 2.0916422e+00 1.86e-03 1.12e-03 3.02e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0916026e+00 7.90e-07 5.74e-04 2.30e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0901871e+00 3.91e-06 5.90e-04 1.38e-05 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0901647e+00 2.20e-07 3.09e-05 2.09e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0901305e+00 2.43e-06 4.95e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0900577e+00 5.84e-05 2.97e-04 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899634e+00 9.01e-04 2.02e-03 1.85e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899729e+00 1.45e-04 2.76e-03 8.76e-05 -5.7 -3.5 8.44e-01 1 1h 15 2.0899627e+00 1.56e-06 3.92e-04 2.27e-05 -5.7 -4.0 1.00e+00 2 1h 16 2.0899521e+00 7.56e-06 3.97e-05 2.60e-06 -5.7 -4.4 1.00e+00 2 1h 17 2.0899396e+00 8.32e-06 8.16e-04 1.85e-06 -5.7 -4.9 4.24e-01 2 1h 18 2.0899188e+00 1.64e-05 5.41e-04 1.84e-06 -5.7 -5.4 1.00e+00 2 1h 19 2.0899178e+00 1.08e-07 5.96e-06 1.90e-06 -5.7 -4.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899040e+00 1.04e-07 2.21e-04 7.40e-07 -8.6 -4.5 6.00e-01 2 1h 21 2.0898921e+00 2.50e-07 8.42e-05 7.24e-09 -8.6 -5.0 1.00e+00 2 1h 22 2.0898895e+00 8.61e-08 2.83e-04 2.61e-09 -8.6 -5.5 6.56e-01 2 1h 23 2.0898846e+00 2.17e-07 1.15e-04 2.51e-09 -8.6 -6.0 1.00e+00 2 1h 24 2.0898811e+00 2.10e-07 2.24e-04 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 25 2.0898831e+00 1.53e-10 4.70e-05 6.40e-06 -8.6 -3.3 1.00e+00 1 1h 26 2.0898823e+00 4.56e-10 1.61e-05 9.81e-07 -8.6 -3.8 1.00e+00 2 1h 27 2.0898823e+00 4.44e-16 1.58e-05 3.42e-09 -8.6 -0.7 1.00e+00 1 1h 28 2.0898823e+00 2.44e-15 1.58e-05 2.51e-09 -8.6 -1.1 1.00e+00 2 1h 29 2.0898823e+00 2.11e-14 1.58e-05 2.51e-09 -8.6 -1.6 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898822e+00 1.78e-13 1.57e-05 2.51e-09 -8.6 -2.1 1.00e+00 2 1h 31 2.0898821e+00 1.29e-12 1.54e-05 2.51e-09 -8.6 -2.6 1.00e+00 2 1h 32 2.0898818e+00 5.53e-12 1.48e-05 2.51e-09 -8.6 -3.1 1.00e+00 2 1h 33 2.0898811e+00 1.82e-12 1.49e-05 2.51e-09 -8.6 -3.5 1.00e+00 1 1h 34 2.0898811e+00 3.19e-12 1.38e-02 2.54e-09 -8.6 -4.0 6.63e-03 2 1h 35 2.0898810e+00 1.52e-10 5.97e-07 2.77e-09 -8.6 -4.5 1.00e+00 2 1h 36 2.0898810e+00 5.34e-10 5.92e-07 2.51e-09 -8.6 -5.0 1.00e+00 2 1h 37 2.0898808e+00 1.62e-09 1.27e-06 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 38 2.0898805e+00 5.27e-09 7.47e-06 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 39 2.0898802e+00 1.21e-08 1.99e-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 2.0898802e+00 1.21e-10 2.14e-05 2.17e-07 -8.6 -4.2 1.00e+00 1 1h 41 2.0898802e+00 7.47e-11 1.91e-06 1.93e-08 -8.6 -4.6 1.00e+00 2 1h 42 2.0898802e+00 1.37e-10 1.27e-06 3.63e-09 -8.6 -5.1 1.00e+00 2 1h 43 2.0898801e+00 1.38e-10 1.27e-04 8.35e-09 -8.6 -5.6 1.28e-01 2 2h 44 2.0898801e+00 1.67e-09 1.91e-06 2.51e-09 -8.6 -6.1 1.00e+00 2 1h 45 2.0898801e+00 2.01e-09 5.27e-05 2.51e-09 -8.6 -6.5 1.00e+00 2 1h 46 2.0898801e+00 4.60e-11 1.11e-06 2.51e-09 -8.6 -4.3 1.00e+00 1 1h 47 2.0898800e+00 9.38e-11 1.80e-06 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 48 2.0898800e+00 5.73e-11 7.41e-06 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 49 2.0898800e+00 7.02e-11 3.44e-07 2.62e-09 -8.6 -5.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0898800e+00 8.34e-11 1.67e-07 2.51e-09 -8.6 -6.2 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0898800349953626e+00 2.0898800349953626e+00 Dual infeasibility......: 1.6670285283605646e-07 1.6670285283605646e-07 Constraint violation....: 8.3430817809926339e-11 8.3430817809926339e-11 Complementarity.........: 2.5059035604232244e-09 2.5059035604232244e-09 Overall NLP error.......: 1.6670285283605646e-07 1.6670285283605646e-07 Number of objective function evaluations = 53 Number of objective gradient evaluations = 51 Number of constraint evaluations = 53 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 122 Number of KKT backsolves = 89 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.066 s Total wall secs in NLP function evaluations = 34.380 s Total wall secs in solver (w/o init./fun./lin. alg.) = 14.439 s Total wall secs = 48.887 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 4.4137426e+00 3.22e+00 1.25e+00 9.82e-01 -1.0 - 0.00e+00 1 0 1 2.8563153e+00 1.20e-01 3.28e+00 3.74e-01 -1.0 0.0 1.00e+00 2 1h 2 2.4645629e+00 3.02e-02 9.73e-01 2.14e-01 -1.0 0.4 7.48e-01 1 1h 3 2.2712932e+00 9.25e-03 2.82e-01 4.56e-02 -1.7 -0.1 8.12e-01 2 1h 4 2.3822182e+00 1.69e-02 1.02e+00 2.12e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.3301127e+00 1.64e-02 6.40e-01 3.49e-02 -1.7 -1.0 7.21e-02 2 2h 6 2.2573262e+00 1.17e-02 1.26e-01 2.64e-02 -1.7 -1.5 5.66e-01 2 1h 7 2.1215011e+00 1.59e-03 1.22e-02 4.17e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0915846e+00 6.37e-04 3.51e-03 1.85e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0913826e+00 6.63e-06 2.69e-04 1.50e-04 -3.8 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900277e+00 9.37e-06 2.39e-04 3.37e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0899828e+00 7.38e-06 1.17e-03 2.76e-06 -5.7 -3.9 8.36e-01 2 1h 12 2.0899668e+00 2.49e-05 6.76e-05 2.60e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899384e+00 5.04e-06 2.55e-04 1.85e-06 -5.7 -4.8 9.85e-01 2 1h 14 2.0899214e+00 1.52e-06 2.91e-04 2.25e-06 -5.7 -5.3 1.00e+00 2 1h 15 2.0899085e+00 6.54e-07 3.13e-04 1.84e-06 -5.7 -5.8 1.00e+00 2 1h 16 2.0899347e+00 1.61e-07 2.14e-03 1.85e-06 -5.7 -6.3 1.00e+00 2 1h 17 2.0899091e+00 1.59e-07 1.28e-01 1.88e-06 -5.7 -3.1 1.27e-02 1 1h 18 2.0899717e+00 1.11e-11 3.54e-03 6.29e-05 -5.7 -3.6 1.00e+00 2 1H 19 2.0899523e+00 4.34e-08 4.50e-03 1.85e-06 -5.7 -4.1 1.19e-01 2 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899018e+00 5.16e-08 3.58e-02 1.86e-06 -5.7 -3.6 2.59e-01 1 1h 21 2.0899011e+00 4.64e-07 9.55e-03 1.85e-06 -5.7 -4.1 4.91e-02 2 2h 22 2.0899000e+00 1.35e-08 6.04e-04 2.04e-06 -5.7 -4.6 1.00e+00 2 1h 23 2.0898987e+00 2.87e-08 1.68e-05 1.85e-06 -5.7 -5.1 1.00e+00 2 1h 24 2.0898810e+00 6.14e-07 2.92e-05 7.81e-09 -8.6 -5.6 1.00e+00 1 1h 25 2.0898804e+00 2.39e-08 3.03e-05 2.65e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898801e+00 8.65e-09 2.02e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 27 2.0898800e+00 1.26e-09 6.79e-06 2.51e-09 -8.6 -7.0 1.00e+00 1 1h 28 2.0898800e+00 6.93e-11 5.00e-07 2.51e-09 -8.6 -7.5 1.00e+00 2 1h 29 2.0898800e+00 8.03e-13 5.35e-09 2.51e-09 -8.6 -7.9 1.00e+00 1 1h Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0898800325024975e+00 2.0898800325024975e+00 Dual infeasibility......: 5.3463495956751483e-09 5.3463495956751483e-09 Constraint violation....: 8.0324635831630076e-13 8.0324635831630076e-13 Complementarity.........: 2.5059035604492922e-09 2.5059035604492922e-09 Overall NLP error.......: 5.3463495956751483e-09 5.3463495956751483e-09 Number of objective function evaluations = 37 Number of objective gradient evaluations = 30 Number of constraint evaluations = 37 Number of constraint Jacobian evaluations = 30 Number of Lagrangian Hessian evaluations = 29 Number of KKT factorizations = 67 Number of KKT backsolves = 59 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.031 s Total wall secs in NLP function evaluations = 17.758 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.055 s Total wall secs = 25.846 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 6.4721707e+00 3.70e+00 1.26e+00 9.74e-01 -1.0 - 0.00e+00 1 0 1 2.5881961e+00 9.68e-02 2.29e+00 1.59e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5323708e+00 3.97e-02 1.84e+00 1.22e-01 -1.0 0.4 1.00e+00 1 1h 3 2.7928072e+00 6.43e-03 4.42e-01 1.08e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.3722185e+00 4.21e-03 6.97e-01 3.56e-02 -1.7 -0.5 1.00e+00 1 1h 5 2.2457515e+00 2.43e-03 2.16e-02 2.10e-02 -1.7 -1.0 1.00e+00 1 1h 6 2.1007713e+00 9.57e-04 1.09e-02 1.58e-03 -3.8 -1.5 1.00e+00 1 1h 7 2.0913876e+00 6.06e-04 3.63e-04 1.71e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0901184e+00 1.73e-06 2.84e-04 3.98e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0900655e+00 2.46e-07 1.80e-04 7.67e-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 2.0900467e+00 3.02e-06 1.93e-03 1.85e-06 -5.7 -3.4 5.47e-01 1 1h 11 2.0900349e+00 6.60e-05 2.01e-05 2.13e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0900044e+00 3.39e-04 1.21e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0899621e+00 1.19e-04 3.85e-04 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0899312e+00 1.88e-05 4.77e-04 1.87e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0899113e+00 2.97e-06 3.99e-04 1.84e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0899003e+00 1.61e-06 4.02e-04 1.85e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0899028e+00 1.57e-09 1.12e-04 2.19e-05 -5.7 -3.1 1.00e+00 1 1h 18 2.0899013e+00 7.32e-09 8.71e-06 2.36e-06 -5.7 -3.6 1.00e+00 1 1h 19 2.0898830e+00 1.14e-07 1.82e-05 8.06e-08 -8.6 -4.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898838e+00 1.21e-07 1.74e-03 1.57e-08 -8.6 -4.5 9.42e-01 1 1h 21 2.0898817e+00 7.05e-08 1.26e-03 1.57e-08 -8.6 -5.0 4.41e-01 1 1h 22 2.0898818e+00 7.04e-08 4.61e-01 4.11e-05 -8.6 -3.7 9.69e-04 1 6h 23 2.0898818e+00 2.56e-09 3.87e-06 1.19e-07 -8.6 -4.2 1.00e+00 1 1h 24 2.0898816e+00 5.41e-09 1.33e-05 2.51e-09 -8.6 -4.7 9.61e-01 1 1h 25 2.0898813e+00 1.57e-08 1.40e-06 3.07e-09 -8.6 -5.1 1.00e+00 1 1h 26 2.0898809e+00 1.81e-08 4.76e-06 2.51e-09 -8.6 -5.6 1.00e+00 1 1h 27 2.0898804e+00 1.69e-08 1.05e-05 2.51e-09 -8.6 -6.1 1.00e+00 1 1h 28 2.0898801e+00 1.88e-08 3.26e-05 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 29 2.0898801e+00 1.01e-10 2.17e-05 1.41e-07 -8.6 -4.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 2.53e-11 8.59e-07 5.04e-09 -8.6 -4.8 1.00e+00 1 1h 31 2.0898801e+00 5.31e-11 5.49e-07 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 32 2.0898801e+00 3.24e-10 6.56e-06 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 33 2.0898800e+00 1.03e-09 1.31e-06 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 34 2.0898800e+00 1.03e-09 1.59e-06 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 35 2.0898800e+00 2.15e-10 1.11e-07 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 36 2.0898800e+00 6.78e-12 5.09e-08 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 37 2.0898800e+00 2.85e-14 1.48e-09 2.51e-09 -8.6 -8.1 1.00e+00 1 1h Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 2.0898800325024309e+00 2.0898800325024309e+00 Dual infeasibility......: 1.4827166581185277e-09 1.4827166581185277e-09 Constraint violation....: 2.8532731732866523e-14 2.8532731732866523e-14 Complementarity.........: 2.5059035603844607e-09 2.5059035603844607e-09 Overall NLP error.......: 2.5059035603844607e-09 2.5059035603844607e-09 Number of objective function evaluations = 44 Number of objective gradient evaluations = 38 Number of constraint evaluations = 44 Number of constraint Jacobian evaluations = 38 Number of Lagrangian Hessian evaluations = 37 Number of KKT factorizations = 87 Number of KKT backsolves = 39 Total wall secs in initialization = 4.445 s Total wall secs in linear solver = 0.072 s Total wall secs in NLP function evaluations = 17.981 s Total wall secs in solver (w/o init./fun./lin. alg.) = 24.169 s Total wall secs = 46.666 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 3.1520526e+00 3.44e+00 7.96e-01 9.77e-01 -1.0 - 0.00e+00 1 0 1 2.4819785e+00 5.79e-01 6.64e+00 3.59e+00 -0.7 0.0 8.31e-01 2 1h 2 2.5423685e+00 1.26e-01 4.99e+01 3.26e+00 -0.7 0.4 7.83e-01 1 1h 3 2.5925077e+00 4.63e-02 4.96e+00 6.20e-01 -0.7 0.9 1.00e+00 1 1h 4 2.4464103e+00 1.67e-03 1.03e+00 1.18e-01 -5.1 0.4 1.00e+00 2 1h 5 2.3050285e+00 1.81e-03 7.84e-02 4.13e-02 -1.7 -0.1 1.00e+00 2 1h 6 2.1293357e+00 1.28e-03 3.06e-02 7.08e-03 -2.5 -0.6 1.00e+00 2 1h 7 2.0920986e+00 8.14e-04 9.41e-03 3.12e-04 -3.8 -1.1 9.63e-01 2 1h 8 2.0916874e+00 4.85e-06 2.77e-04 1.77e-04 -3.8 -1.5 1.00e+00 2 1h 9 2.0901088e+00 9.75e-07 2.18e-04 2.70e-05 -5.6 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900751e+00 4.65e-08 2.79e-04 7.93e-06 -5.6 -2.5 1.00e+00 2 1h 11 2.0900334e+00 6.59e-08 1.38e-03 2.36e-06 -5.6 -3.0 6.07e-01 2 1h 12 2.0900325e+00 2.28e-06 3.27e-05 5.78e-06 -5.6 -3.4 1.00e+00 2 1h 13 2.0900140e+00 1.72e-05 4.53e-05 2.86e-06 -5.6 -3.9 1.00e+00 2 1h 14 2.0899818e+00 9.51e-05 1.57e-04 2.36e-06 -5.6 -4.4 1.00e+00 2 1h 15 2.0899485e+00 1.06e-04 4.46e-04 2.36e-06 -5.6 -4.9 1.00e+00 2 1h 16 2.0899405e+00 9.49e-05 3.58e-03 2.37e-06 -5.6 -4.4 1.09e-01 1 1h 17 2.0899265e+00 1.01e-05 1.77e-04 2.36e-06 -5.6 -4.9 1.00e+00 2 1h 18 2.0899166e+00 6.23e-06 1.52e-04 2.36e-06 -5.6 -5.4 1.00e+00 2 1h 19 2.0899068e+00 3.20e-06 2.71e-04 2.36e-06 -5.6 -5.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899078e+00 5.70e-07 1.77e-03 6.69e-05 -5.6 -3.6 8.22e-01 1 1h 21 2.0899074e+00 9.95e-10 7.35e-05 1.78e-05 -5.6 -4.1 1.00e+00 2 1h 22 2.0899068e+00 7.58e-09 4.87e-06 2.61e-06 -5.6 -4.6 1.00e+00 2 1h 23 2.0898845e+00 6.54e-07 2.29e-05 8.01e-08 -8.4 -5.1 1.00e+00 2 1h 24 2.0898828e+00 1.33e-07 6.26e-05 1.91e-08 -8.4 -5.6 1.00e+00 2 1h 25 2.0898823e+00 1.22e-08 5.87e-06 5.98e-09 -8.4 -5.1 1.00e+00 1 1h 26 2.0898821e+00 1.49e-09 1.19e-06 3.80e-09 -8.4 -4.7 1.00e+00 1 1h 27 2.0898817e+00 9.64e-09 2.67e-05 3.62e-09 -8.4 -5.2 1.00e+00 2 1h 28 2.0898816e+00 5.45e-09 2.55e-04 3.62e-09 -8.4 -4.8 4.69e-01 1 1h 29 2.0898814e+00 8.28e-09 1.63e-05 6.25e-08 -8.4 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898812e+00 3.47e-09 9.06e-05 3.62e-09 -8.4 -4.8 6.38e-01 1 1h 31 2.0898810e+00 6.75e-09 2.46e-06 5.47e-09 -8.4 -5.3 1.00e+00 2 1h 32 2.0898806e+00 2.84e-08 5.32e-06 3.62e-09 -8.4 -5.8 1.00e+00 2 1h 33 2.0898803e+00 6.22e-08 1.19e-05 3.62e-09 -8.4 -6.2 1.00e+00 2 1h 34 2.0898801e+00 4.81e-08 5.10e-05 3.62e-09 -8.4 -6.7 1.00e+00 2 1h 35 2.0898808e+00 1.92e-10 7.54e-04 3.27e-07 -8.4 -5.4 1.00e+00 1 1h 36 2.0898802e+00 2.80e-10 3.01e-04 3.62e-09 -8.4 -5.0 3.43e-01 1 1h 37 2.0898801e+00 1.03e-10 5.17e-05 5.20e-08 -8.4 -5.4 1.00e+00 1 1h 38 2.0898801e+00 4.00e-10 3.72e-07 3.62e-09 -8.4 -5.9 1.00e+00 1 1h 39 2.0898800e+00 1.05e-09 2.78e-07 3.76e-09 -8.4 -6.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0898800e+00 7.90e-10 1.49e-07 3.62e-09 -8.4 -6.9 1.00e+00 2 1h 41 2.0898800e+00 1.10e-10 5.89e-08 3.62e-09 -8.4 -7.3 1.00e+00 1 1h 42 2.0898800e+00 2.26e-12 5.34e-09 3.62e-09 -8.4 -7.8 1.00e+00 1 1h Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0898800425054760e+00 2.0898800425054760e+00 Dual infeasibility......: 5.3383422863032484e-09 5.3383422863032484e-09 Constraint violation....: 2.2603030558343562e-12 2.2603030558343562e-12 Complementarity.........: 3.6173514595168504e-09 3.6173514595168504e-09 Overall NLP error.......: 5.3383422863032484e-09 5.3383422863032484e-09 Number of objective function evaluations = 43 Number of objective gradient evaluations = 43 Number of constraint evaluations = 43 Number of constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Number of KKT factorizations = 100 Number of KKT backsolves = 71 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.046 s Total wall secs in NLP function evaluations = 18.890 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.145 s Total wall secs = 28.083 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 2.4256756e+00 2.46e+00 1.08e+00 9.77e-01 -1.0 - 0.00e+00 1 0 1 1.9279017e+00 1.60e+00 1.13e+01 3.41e+00 -0.2 0.0 3.50e-01 1 1h 2 3.4921445e+00 2.57e-01 1.01e+01 3.68e+00 0.2 -0.5 9.47e-01 2 1h 3 3.3439140e+00 3.84e-01 3.23e+01 2.12e+00 -1.7 -1.0 1.00e+00 2 1h 4 3.4560399e+00 3.13e-01 3.67e+00 9.46e-01 -0.2 -1.4 1.00e+00 2 1h 5 3.6829495e+00 8.33e-02 1.62e+00 7.86e-01 -0.2 -1.9 1.00e+00 2 1h 6 3.8180144e+00 1.73e+00 9.81e-01 6.01e-01 -0.3 -2.4 5.00e-01 2 2h 7 3.3374968e+00 5.44e-01 3.01e-01 2.30e-01 -1.0 -2.9 1.00e+00 2 1h 8 2.9789912e+00 7.96e-01 6.73e-01 1.48e-01 -1.7 -3.3 3.81e-01 2 1h 9 2.3799564e+00 1.18e+00 3.28e+00 1.83e-01 -1.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.2952150e+00 2.68e-01 4.66e-01 3.14e-02 -1.7 -4.3 6.01e-01 2 1h 11 2.3408183e+00 8.42e-01 1.13e+00 1.57e-01 -1.7 -4.8 1.00e+00 2 1h 12 3.6659764e+00 2.99e+00 2.17e+00 4.08e-01 0.3 -4.3 5.26e-02 1 1H 13 6.2683735e+00 5.41e+00 1.48e+01 1.52e+00 -0.4 -3.0 8.98e-01 1 1h 14 3.1085146e+00 4.69e+00 9.84e+00 8.05e-01 -0.5 -1.7 6.05e-01 1 1h 15 3.7659664e+00 3.47e+00 8.71e+00 1.62e+00 -0.1 -2.2 6.79e-01 2 1h 16 3.0442306e+00 1.51e+00 6.94e+00 1.08e+00 -0.5 -0.8 6.23e-01 1 1h 17 2.7999730e+00 8.81e-01 7.83e+00 6.60e-01 -0.5 -0.4 4.20e-01 1 1h 18 2.5621239e+00 1.87e-01 3.42e+00 3.07e-01 -0.6 -0.9 8.57e-01 2 1h 19 2.6413440e+00 9.59e-02 5.09e+00 2.94e-01 -0.6 -0.5 4.87e-01 1 2h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.5797014e+00 2.91e-02 4.85e+00 9.15e-02 -2.5 0.9 1.00e+00 1 1h 21 2.5195391e+00 8.28e-04 2.73e-01 5.88e-02 -1.3 0.4 1.00e+00 2 1h 22 2.3689069e+00 5.73e-03 1.74e-01 2.14e-02 -2.0 -0.1 1.00e+00 2 1h 23 2.2435066e+00 3.40e-03 9.26e-02 1.33e-02 -2.0 -0.6 9.20e-01 2 1h 24 2.1324157e+00 4.10e-03 1.12e-01 3.72e-03 -3.0 -1.0 1.00e+00 2 1h 25 2.1137205e+00 5.23e-03 5.03e-01 2.32e-03 -3.0 -1.5 3.93e-01 2 1h 26 2.1026046e+00 2.79e-03 1.71e-02 1.71e-03 -3.0 -2.0 1.00e+00 2 1h 27 2.1034502e+00 7.56e-05 2.22e-03 1.47e-03 -3.0 -2.5 1.00e+00 2 1h 28 2.0935462e+00 9.00e-05 8.82e-03 2.13e-04 -4.4 -2.9 9.20e-01 2 1h 29 2.0924066e+00 2.70e-05 3.25e-04 5.24e-05 -4.4 -3.4 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0917898e+00 2.20e-05 7.15e-04 8.01e-06 -6.6 -3.9 9.91e-01 2 1h 31 2.0912826e+00 2.59e-04 2.21e-03 2.10e-06 -6.6 -4.4 1.00e+00 2 1h 32 2.0906613e+00 4.81e-04 6.80e-03 2.26e-07 -6.6 -4.9 1.00e+00 2 1h 33 2.0903038e+00 2.34e-03 4.53e-02 2.33e-07 -6.6 -5.3 1.00e+00 2 1h 34 2.0903028e+00 2.33e-03 1.38e-01 2.55e-07 -6.6 -3.1 1.37e-03 1 1h 35 2.0903020e+00 6.02e-07 1.13e-05 2.51e-06 -6.6 -3.6 1.00e+00 2 1h 36 2.0902906e+00 3.83e-06 1.94e-05 2.25e-07 -6.6 -4.1 1.00e+00 2 1h 37 2.0902691e+00 1.52e-05 8.57e-05 2.26e-07 -6.6 -4.5 1.00e+00 2 1h 38 2.0902253e+00 3.97e-05 3.16e-04 2.25e-07 -6.6 -5.0 1.00e+00 2 1h 39 2.0901420e+00 4.71e-05 6.35e-04 2.25e-07 -6.6 -5.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0900161e+00 3.79e-05 2.47e-03 2.25e-07 -6.6 -6.0 1.00e+00 2 1h 41 2.0899142e+00 3.03e-05 1.39e-03 2.27e-07 -6.6 -6.4 1.00e+00 2 1h 42 2.0899194e+00 1.95e-08 2.54e-04 2.94e-05 -6.6 -3.3 1.00e+00 1 1h 43 2.0899166e+00 4.55e-08 4.16e-05 1.86e-06 -6.6 -3.8 1.00e+00 2 1h 44 2.0899145e+00 5.92e-08 4.34e-05 2.25e-07 -6.6 -4.3 1.00e+00 2 1h 45 2.0899129e+00 3.24e-08 3.28e-04 2.25e-07 -6.6 -4.7 1.00e+00 2 1h 46 2.0899093e+00 2.77e-07 4.55e-05 2.25e-07 -6.6 -5.2 1.00e+00 2 1h 47 2.0899017e+00 6.92e-07 7.59e-05 2.25e-07 -6.6 -5.7 1.00e+00 2 1h 48 2.0898909e+00 1.44e-06 3.53e-04 2.25e-07 -6.6 -6.2 1.00e+00 2 1h 49 2.0898836e+00 2.21e-06 5.06e-04 2.25e-07 -6.6 -6.6 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0898821e+00 7.31e-07 1.59e-04 2.25e-07 -6.6 -7.1 1.00e+00 1 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0898821068022126e+00 2.0898821068022126e+00 Dual infeasibility......: 1.5871926495243053e-04 1.5871926495243053e-04 Constraint violation....: 7.3105390441252638e-07 7.3105390441252638e-07 Complementarity.........: 2.2506538651627487e-07 2.2506538651627487e-07 Overall NLP error.......: 1.5871926495243053e-04 1.5871926495243053e-04 Number of objective function evaluations = 57 Number of objective gradient evaluations = 51 Number of constraint evaluations = 57 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 121 Number of KKT backsolves = 95 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.053 s Total wall secs in NLP function evaluations = 19.320 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.092 s Total wall secs = 29.466 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 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.035s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.043s jacobian structure: 1600 nonzeros (2.079s) integrator 1 hessian structure: 0.034s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.274s 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 (3.31s) linear index maps built (0.0s) evaluator ready (total: 5.388s) evaluator created (5.413s) 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: 5.414s) 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 5.0136158e+00 3.51e+00 1.09e+00 9.56e-01 -1.0 - 0.00e+00 1 0 1 2.8425840e+00 6.46e-02 2.68e+00 2.65e-01 -1.0 0.0 1.00e+00 2 1h 2 2.6712280e+00 1.41e-02 2.31e-01 1.17e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4325290e+00 1.16e-03 1.38e-01 3.50e-02 -1.7 -0.1 1.00e+00 2 1h 4 2.1503145e+00 1.34e-02 7.01e-02 7.37e-03 -2.5 -0.5 8.82e-01 2 1h 5 2.1127381e+00 1.63e-03 1.17e-02 3.78e-03 -2.5 -1.0 1.00e+00 2 1h 6 2.0916873e+00 1.69e-05 1.09e-03 2.18e-04 -3.8 -1.5 1.00e+00 2 1h 7 2.0901565e+00 9.74e-07 7.17e-04 5.76e-05 -5.7 -2.0 1.00e+00 2 1h 8 2.0900337e+00 1.81e-08 5.45e-04 8.85e-06 -5.7 -2.4 1.00e+00 2 1h 9 2.0900067e+00 4.40e-08 4.77e-03 1.85e-06 -5.7 -2.9 3.96e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900055e+00 1.49e-06 1.60e-05 2.08e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899787e+00 8.65e-06 2.37e-05 6.60e-08 -8.6 -3.9 9.66e-01 2 1h 12 2.0899582e+00 3.31e-05 7.99e-05 2.79e-09 -8.6 -4.3 1.00e+00 2 1h 13 2.0899292e+00 3.51e-05 2.74e-04 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 14 2.0899054e+00 1.42e-05 3.52e-04 2.51e-09 -8.6 -5.3 1.00e+00 2 1h 15 2.0898909e+00 4.64e-06 3.22e-04 2.51e-09 -8.6 -5.8 1.00e+00 2 1h 16 2.0898831e+00 2.62e-06 4.80e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 17 2.0898998e+00 1.95e-09 2.28e-04 4.23e-05 -8.6 -3.1 1.00e+00 1 1h 18 2.0898923e+00 5.21e-09 8.65e-05 7.45e-06 -8.6 -3.6 1.00e+00 2 1h 19 2.0898830e+00 1.44e-09 8.36e-04 2.51e-09 -8.6 -4.1 9.07e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898829e+00 2.73e-09 3.02e-06 3.17e-09 -8.6 -4.5 1.00e+00 2 1h 21 2.0898826e+00 1.17e-08 1.20e-06 2.51e-09 -8.6 -5.0 1.00e+00 2 1h 22 2.0898821e+00 3.91e-08 7.11e-06 2.51e-09 -8.6 -5.5 1.00e+00 1 1h 23 2.0898811e+00 1.12e-07 3.15e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 24 2.0898803e+00 1.64e-07 6.53e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 25 2.0898804e+00 1.60e-07 2.26e-02 3.72e-07 -8.6 -4.2 3.01e-02 1 5h 26 2.0898804e+00 4.14e-10 2.66e-06 4.95e-08 -8.6 -4.7 1.00e+00 2 1h 27 2.0898803e+00 1.25e-09 3.07e-04 2.51e-09 -8.6 -5.2 4.42e-01 1 1h 28 2.0898802e+00 3.54e-09 2.16e-06 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898801e+00 8.76e-09 3.05e-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 2.0898800e+00 1.07e-08 2.68e-05 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898801e+00 1.01e-08 2.90e-04 4.23e-08 -8.6 -6.2 6.94e-02 1 3h 32 2.0898800e+00 1.38e-09 1.09e-04 4.64e-09 -8.6 -6.7 1.00e+00 1 1h 33 2.0898800e+00 3.37e-10 4.55e-05 3.87e-09 -8.6 -6.2 1.00e+00 1 1h 34 2.0898800e+00 3.18e-11 4.88e-07 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 35 2.0898800e+00 1.62e-11 1.37e-08 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 36 2.0898800e+00 5.72e-12 1.77e-09 9.72e-10 -9.0 -7.7 1.00e+00 1 1h Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0898800181311414e+00 2.0898800181311414e+00 Dual infeasibility......: 1.7730074587900425e-09 1.7730074587900425e-09 Constraint violation....: 5.7175826573274691e-12 5.7175826573274691e-12 Complementarity.........: 9.7249444423461874e-10 9.7249444423461874e-10 Overall NLP error.......: 1.7730074587900425e-09 1.7730074587900425e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 37 Number of constraint evaluations = 45 Number of constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Number of KKT factorizations = 85 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 = 18.304 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.378 s Total wall secs = 26.723 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: 0.037s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 1.915s jacobian structure: 1680 nonzeros (1.952s) integrator 1 hessian structure: 0.032s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 6.694s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1964 nonzeros (6.728s) linear index maps built (0.0s) evaluator ready (total: 8.681s) evaluator created (8.736s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 8.738s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 9.9122374e+00 3.18e+00 3.32e+00 1.86e+00 -1.0 - 0.00e+00 1 0 1 3.8255985e+00 1.89e-01 3.14e+00 9.35e-01 -1.0 0.0 1.00e+00 1 1h 2 3.4506511e+00 8.89e-02 9.04e+00 1.50e-01 -1.0 1.3 6.09e-01 1 1h 3 3.1532417e+00 4.49e-02 3.43e+00 1.38e-01 -1.0 0.9 6.65e-01 2 1h 4 2.8873437e+00 7.18e-02 2.56e+00 1.00e-01 -1.0 0.4 1.00e+00 2 1h 5 2.7064300e+00 1.75e-02 9.92e-01 1.01e-01 -1.0 -0.1 1.00e+00 2 1h 6 2.5672715e+00 1.58e-02 7.40e-01 9.24e-02 -1.7 -0.6 9.54e-02 2 1h 7 2.4440953e+00 1.17e-02 8.37e-01 6.65e-02 -1.7 -1.1 2.84e-01 2 1h 8 2.2299403e+00 1.65e-02 2.37e-01 2.51e-02 -1.7 -1.5 1.00e+00 2 1h 9 2.2586466e+00 1.60e-03 2.97e-02 2.20e-02 -1.7 -2.0 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.1271511e+00 2.70e-03 6.40e-03 5.09e-03 -2.5 -2.5 1.00e+00 2 1h 11 2.0914986e+00 3.40e-04 6.36e-04 1.82e-04 -3.8 -3.0 1.00e+00 2 1h 12 2.0901541e+00 1.95e-05 8.05e-05 1.71e-05 -5.7 -3.4 1.00e+00 2 1h 13 2.0900958e+00 8.51e-06 1.42e-03 4.89e-06 -5.7 -3.9 1.00e+00 2 1h 14 2.0900544e+00 2.73e-05 1.11e-03 2.58e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0900386e+00 1.84e-05 3.02e-04 1.84e-06 -5.7 -4.0 1.00e+00 1 1h 16 2.0900316e+00 1.59e-05 6.46e-05 1.90e-06 -5.7 -3.5 1.00e+00 1 1h 17 2.0900240e+00 1.35e-05 4.77e-04 1.85e-06 -5.7 -4.0 3.87e-01 2 2h 18 2.0899873e+00 5.31e-04 3.79e-04 1.85e-06 -5.7 -4.5 8.99e-01 2 1h 19 2.0899460e+00 9.98e-05 6.23e-04 5.04e-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 2.0899175e+00 2.82e-05 8.40e-04 1.85e-06 -5.7 -5.5 7.64e-01 2 1h 21 2.0899029e+00 2.83e-06 3.17e-04 1.84e-06 -5.7 -5.9 1.00e+00 2 1h 22 2.1272603e+00 9.67e-09 1.65e-01 1.87e-06 -5.7 -6.4 1.00e+00 2 1H 23 2.0910321e+00 4.69e-07 5.09e+00 3.12e-06 -5.7 -1.5 1.06e-01 1 1h 24 2.0910271e+00 4.69e-07 5.22e+00 3.28e-06 -5.7 -0.1 4.31e-04 1 1h 25 2.0910112e+00 4.10e-07 5.45e+00 3.59e-06 -5.7 -0.6 1.26e-01 1 1h 26 2.0910135e+00 1.14e-09 5.30e-05 1.93e-06 -5.7 -1.1 1.00e+00 1 1h 27 2.0910130e+00 1.13e-10 5.14e-05 1.84e-06 -5.7 -1.6 1.00e+00 2 1h 28 2.0910117e+00 2.63e-10 5.13e-05 1.84e-06 -5.7 -2.0 1.00e+00 2 1h 29 2.0910080e+00 2.22e-09 5.12e-05 1.84e-06 -5.7 -2.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0909971e+00 1.68e-08 5.09e-05 1.84e-06 -5.7 -3.0 1.00e+00 2 1h 31 2.0909656e+00 9.49e-08 4.99e-05 1.84e-06 -5.7 -3.5 1.00e+00 2 1h 32 2.0908819e+00 2.95e-07 1.28e-04 1.84e-06 -5.7 -4.0 1.00e+00 2 1h 33 2.0907006e+00 1.89e-09 7.82e-04 1.84e-06 -5.7 -4.4 1.00e+00 2 1H 34 2.0904347e+00 4.29e-07 2.88e-03 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 35 2.0901779e+00 4.33e-07 5.98e-03 1.84e-06 -5.7 -5.4 1.00e+00 2 1h 36 2.0899928e+00 6.97e-07 8.62e-03 1.84e-06 -5.7 -5.9 1.00e+00 2 1h 37 2.0899103e+00 4.67e-07 8.36e-03 1.87e-06 -5.7 -6.3 1.00e+00 2 1h 38 2.0900201e+00 2.69e-07 7.79e-01 3.86e-04 -5.7 -3.2 2.23e-01 1 1h 39 2.0899505e+00 3.59e-08 1.75e-03 5.89e-05 -5.7 -3.7 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0899222e+00 6.28e-08 7.42e-04 1.99e-06 -5.7 -4.2 1.00e+00 2 1h 41 2.0899164e+00 1.60e-08 5.13e-04 1.84e-06 -5.7 -4.6 1.00e+00 2 1h 42 2.0899108e+00 6.19e-09 2.33e-04 1.84e-06 -5.7 -5.1 1.00e+00 2 1h 43 2.0899043e+00 6.91e-09 2.76e-04 1.84e-06 -5.7 -5.6 1.00e+00 2 1h 44 2.0898991e+00 8.35e-09 4.38e-04 1.84e-06 -5.7 -6.1 1.00e+00 2 1h 45 2.0898969e+00 3.62e-09 2.28e-04 1.84e-06 -5.7 -6.5 1.00e+00 2 1h 46 2.0898966e+00 1.50e-09 3.94e-05 1.84e-06 -5.7 -7.0 1.00e+00 1 1h 47 2.0898966e+00 9.37e-11 1.58e-06 1.84e-06 -5.7 -7.5 1.00e+00 1 1h 48 2.0898800e+00 3.14e-08 1.29e-08 2.53e-09 -8.6 -8.0 1.00e+00 1 1h 49 2.0898800e+00 3.04e-14 1.93e-11 2.51e-09 -8.6 -8.5 1.00e+00 2 1h Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0898800325024305e+00 2.0898800325024305e+00 Dual infeasibility......: 1.9294431406209345e-11 1.9294431406209345e-11 Constraint violation....: 3.0420110874729289e-14 3.0420110874729289e-14 Complementarity.........: 2.5059035653436727e-09 2.5059035653436727e-09 Overall NLP error.......: 2.5059035653436727e-09 2.5059035653436727e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 50 Number of constraint evaluations = 54 Number of constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Number of KKT factorizations = 117 Number of KKT backsolves = 93 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.067 s Total wall secs in NLP function evaluations = 22.808 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.045 s Total wall secs = 32.922 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: 0.039s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.067s jacobian structure: 1600 nonzeros (2.107s) integrator 1 hessian structure: 0.032s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.24s 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 (3.274s) linear index maps built (0.0s) evaluator ready (total: 5.382s) evaluator created (6.941s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.175s) variables set (0.715s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.077s) optimizer initialization complete (total: 10.081s) ┌ 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 2.1337442e+01 3.35e+00 5.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0203024e+01 3.91e-01 1.67e+00 -1.3 2.61e+00 -4.0 2.73e-01 9.44e-01f 1 2 1.0196945e+01 4.98e-02 1.62e-01 -0.9 3.76e-01 -4.5 9.96e-01 1.00e+00h 1 3 9.6259048e+00 5.81e-03 5.95e-02 -2.9 2.12e-01 -5.0 8.51e-01 1.00e+00h 1 4 9.4801667e+00 2.76e-03 1.76e-02 -3.0 1.03e-01 -5.4 9.62e-01 1.00e+00h 1 5 9.4339203e+00 5.84e-04 2.79e-03 -4.0 5.49e-02 -5.9 9.97e-01 1.00e+00h 1 6 9.4264955e+00 4.74e-05 2.76e-04 -4.0 1.59e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258265e+00 1.70e-06 8.10e-06 -4.0 2.22e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258086e+00 2.62e-09 9.77e-09 -4.0 8.38e-05 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 6.22e-15 1.00e-09 -4.0 1.48e-07 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086225827498e+00 9.4258086225827498e+00 Dual infeasibility......: 9.9999999996153513e-10 9.9999999996153513e-10 Constraint violation....: 6.2172489379008766e-15 6.2172489379008766e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004173898e-04 1.0000000004173898e-04 Overall NLP error.......: 9.9999999996153513e-10 9.9999999996153513e-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 = 30.029 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.1337442e+01 3.35e+00 5.52e-01 9.50e-01 -1.0 - 0.00e+00 1 0 1 1.0322290e+01 5.43e-01 1.42e+00 6.87e-01 -1.0 -4.0 8.41e-01 2 1h 2 1.0341204e+01 1.60e-01 5.28e-01 1.54e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7325339e+00 1.61e-02 6.64e-02 3.31e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5135262e+00 3.55e-03 2.50e-02 9.81e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4409212e+00 9.86e-04 9.96e-03 2.47e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4278369e+00 1.58e-04 5.66e-04 5.53e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246690e+00 2.38e-05 1.86e-04 5.01e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245378e+00 5.21e-07 1.00e-06 2.69e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.24e-09 3.06e-09 5.08e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129864709298e+00 9.4245129864709298e+00 Dual infeasibility......: 3.0582549825908245e-09 3.0582549825908245e-09 Constraint violation....: 1.2390914960747068e-09 1.2390914960747068e-09 Complementarity.........: 5.0824198864876253e-09 5.0824198864876253e-09 Overall NLP error.......: 5.0824198864876253e-09 5.0824198864876253e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 1.116 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.008 s Total wall secs = 1.135 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: 2.047s jacobian structure: 1600 nonzeros (2.089s) integrator 1 hessian structure: 0.037s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.277s 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 (3.316s) linear index maps built (0.0s) evaluator ready (total: 5.406s) evaluator created (5.443s) 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: 5.445s) This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.1870925e+00 3.17e+00 1.17e+00 9.71e-01 -1.0 - 0.00e+00 1 0 1 2.3639181e+00 7.96e-01 1.60e+00 3.76e-01 -1.0 0.0 7.49e-01 1 1h 2 2.6347996e+00 5.41e-02 1.24e+00 1.19e-01 -1.0 -0.5 1.00e+00 1 1h 3 2.7472233e+00 1.41e-02 3.43e-01 1.05e-01 -1.0 -1.0 1.00e+00 1 1h 4 2.2655881e+00 2.36e-02 7.95e-02 2.98e-02 -1.7 -1.4 9.97e-01 1 1h 5 2.1369028e+00 4.78e-03 4.10e-02 8.56e-03 -2.5 -1.9 8.65e-01 1 1h 6 2.1148875e+00 2.46e-04 5.60e-03 2.87e-03 -2.5 -2.4 1.00e+00 1 1h 7 2.0915521e+00 6.63e-05 3.60e-04 1.72e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0900581e+00 1.07e-05 6.05e-05 2.22e-05 -5.7 -3.3 1.00e+00 1 1h 9 2.0900283e+00 1.20e-05 3.35e-04 4.12e-06 -5.7 -3.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900077e+00 1.51e-04 8.58e-04 1.85e-06 -5.7 -4.3 5.25e-01 1 1h 11 2.0899630e+00 2.62e-04 3.62e-04 2.95e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0899408e+00 1.55e-04 1.72e-03 1.85e-06 -5.7 -5.2 4.08e-01 1 1h 13 2.0899113e+00 1.09e-05 8.24e-04 1.84e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0898998e+00 3.18e-06 2.70e-04 1.85e-06 -5.7 -6.2 1.00e+00 1 1h 15 2.0899033e+00 3.09e-06 5.14e-01 4.55e-05 -5.7 -4.0 3.14e-02 1 1h 16 2.0899004e+00 1.83e-09 1.48e-04 3.12e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0898998e+00 7.41e-09 7.63e-05 1.91e-06 -5.7 -4.9 1.00e+00 1 1h 18 2.0898989e+00 3.29e-08 2.42e-05 1.84e-06 -5.7 -5.4 1.00e+00 1 1h 19 2.0898977e+00 9.30e-08 5.60e-05 1.85e-06 -5.7 -5.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898969e+00 1.20e-07 5.77e-05 1.84e-06 -5.7 -6.4 1.00e+00 1 1h 21 2.0898966e+00 4.68e-08 1.99e-05 1.84e-06 -5.7 -6.8 1.00e+00 1 1h 22 2.0898966e+00 4.10e-09 2.06e-06 1.84e-06 -5.7 -7.3 1.00e+00 1 1h 23 2.0898800e+00 5.67e-08 4.47e-08 2.53e-09 -8.6 -7.8 1.00e+00 1 1h 24 2.0898800e+00 1.93e-13 1.26e-10 2.51e-09 -8.6 -8.3 1.00e+00 1 1h Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0898800325024309e+00 2.0898800325024309e+00 Dual infeasibility......: 1.2583170356378348e-10 1.2583170356378348e-10 Constraint violation....: 1.9306778398231472e-13 1.9306778398231472e-13 Complementarity.........: 2.5059035778929109e-09 2.5059035778929109e-09 Overall NLP error.......: 2.5059035778929109e-09 2.5059035778929109e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 25 Number of constraint evaluations = 25 Number of constraint Jacobian evaluations = 25 Number of Lagrangian Hessian evaluations = 24 Number of KKT factorizations = 54 Number of KKT backsolves = 25 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.047 s Total wall secs in NLP function evaluations = 19.171 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.838 s Total wall secs = 28.057 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: 0.044s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.044s) 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 (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.083s) evaluator created (0.124s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.586s) optimizer initialization complete (total: 0.712s) 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 1.6882726e+00 2.36e+00 1.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4488319e+00 3.67e+00 7.86e+00 -1.3 6.29e+01 -4.0 9.77e-01 1.00e+00h 1 2 2.1955713e+00 3.27e-01 2.54e+00 -1.8 1.73e+01 -4.5 9.99e-01 1.00e+00h 1 3 2.1591575e+00 3.30e-02 4.22e-01 -2.1 7.48e+00 -5.0 9.98e-01 1.00e+00h 1 4 2.1038778e+00 9.54e-02 1.02e-01 -3.1 1.54e+01 -5.4 1.00e+00 1.00e+00h 1 5 2.0883032e+00 3.63e-02 2.87e-02 -4.0 1.95e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0829424e+00 6.92e-03 2.05e-02 -4.0 4.51e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0860761e+00 1.22e-02 2.00e-02 -3.1 2.89e+01 -6.9 1.00e+00 6.51e-01h 1 8 2.0858385e+00 6.83e-03 3.53e-02 -3.2 3.89e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0786852e+00 5.73e-02 4.38e-03 -4.0 9.85e+01 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0768778e+00 6.69e-03 1.43e-02 -4.0 2.25e+02 -8.3 1.00e+00 1.00e+00h 1 11 2.0765617e+00 1.71e-03 2.87e-02 -4.0 3.37e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0760194e+00 2.49e-04 2.19e-02 -4.0 4.11e+02 -9.2 1.00e+00 6.85e-01h 1 13 2.0762342e+00 7.16e-04 7.77e-03 -4.0 1.31e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0758440e+00 1.11e-03 2.00e-04 -4.1 4.68e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0761672e+00 2.68e-04 5.44e-06 -4.0 1.09e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0758188e+00 3.78e-04 8.34e-07 -4.1 1.44e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0761673e+00 3.79e-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 2.47e-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 8.89e-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 8.74e-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 1.68e-16 -9.0 8.74e-14 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 4.44e-16 1.68e-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 2.03e-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 = 29.511 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: 0.079s jacobian structure: 180 nonzeros (0.183s) integrator 1 hessian structure: 0.077s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.337s sub-objective 2 (QuadraticRegularizer): 0.097s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.038s objective hessian structure: 0.589s hessian structure: 375 nonzeros (0.667s) linear index maps built (0.0s) evaluator ready (total: 1.028s) evaluator created (1.592s) NL constraint bounds extracted (0.034s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.176s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.05s) optimizer initialization complete (total: 3.853s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8868133e+00 7.48e-01 1.61e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8072837e+00 1.55e-01 1.99e+00 -1.2 1.08e+00 - 9.99e-01 1.00e+00h 1 2 1.6753300e+00 1.22e-01 5.91e-01 -0.8 5.49e-01 0.0 1.00e+00 2.64e-01h 1 3 1.6963516e+00 1.96e-02 1.23e+00 -2.2 1.74e+00 - 8.66e-01 1.00e+00h 1 4 1.2120414e+00 4.89e-03 1.21e-01 -2.1 1.17e-01 -0.5 1.00e+00 7.07e-01f 1 5 1.0990994e+00 1.57e-04 1.14e-01 -3.4 4.62e-01 - 9.98e-01 9.73e-01h 1 6 1.0909697e+00 6.13e-06 1.86e-02 -4.0 1.93e-01 - 1.00e+00 9.61e-01h 1 7 1.0908993e+00 8.81e-10 1.27e-03 -4.0 5.04e-02 - 1.00e+00 1.00e+00h 1 8 1.0908997e+00 1.31e-16 5.05e-06 -4.0 3.82e-04 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 1.12e-26 5.01e-06 -4.0 4.80e-07 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0907198e+00 2.73e-26 3.72e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 11 1.0908997e+00 1.87e-26 3.79e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 3.7911533805806480e-09 3.7911533805806480e-09 Constraint violation....: 1.8678417706173537e-26 1.8678417706173537e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 3.7911533805806480e-09 3.7911533805806480e-09 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 28.969 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: 0.0s hessian structure: 1749 nonzeros (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.085s) evaluator created (0.085s) 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 (0.081s) optimizer initialization complete (total: 0.166s) 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 6.1793794e+00 3.37e+00 6.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8245811e+00 3.60e-02 6.35e-01 -1.0 2.79e+00 - 1.00e+00 1.00e+00f 1 2 2.3699864e+00 1.05e-02 1.12e-01 -1.6 1.10e-01 - 9.52e-01 1.00e+00f 1 3 2.1204758e+00 1.47e-03 1.52e-02 -2.7 4.38e-02 - 9.31e-01 9.53e-01h 1 4 2.0911361e+00 1.20e-04 4.34e-03 -4.0 2.07e-02 - 9.85e-01 1.00e+00h 1 5 2.0909015e+00 1.77e-05 3.93e-04 -4.0 1.80e-01 - 1.00e+00 1.00e+00h 1 6 2.0908969e+00 5.94e-08 7.36e-08 -4.0 1.16e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 8.58e-12 7.93e-11 -4.0 7.13e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977754165e+00 2.0908971977754165e+00 Dual infeasibility......: 7.9265633363663837e-11 7.9265633363663837e-11 Constraint violation....: 8.5835712452728141e-12 8.5835712452728141e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000058456463460e-04 1.0000058456463460e-04 Overall NLP error.......: 5.8456463459958044e-10 5.8456463459958044e-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 = 28.821 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.046s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.04s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.087s) evaluator created (0.087s) 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: 0.088s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8870691e+00 1.51e+00 8.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5848804e+00 8.21e-01 2.30e+00 -0.9 7.59e+00 -4.0 9.11e-01 5.78e-01f 1 2 1.6571168e+00 7.56e-01 1.86e+00 -1.2 2.65e+01 -2.7 1.91e-01 1.70e-01h 1 3 2.2576027e+00 4.79e-01 7.43e+00 -1.5 2.69e+00 -1.3 1.83e-01 6.75e-01h 1 4 2.7351661e+00 7.97e-02 2.38e+00 -0.7 2.64e+00 -0.9 9.55e-01 8.23e-01f 1 5 2.6549898e+00 3.88e-03 4.77e-01 -1.7 7.82e-02 0.4 8.93e-01 1.00e+00h 1 6 2.5032862e+00 1.23e-03 3.62e-01 -2.3 5.53e-02 0.8 9.91e-01 1.00e+00h 1 7 2.3490516e+00 1.84e-03 3.36e-01 -2.7 1.40e-01 0.4 1.00e+00 5.26e-01f 1 8 2.2153213e+00 9.80e-03 4.58e-01 -4.0 6.35e-01 -0.1 1.46e-01 1.72e-01f 1 9 2.2124414e+00 9.53e-03 1.90e+00 -3.6 3.09e-02 1.2 1.00e+00 2.84e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1494147e+00 7.45e-03 2.38e+00 -4.0 1.13e-01 0.7 1.00e+00 3.75e-01h 1 11 2.1333376e+00 4.93e-03 6.43e-01 -3.4 5.73e-02 0.3 1.00e+00 3.39e-01h 1 12 2.1232033e+00 3.32e-03 5.15e-01 -3.7 7.65e-02 -0.2 1.00e+00 3.26e-01h 1 13 2.0911126e+00 2.56e-03 9.06e-02 -4.0 1.34e-01 -0.7 1.00e+00 9.60e-01h 1 14 2.0908217e+00 2.51e-03 9.30e-01 -4.0 7.45e-02 -1.2 1.00e+00 2.31e-02h 1 15 2.0908483e+00 2.65e-06 2.51e-02 -4.0 2.79e-02 -1.6 1.00e+00 1.00e+00h 1 16 2.0908652e+00 6.32e-09 6.37e-05 -4.0 8.51e-03 -2.1 1.00e+00 1.00e+00h 1 17 2.0908648e+00 5.28e-10 2.71e-05 -4.0 1.09e-02 -2.6 1.00e+00 1.00e+00h 1 18 2.0908626e+00 2.03e-10 1.96e-05 -4.0 2.36e-02 -3.1 1.00e+00 1.00e+00h 1 19 2.0908558e+00 1.81e-09 1.95e-05 -4.0 7.04e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908359e+00 1.57e-08 1.92e-05 -4.0 2.08e-01 -4.0 1.00e+00 1.00e+00h 1 21 2.0907788e+00 1.27e-07 4.97e-05 -4.0 5.99e-01 -4.5 1.00e+00 1.00e+00h 1 22 2.0906287e+00 8.38e-07 3.57e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 23 2.0903238e+00 3.07e-06 1.73e-03 -4.0 3.38e+00 -5.5 1.00e+00 1.00e+00h 1 24 2.0900243e+00 4.35e-06 3.29e-03 -4.0 4.84e+00 -5.9 1.00e+00 1.00e+00h 1 25 2.0898954e+00 1.56e-06 2.08e-03 -4.0 5.82e+00 -6.4 1.00e+00 1.00e+00h 1 26 2.0898386e+00 9.39e-07 1.19e-03 -4.0 1.00e+01 -6.9 1.00e+00 1.00e+00h 1 27 2.0898294e+00 1.18e-06 1.10e-03 -4.0 1.02e+01 -7.4 1.00e+00 1.00e+00h 1 28 2.0898264e+00 1.08e-06 2.84e-04 -4.0 5.58e+00 -7.9 1.00e+00 1.00e+00h 1 29 2.0898257e+00 6.18e-08 1.22e-05 -4.0 1.07e+00 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0898256e+00 2.98e-10 6.83e-08 -4.0 1.02e-01 -8.8 1.00e+00 1.00e+00h 1 31 2.0898256e+00 1.20e-13 6.54e-11 -4.0 3.63e-03 -9.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 2.0898256445238159e+00 2.0898256445238159e+00 Dual infeasibility......: 6.5382012873422060e-11 6.5382012873422060e-11 Constraint violation....: 1.2034817586936697e-13 1.2034817586936697e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000034e-04 1.0000000000000034e-04 Overall NLP error.......: 6.5382012873422060e-11 6.5382012873422060e-11 Number of objective function evaluations = 32 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 32 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 31 Total seconds in IPOPT = 31.150 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.052s 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 (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.115s) evaluator created (0.116s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.001s) 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: 0.117s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5666957e+00 1.78e+00 5.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1803974e+00 1.45e+00 2.48e+00 -0.5 8.05e+00 -2.0 1.12e-01 1.83e-01f 1 2 2.1103317e+00 1.36e+00 9.48e+00 -2.2 1.01e+02 -2.5 1.04e-01 3.67e-02h 1 3 2.3410584e+00 1.23e+00 1.28e+01 -0.2 3.66e+01 -2.1 3.47e-01 8.88e-02f 1 4 2.5198499e+00 2.00e+00 8.51e+00 -4.0 2.75e+01 -2.5 1.08e-01 2.09e-01h 1 5 2.9256851e+00 1.91e+00 2.81e+02 1.5 1.88e+03 -3.0 4.02e-02 5.93e-03f 1 6 2.8972326e+00 1.82e+00 7.02e+02 0.1 1.20e+02 -2.6 3.52e-01 4.80e-02h 1 7 2.9427207e+00 1.81e+00 7.18e+02 0.1 7.39e+02 -2.2 4.73e-03 6.00e-03f 2 8 3.0427260e+00 1.96e+00 6.95e+02 0.1 4.61e+02 -2.6 5.12e-02 4.47e-02f 2 9 3.2662237e+00 1.67e+00 9.91e+02 0.1 2.06e+01 -1.3 2.60e-01 1.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.5567036e+00 2.33e+00 3.48e+03 1.6 1.13e+03 -1.8 2.03e-01 1.13e-02f 1 11 3.5328472e+00 2.31e+00 8.87e+03 0.8 2.46e+02 -2.3 1.69e-01 1.09e-02h 1 12 3.5648414e+00 2.12e+00 1.22e+04 0.8 2.34e+02 -2.7 1.23e-01 8.29e-02h 1 13 3.5560508e+00 2.10e+00 1.23e+05 -4.0 2.96e+03 -3.2 7.03e-02 8.13e-03h 1 14 3.5742569e+00 2.09e+00 8.39e+05 2.5 3.22e+02 0.8 2.25e-02 4.02e-03h 1 15 3.5855595e+00 2.08e+00 8.33e+05 -4.0 6.09e+02 0.4 2.52e-03 2.42e-03h 1 16 3.5810614e+00 2.08e+00 8.70e+05 -4.0 4.12e+02 -0.1 4.01e-03 1.62e-03h 1 17 3.5808705e+00 2.07e+00 8.43e+05 2.5 3.38e+02 -0.6 1.15e-02 3.98e-03f 1 18 3.5796538e+00 2.07e+00 9.52e+05 -4.0 4.25e+03 -1.1 9.05e-03 4.86e-04h 1 19 3.6793656e+00 9.51e+00 9.69e+05 2.5 8.18e+03 -1.6 2.17e-02 1.34e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 3.8181881e+00 9.14e+00 9.71e+05 1.2 2.01e+03 -2.0 6.92e-03 5.39e-03f 3 21 4.2938911e+00 3.54e+00 9.49e+05 1.2 4.16e+03 -2.5 2.92e-02 2.63e-02h 1 22 4.4601427e+00 2.22e+00 2.96e+05 1.2 1.00e+03 -3.0 3.70e-01 3.12e-02h 1 23 4.4627987e+00 2.22e+00 5.93e+05 1.2 7.02e+04 -3.5 4.97e-03 3.51e-04h 1 24 4.4831704e+00 2.21e+00 1.17e+06 1.2 1.39e+05 -3.0 3.62e-03 1.41e-03h 1 25 4.4811501e+00 2.21e+00 1.54e+06 1.2 7.47e+05 -2.6 6.58e-06 7.43e-05f 2 26 4.4810801e+00 2.21e+00 1.32e+06 1.2 2.23e+07 -3.1 6.25e-06 1.57e-06f 2 27 4.4818623e+00 2.21e+00 6.21e+05 1.2 9.70e+04 -2.7 1.73e-03 1.95e-04f 4 28 4.4824067e+00 2.21e+00 6.77e+05 1.2 4.38e+05 -3.1 1.40e-05 1.28e-04f 4 29 4.4925547e+00 2.21e+00 7.38e+05 1.2 7.25e+03 -0.9 9.50e-06 2.98e-04f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 4.4983103e+00 2.21e+00 8.15e+05 1.2 2.93e+03 -1.4 7.37e-03 8.82e-04h 2 31 4.5152167e+00 2.21e+00 9.98e+05 1.2 7.06e+03 -1.9 6.09e-03 2.27e-03h 1 32 4.5242638e+00 2.20e+00 1.67e+06 1.2 2.36e+04 -2.3 8.13e-03 1.16e-03h 2 33 4.5291161e+00 2.20e+00 1.74e+06 1.2 1.76e+04 -2.8 5.44e-03 1.35e-03f 5 34 3.9485884e+00 2.20e+00 1.18e+06 1.2 1.42e+03 1.2 3.26e-05 8.57e-04h 1 35 3.9306861e+00 2.20e+00 1.79e+06 1.2 2.34e+03 0.7 7.90e-04 3.08e-05h 1 36 3.8483405e+00 2.20e+00 3.62e+06 1.2 7.16e+03 0.3 2.91e-03 6.46e-04h 2 37 3.8462464e+00 2.20e+00 3.90e+06 1.2 8.29e+03 -0.2 9.30e-03 1.20e-04h 6 38 3.8478819e+00 2.20e+00 3.92e+06 1.2 8.19e+03 -0.7 1.30e-04 1.92e-04f 9 39 3.8484291e+00 2.20e+00 3.09e+06 1.2 6.91e+03 -0.3 1.75e-02 1.80e-04f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.8501091e+00 2.20e+00 2.95e+06 1.2 7.30e+03 -0.7 8.03e-04 1.90e-04f 9 41 3.8518764e+00 2.19e+00 2.88e+06 1.2 6.13e+03 -0.3 9.41e-04 2.12e-04f 8 42 3.8559071e+00 2.19e+00 1.42e+06 1.2 9.55e+03 -0.8 5.36e-03 2.23e-04f 6 43 4.0522426e+00 1.97e+01 3.89e+06 1.2 5.29e+03 -0.4 1.27e-03 2.00e-02f 1 44 4.0257747e+00 1.97e+01 3.86e+06 1.2 3.08e+03 0.1 2.37e-05 1.71e-03f 2 45 4.0136308e+00 1.97e+01 3.35e+06 1.2 1.28e+04 0.5 7.15e-04 9.76e-05h 2 46 4.0182114e+00 1.96e+01 5.56e+06 1.2 1.37e+03 0.9 8.97e-03 2.01e-03h 1 47 4.1194074e+00 1.94e+01 4.77e+06 1.2 1.05e+03 0.4 3.43e-04 9.89e-03h 1 48 4.1199369e+00 1.94e+01 4.88e+06 1.2 1.27e+03 -0.0 2.66e-03 7.68e-05h 1 49 4.2719385e+00 1.11e+01 8.31e+06 1.2 1.62e+03 -0.5 9.90e-02 2.69e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 4.2747664e+00 1.11e+01 8.30e+06 1.2 3.70e+03 -0.1 4.20e-04 3.69e-05h 1 51 4.2765252e+00 1.10e+01 2.01e+07 1.2 3.47e+02 -0.6 2.87e-01 3.18e-04h 1 52 4.3477732e+00 1.10e+01 1.75e+07 1.2 8.84e+04 -1.0 3.41e-05 4.66e-04f 3 53 4.3470422e+00 1.10e+01 1.75e+07 1.2 7.90e+04 -1.5 1.25e-04 1.25e-04s 9 54r 4.3470422e+00 1.10e+01 9.99e+02 1.2 0.00e+00 -2.0 0.00e+00 0.00e+00R 1 55r 4.3411453e+00 1.62e+00 1.90e+03 -0.9 1.16e+04 - 7.84e-02 1.86e-03f 1 56 4.3412283e+00 1.62e+00 1.90e+02 0.5 1.58e+03 -2.5 1.83e-04 8.37e-06f 1 57 4.3405682e+00 1.62e+00 1.76e+02 0.5 3.25e+04 -3.0 4.32e-05 9.04e-06f 1 58 4.3435712e+00 1.62e+00 1.24e+02 0.5 4.81e+04 -3.4 9.95e-05 1.22e-04h 1 59 4.3477136e+00 1.62e+00 1.29e+01 0.5 4.49e+04 -3.9 3.43e-04 3.00e-05f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.3803210e+00 5.63e+00 2.31e+02 -0.2 5.44e+04 -4.4 2.31e-04 1.85e-03f 1 61 4.3770349e+00 5.62e+00 4.83e+02 -0.2 1.31e+04 -4.0 6.64e-03 4.23e-04h 1 62 4.3752927e+00 5.57e+00 4.79e+02 -0.2 3.50e+04 -4.4 7.52e-04 4.18e-04f 2 63 4.3856843e+00 5.54e+00 6.29e+02 -0.2 3.87e+05 -4.9 2.45e-05 1.30e-04f 1 64 4.7059855e+00 3.95e+01 6.08e+02 -0.2 5.62e+04 -5.4 3.44e-03 1.18e-02f 1 65 4.7197767e+00 3.94e+01 2.24e+03 -0.2 2.90e+03 -3.2 1.88e-02 1.71e-03h 1 66 4.8730756e+00 3.88e+01 2.38e+03 -0.2 9.44e+03 -3.6 1.53e-03 2.80e-03f 1 67 4.9923479e+00 3.44e+01 2.08e+03 -0.2 5.92e+03 -4.1 1.26e-02 9.54e-03f 1 68 5.0677617e+00 3.35e+01 2.17e+03 -0.2 6.08e+03 -4.6 9.09e-05 2.71e-03f 1 69 5.0692136e+00 3.33e+01 2.21e+03 -0.2 1.60e+02 -5.1 1.09e-02 4.78e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.0712189e+00 3.33e+01 2.22e+03 -0.2 1.02e+04 -5.5 3.49e-04 1.28e-04h 1 71 5.0709964e+00 3.33e+01 6.16e+03 -0.2 6.01e+03 -6.0 9.01e-02 1.30e-04h 1 72 5.0818889e+00 3.33e+01 5.80e+03 -0.2 8.86e+05 -6.5 1.25e-05 4.80e-04f 2 73 5.0842899e+00 3.32e+01 6.34e+03 -0.2 9.93e+02 -6.1 2.28e-03 1.58e-03h 1 74 5.0785933e+00 3.28e+01 7.30e+03 -0.2 3.12e+02 -5.6 3.44e-04 1.24e-02f 1 75 5.0787884e+00 3.28e+01 6.14e+04 -0.2 1.86e+03 -6.1 1.00e+00 6.78e-04h 1 76 5.0804675e+00 3.28e+01 3.80e+06 -0.2 2.03e+03 -6.6 3.53e-01 1.32e-03h 3 77 5.0819166e+00 3.27e+01 8.79e+08 -0.2 1.08e+03 -7.1 1.00e+00 1.07e-03h 3 78 5.0821972e+00 3.27e+01 9.20e+10 -0.2 2.12e+03 -7.6 3.40e-01 2.02e-04h 5 79 5.0822120e+00 3.27e+01 1.87e+13 -0.2 1.04e+04 -8.0 6.24e-01 1.19e-05h 9 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.0839946e+00 3.26e+01 1.87e+13 -0.2 1.09e+04 -7.6 3.03e-03 3.03e-03s 14 81 5.0840955e+00 3.26e+01 1.87e+13 -0.2 5.96e+04 -8.1 6.09e-05 6.09e-05s 14 82r 5.0840955e+00 3.26e+01 1.00e+03 1.5 0.00e+00 -7.7 0.00e+00 0.00e+00R 1 83r 4.9762819e+00 1.47e+00 1.54e+04 2.7 1.01e+05 - 6.16e-02 1.24e-03f 1 84 4.9753729e+00 1.47e+00 4.06e+02 -0.9 1.42e+04 -8.1 6.60e-01 2.40e-03f 1 85 4.9833581e+00 1.46e+00 4.84e+04 -0.9 2.04e+03 -8.6 1.00e+00 8.79e-03h 1 86 4.9836775e+00 1.46e+00 1.20e+08 -0.9 9.68e+03 -9.1 1.00e+00 3.96e-04h 1 87 4.9836839e+00 1.46e+00 1.04e+13 -0.9 1.07e+04 -9.6 9.66e-01 1.10e-05h 1 88 4.9838021e+00 1.45e+00 1.94e+16 -0.9 2.20e+04 -10.0 7.66e-01 4.06e-04h 1 89 4.9813673e+00 1.45e+00 1.94e+16 -0.9 9.16e+05 -10.5 3.89e-04 3.89e-04s 11 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.9829182e+00 1.50e+00 1.94e+16 -0.9 8.83e+05 -11.0 4.43e-04 4.43e-04s 11 91 4.9815083e+00 1.86e+00 1.94e+16 -0.9 9.92e+05 -11.5 2.48e-04 2.48e-04s 11 92 4.9821460e+00 2.06e+00 1.94e+16 -0.9 1.45e+06 -12.0 1.52e-04 1.52e-04s 11 93 4.9810776e+00 2.21e+00 1.94e+16 -0.9 1.59e+06 -12.4 1.05e-04 1.05e-04s 11 94r 4.9810776e+00 2.21e+00 1.00e+03 0.3 0.00e+00 -12.9 0.00e+00 0.00e+00R 1 95r 5.0037444e+00 8.70e-01 1.00e+03 -1.8 7.04e+04 - 9.26e-03 9.98e-04f 1 96 5.0037445e+00 8.70e-01 8.22e+06 -1.4 9.19e+03 -13.4 6.88e-01 5.22e-08f 2 97r 5.0037445e+00 8.70e-01 1.00e+03 -0.1 0.00e+00 -13.9 0.00e+00 1.17e-07R 2 98r 5.0315597e+00 5.03e-01 1.00e+03 1.8 2.57e+05 - 1.58e-02 8.86e-04f 1 99 5.0315832e+00 5.03e-01 3.00e+03 -1.2 8.71e+03 -14.3 7.12e-01 3.16e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.0321555e+00 5.03e-01 5.96e+06 -1.0 1.26e+04 -14.8 1.00e+00 5.01e-04h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.0321555182319839e+00 5.0321555182319839e+00 Dual infeasibility......: 5.9574850021508094e+06 5.9574850021508094e+06 Constraint violation....: 5.0267019580452654e-01 5.0267019580452654e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0773588299880115e+00 1.0773588299880115e+00 Overall NLP error.......: 7.3137248127566227e+03 5.9574850021508094e+06 Number of objective function evaluations = 253 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 253 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 105 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.472 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: 0.051s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.052s) integrator 1 hessian structure: 0.044s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (0.045s) linear index maps built (0.0s) evaluator ready (total: 0.097s) evaluator created (0.097s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.209s) applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (4.029s) optimizer initialization complete (total: 4.336s) 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 5.2659193e+00 1.91e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8434907e+00 6.78e-01 2.46e+00 -0.9 4.51e+00 -2.0 6.67e-01 1.00e+00f 1 2 2.6185387e+00 9.98e-01 7.07e-01 -1.0 7.62e+00 -2.5 5.06e-01 6.42e-01f 1 3 2.4312586e+00 5.57e-01 3.92e+00 -1.6 7.61e+00 -3.0 7.41e-01 1.00e+00h 1 4 2.4126971e+00 2.67e-01 1.05e+00 -1.3 4.34e+00 -2.5 9.95e-01 1.00e+00h 1 5 2.1759635e+00 1.70e-02 6.05e-02 -2.2 6.66e-01 -3.0 9.93e-01 1.00e+00h 1 6 2.1016434e+00 1.04e-02 4.96e-02 -3.3 1.15e+00 -3.5 1.00e+00 8.97e-01h 1 7 2.0910476e+00 4.88e-04 2.95e-03 -4.0 2.16e-01 -4.0 1.00e+00 9.89e-01h 1 8 2.0909162e+00 2.70e-05 8.80e-05 -4.0 5.63e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907507e+00 1.03e-06 2.06e-05 -4.0 1.69e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902563e+00 9.70e-06 6.85e-05 -4.0 5.03e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0887991e+00 8.78e-05 6.02e-04 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 12 2.0846603e+00 8.03e-04 5.20e-03 -4.0 4.26e+01 -6.3 1.00e+00 1.00e+00h 1 13 2.0798573e+00 1.88e-03 1.92e-01 -4.0 1.03e+02 -6.8 1.00e+00 4.80e-01h 1 14 2.0800547e+00 1.26e-04 1.50e-01 -4.0 7.16e+01 -7.3 1.00e+00 1.00e+00H 1 15 2.0777528e+00 7.21e-03 2.37e-02 -4.0 1.25e+02 -7.8 1.00e+00 8.96e-01h 1 16 2.0770452e+00 1.37e-03 2.65e-02 -4.0 2.10e+02 -8.3 1.00e+00 8.69e-01h 1 17 2.0764265e+00 2.83e-03 3.95e-02 -4.0 3.56e+02 -8.7 1.00e+00 1.00e+00h 1 18 2.0759066e+00 1.40e-03 2.92e-02 -4.0 5.32e+02 -9.2 1.00e+00 6.51e-01h 1 19 2.0761402e+00 2.13e-03 1.28e-02 -4.0 1.59e+02 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760710e+00 2.09e-04 3.32e-04 -4.0 5.47e+01 -10.2 1.00e+00 1.00e+00h 1 21 2.0760669e+00 1.12e-06 4.02e-06 -4.0 1.41e+01 -10.6 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.23e-08 2.96e-07 -4.0 5.94e+00 -11.1 1.00e+00 1.00e+00h 1 23 2.0760669e+00 1.53e-10 1.14e-08 -4.0 1.33e+00 -11.6 1.00e+00 1.00e+00h 1 24 2.0760669e+00 8.49e-13 7.56e-11 -4.0 1.19e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 24 (scaled) (unscaled) Objective...............: 2.0760668692946727e+00 2.0760668692946727e+00 Dual infeasibility......: 7.5649569480874465e-11 7.5649569480874465e-11 Constraint violation....: 8.4909856923331972e-13 8.4909856923331972e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 7.5649569480874465e-11 7.5649569480874465e-11 Number of objective function evaluations = 26 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 25 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 24 Total seconds in IPOPT = 33.816 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 (0.045s) integrator 1 hessian structure: 0.098s 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 (0.099s) linear index maps built (0.0s) evaluator ready (total: 0.145s) evaluator created (0.145s) 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: 0.146s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9036702e+00 3.56e+00 4.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8606546e+00 1.03e-01 2.96e+00 -0.8 2.94e+00 0.0 4.75e-01 1.00e+00h 1 2 2.6888771e+00 1.26e-02 6.78e-01 -0.9 1.39e-01 0.4 1.00e+00 1.00e+00f 1 3 2.5405753e+00 2.36e-03 1.40e-01 -1.6 5.83e-02 -0.1 9.86e-01 1.00e+00h 1 4 2.2130326e+00 7.01e-03 8.80e-02 -2.1 1.31e-01 -0.5 9.78e-01 6.73e-01f 1 5 2.1098743e+00 3.95e-04 1.31e-02 -2.8 2.72e-02 -1.0 9.79e-01 9.71e-01h 1 6 2.0909382e+00 2.44e-05 3.14e-03 -4.0 5.51e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908557e+00 6.86e-08 9.25e-05 -4.0 4.79e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908552e+00 4.61e-10 2.73e-05 -4.0 7.46e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908535e+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 2.0908485e+00 9.76e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908336e+00 8.78e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907888e+00 7.90e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906547e+00 7.12e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902543e+00 6.42e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890705e+00 5.80e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856721e+00 5.29e-04 3.45e-03 -4.0 3.49e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798706e+00 2.19e-03 1.18e-01 -4.0 9.03e+01 -6.7 1.00e+00 6.66e-01h 1 18 2.0809338e+00 1.04e-04 1.62e-01 -4.0 6.67e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779571e+00 5.87e-03 2.25e-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 2.0770476e+00 1.16e-03 2.94e-02 -4.0 1.83e+02 -8.2 1.00e+00 9.44e-01h 1 21 2.0766099e+00 2.98e-03 4.20e-02 -4.0 3.04e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0759134e+00 2.88e-03 2.93e-02 -4.0 5.85e+02 -9.1 1.00e+00 7.37e-01h 1 23 2.0762099e+00 3.07e-03 1.88e-02 -4.0 2.00e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760761e+00 4.63e-04 8.76e-04 -4.0 8.96e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.27e-06 1.31e-05 -4.0 1.39e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.23e-08 4.42e-07 -4.0 6.84e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 3.06e-10 2.29e-08 -4.0 1.83e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.58e-12 2.05e-10 -4.0 2.01e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668693000985e+00 2.0760668693000985e+00 Dual infeasibility......: 2.0490367597645644e-10 2.0490367597645644e-10 Constraint violation....: 2.5806023984387139e-12 2.5806023984387139e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 2.0490367597645644e-10 2.0490367597645644e-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 = 28.561 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.0s) evaluator ready (total: 0.116s) 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: 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 (0.114s) optimizer initialization complete (total: 0.231s) 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 5.3458545e+00 3.23e+00 7.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7759199e+00 1.25e-01 3.06e+00 -0.9 2.95e+00 0.0 9.48e-01 9.66e-01f 1 2 2.4437526e+00 1.92e-02 1.40e+00 -1.0 2.26e-01 0.4 9.87e-01 9.54e-01f 1 3 2.2943969e+00 9.50e-03 2.79e-01 -1.5 1.73e-01 -0.1 9.82e-01 8.01e-01f 1 4 2.1421105e+00 1.55e-03 2.45e-02 -2.6 5.24e-02 -0.5 9.97e-01 1.00e+00h 1 5 2.0946203e+00 5.28e-04 1.77e-01 -4.0 1.26e-01 -1.0 1.00e+00 7.86e-01h 1 6 2.0915042e+00 4.81e-04 4.85e-01 -4.0 5.50e-01 -1.5 1.00e+00 6.98e-01h 1 7 2.0912013e+00 2.38e-05 3.32e-01 -4.0 2.08e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0907720e+00 5.84e-06 4.79e-02 -4.0 2.68e-02 -2.4 1.00e+00 7.60e-01h 1 9 2.0908784e+00 1.85e-06 6.24e-04 -4.0 1.89e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908725e+00 4.16e-08 3.53e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908575e+00 9.17e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908127e+00 7.84e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906786e+00 7.06e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902780e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890938e+00 5.76e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856940e+00 5.25e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798513e+00 2.20e-03 1.17e-01 -4.0 9.04e+01 -6.7 1.00e+00 6.70e-01h 1 18 2.0809752e+00 1.22e-04 1.71e-01 -4.0 6.49e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779533e+00 6.07e-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 2.0770237e+00 1.10e-03 2.88e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766311e+00 1.90e-03 2.30e-02 -4.0 2.71e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758869e+00 1.94e-03 3.30e-02 -4.0 5.21e+02 -9.1 1.00e+00 7.47e-01h 1 23 2.0762215e+00 2.54e-03 1.49e-02 -4.0 1.74e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757977e+00 1.48e-03 7.50e-04 -4.1 9.12e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.51e-04 6.26e-06 -4.0 1.20e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.67e-07 3.92e-07 -4.0 6.48e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 3.40e-10 2.21e-08 -4.0 2.05e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.96e-12 2.69e-10 -4.0 2.32e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668918755547e+00 2.0760668918755547e+00 Dual infeasibility......: 2.6925914598549365e-10 2.6925914598549365e-10 Constraint violation....: 2.9573010706940295e-12 2.9573010706940295e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000051e-04 1.0000000000000051e-04 Overall NLP error.......: 2.6925914598549365e-10 2.6925914598549365e-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 = 30.069 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.039s 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 (0.04s) linear index maps built (0.0s) evaluator ready (total: 0.098s) evaluator created (0.098s) 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: 0.099s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0417073e+00 3.06e+00 6.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7676412e+00 5.63e-02 4.69e+00 -1.1 2.00e+00 0.0 7.31e-01 1.00e+00h 1 2 2.4640737e+00 1.96e-02 8.34e-01 -1.0 1.75e-01 0.4 8.84e-01 1.00e+00h 1 3 2.3455762e+00 1.51e-03 1.60e-01 -1.8 6.35e-02 -0.1 9.96e-01 1.00e+00h 1 4 2.1356385e+00 3.31e-03 4.53e-02 -2.6 1.08e-01 -0.5 9.70e-01 8.09e-01f 1 5 2.0946632e+00 3.00e-04 1.16e-02 -3.6 2.03e-02 -1.0 9.97e-01 9.41e-01h 1 6 2.0908504e+00 2.38e-06 2.14e-03 -4.0 4.03e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0908590e+00 1.37e-08 9.83e-05 -4.0 8.96e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908585e+00 6.85e-11 5.05e-05 -4.0 1.38e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908568e+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 2.0908518e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908369e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907921e+00 7.85e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906580e+00 7.07e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902576e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890736e+00 5.76e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856750e+00 5.25e-04 3.45e-03 -4.0 3.49e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798536e+00 2.18e-03 1.17e-01 -4.0 9.03e+01 -6.7 1.00e+00 6.69e-01h 1 18 2.0809615e+00 1.21e-04 1.72e-01 -4.0 6.49e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779533e+00 6.22e-03 2.46e-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 2.0770251e+00 1.01e-03 2.90e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766341e+00 1.63e-03 2.64e-02 -4.0 2.76e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758858e+00 1.77e-03 3.48e-02 -4.0 5.35e+02 -9.1 1.00e+00 7.49e-01h 1 23 2.0762245e+00 2.82e-03 1.38e-02 -4.0 1.80e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757990e+00 1.46e-03 7.54e-04 -4.1 9.34e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.74e-04 7.57e-06 -4.0 1.33e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.59e-07 3.98e-07 -4.0 6.01e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.94e-10 1.86e-08 -4.0 1.71e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.14e-12 1.74e-10 -4.0 1.87e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692996957e+00 2.0760668692996957e+00 Dual infeasibility......: 1.7358815331881307e-10 1.7358815331881307e-10 Constraint violation....: 2.1437296382487148e-12 2.1437296382487148e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.7358815331881307e-10 1.7358815331881307e-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 = 29.302 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 (0.053s) 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: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.095s) evaluator created (0.096s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.096s) 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 5.3968490e+00 5.19e+00 4.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.9791363e+00 4.48e+00 8.91e+00 -0.2 5.20e+01 -2.0 3.41e-01 1.64e-01f 1 2 3.4180641e+00 2.10e+00 3.95e+01 -0.1 4.68e+01 -2.5 2.77e-01 5.81e-01h 1 3 3.2091701e+00 2.74e+00 3.28e+01 -0.4 9.71e+01 -3.0 2.92e-01 1.87e-01h 1 4 2.9212833e+00 1.59e+00 4.23e+01 -0.6 4.59e+01 -3.4 2.37e-01 8.56e-01f 1 5 2.9128210e+00 1.47e+00 2.87e+02 -0.1 1.30e+01 -1.2 1.00e+00 7.51e-02h 1 6 2.8245593e+00 5.76e-01 5.35e+01 -0.8 1.22e+01 -1.7 1.00e+00 6.07e-01h 1 7 2.8106217e+00 5.30e-01 4.29e+01 -4.0 2.47e+01 -2.2 2.91e-01 8.04e-02h 1 8 2.7822561e+00 1.71e-01 2.15e+01 -0.1 9.82e+00 -1.7 1.00e+00 6.97e-01f 1 9 2.7543836e+00 4.74e-02 3.56e+01 -0.5 1.57e+01 -2.2 9.71e-01 7.00e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6546956e+00 1.36e-01 6.86e+00 -1.6 7.98e+00 -2.7 8.26e-01 1.00e+00h 1 11 2.6149500e+00 6.58e-02 2.84e+00 -1.8 1.12e+00 -2.3 8.26e-01 1.00e+00h 1 12 2.5160153e+00 2.91e-02 5.12e-01 -2.2 9.24e-01 -1.8 1.00e+00 5.48e-01h 1 13 2.4878018e+00 4.80e-03 2.94e-01 -2.2 1.09e+00 -2.3 9.90e-01 8.20e-01h 1 14 2.4521262e+00 4.12e-02 3.45e-02 -2.7 2.31e+00 -2.8 9.96e-01 1.00e+00h 1 15 2.3968079e+00 1.00e-01 5.16e-02 -3.5 4.19e+00 -3.3 9.97e-01 1.00e+00h 1 16 2.3303816e+00 1.57e-01 6.75e-02 -3.6 8.12e+00 -3.7 9.98e-01 1.00e+00h 1 17 2.2571880e+00 2.15e-01 9.44e-02 -3.3 1.71e+01 -4.2 1.00e+00 1.00e+00h 1 18 2.2190226e+00 2.72e-01 2.68e-01 -2.5 1.85e+01 -4.7 1.00e+00 9.92e-01h 1 19 2.1703052e+00 3.24e-01 1.87e-01 -2.8 2.94e+01 -5.2 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1579172e+00 1.43e-02 3.03e-02 -4.0 1.29e+01 -4.7 1.00e+00 1.00e+00h 1 21 2.1539263e+00 3.89e-03 4.88e-03 -4.0 4.28e+00 -4.3 1.00e+00 1.00e+00h 1 22 2.1462537e+00 2.58e-02 6.82e-02 -4.0 1.41e+01 -4.8 9.62e-01 6.72e-01h 1 23 2.1422451e+00 4.80e-03 1.70e-02 -4.0 5.30e+00 -4.4 1.00e+00 1.00e+00h 1 24 2.1407236e+00 7.40e-04 5.09e-03 -4.0 2.04e+00 -3.9 1.00e+00 1.00e+00h 1 25 2.1373734e+00 7.08e-03 1.61e-01 -4.0 7.64e+00 -4.4 8.60e-01 6.21e-01h 1 26 2.1325393e+00 9.12e-03 1.57e-01 -4.0 1.17e+01 -4.9 1.00e+00 6.13e-01h 1 27 2.1267581e+00 2.21e-02 3.62e-01 -4.0 2.58e+01 -5.4 1.00e+00 4.02e-01h 1 28 2.1175221e+00 6.56e-02 1.96e-01 -4.0 4.83e+01 -5.9 1.00e+00 4.04e-01h 1 29 2.0988019e+00 5.25e-01 4.46e-01 -4.0 6.90e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0908899e+00 3.74e-01 1.91e-01 -3.0 1.06e+02 -6.8 1.00e+00 1.00e+00h 1 31 2.0843699e+00 3.06e-01 9.17e-02 -3.2 1.11e+02 -7.3 1.00e+00 1.00e+00h 1 32 2.0778456e+00 5.57e-02 1.63e-02 -4.0 8.21e+01 -7.8 1.00e+00 1.00e+00h 1 33 2.0777884e+00 4.72e-03 1.27e-02 -4.0 1.28e+02 -8.2 1.00e+00 1.00e+00h 1 34 2.0770918e+00 1.81e-03 3.74e-03 -4.0 3.52e+02 -8.7 1.00e+00 1.00e+00h 1 35 2.0762808e+00 1.18e-03 4.36e-02 -4.0 6.82e+02 -9.2 1.00e+00 6.89e-01H 1 36 2.0766357e+00 3.47e-03 1.55e-02 -4.0 1.88e+02 -9.7 1.00e+00 1.00e+00h 1 37 2.0762365e+00 1.38e-03 7.27e-04 -4.1 1.11e+02 -10.1 1.00e+00 1.00e+00h 1 38 2.0764651e+00 1.29e-03 3.72e-05 -4.0 7.74e+01 -10.6 1.00e+00 1.00e+00h 1 39 2.0761787e+00 5.19e-04 5.49e-06 -4.1 2.60e+01 -11.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0764644e+00 4.32e-04 7.00e-07 -4.0 1.78e+01 -11.6 1.00e+00 1.00e+00h 1 41 2.0764670e+00 3.95e-08 8.36e-09 -4.0 9.34e-01 -12.1 1.00e+00 1.00e+00h 1 42 2.0764670e+00 7.19e-13 1.68e-12 -4.0 1.29e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0764669784053349e+00 2.0764669784053349e+00 Dual infeasibility......: 1.6789179367506651e-12 1.6789179367506651e-12 Constraint violation....: 7.1898043074725138e-13 7.1898043074725138e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000085866045e-04 1.0000000085866045e-04 Overall NLP error.......: 1.6789179367506651e-12 1.6789179367506651e-12 Number of objective function evaluations = 44 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 44 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 30.489 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 (0.053s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.1s) 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 (0.089s) optimizer initialization complete (total: 0.19s) 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 4.5662975e+00 1.77e+00 2.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.1838571e+00 1.06e+00 2.24e+01 -1.5 9.74e+00 - 6.69e-01 4.03e-01h 1 2 8.1392733e+00 1.34e+00 7.99e+02 0.1 3.34e+02 - 1.00e+00 3.73e-02h 1 3 8.3797228e+00 1.21e+00 2.68e+03 0.4 9.69e+01 - 1.00e+00 9.78e-02h 1 4 1.3693805e+02 1.34e+00 1.45e+04 1.8 6.62e+02 - 1.71e-01 1.47e-01F 1 5 1.1254082e+03 1.97e+00 9.46e+04 1.2 1.26e+02 - 6.62e-01 5.51e-01H 1 6 1.0713851e+03 1.92e+00 9.25e+04 -4.0 6.42e+02 - 2.10e-02 2.68e-02f 1 7 1.0520747e+03 1.83e+00 8.89e+04 0.3 4.86e+02 - 3.55e-01 4.41e-02f 4 8 9.1364096e+02 1.42e+00 1.19e+05 0.9 7.57e+02 - 1.00e+00 2.11e-01f 1 9 1.1807578e+03 2.62e+00 1.72e+06 2.4 2.84e+03 - 1.00e+00 1.61e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5631199e+03 2.76e+00 1.51e+06 2.4 7.24e+02 - 2.96e-01 5.00e-01h 2 11 4.5514931e+03 2.76e+00 1.51e+06 2.4 4.99e+02 - 1.72e-03 9.24e-05H 1 12 4.0517499e+03 2.62e+00 4.36e+05 2.4 4.64e+02 - 5.87e-01 1.00e+00f 1 13 1.1844159e+03 2.25e+00 8.86e+04 2.4 2.17e+02 - 8.12e-01 1.00e+00f 1 14 2.8752103e+02 1.27e+00 2.49e+04 2.4 1.38e+02 - 8.62e-01 1.00e+00f 1 15 1.2269779e+02 4.61e+00 3.81e+03 2.4 5.89e+01 - 9.58e-01 1.00e+00f 1 16 2.0549422e+01 9.35e-01 1.34e+03 1.7 3.50e+01 - 1.00e+00 1.00e+00f 1 17 3.1120970e+01 6.17e-02 4.79e+02 0.2 1.33e+01 - 9.17e-01 1.00e+00h 1 18 1.2648044e+01 3.75e-01 1.02e+02 0.0 8.81e+00 - 9.97e-01 1.00e+00f 1 19 8.1067098e+00 1.64e-01 2.20e+01 -0.3 5.14e+00 - 9.97e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 6.5392228e+00 1.46e-01 4.92e+00 -1.2 1.96e+00 - 9.95e-01 1.00e+00f 1 21 6.1796768e+00 9.40e-02 1.07e+00 -1.5 1.14e+00 - 1.00e+00 1.00e+00h 1 22 6.2220746e+00 2.73e-02 2.06e-01 -2.0 2.84e-01 - 9.90e-01 1.00e+00h 1 23 6.2541130e+00 4.59e-03 1.95e-02 -3.2 9.47e-02 - 9.97e-01 1.00e+00h 1 24 6.2599409e+00 3.07e-04 1.78e-03 -4.0 2.46e-02 - 1.00e+00 1.00e+00h 1 25 6.2605272e+00 5.37e-05 3.06e-04 -4.0 1.01e-02 - 1.00e+00 1.00e+00h 1 26 6.2606098e+00 3.58e-06 2.04e-05 -4.0 2.61e-03 - 1.00e+00 1.00e+00h 1 27 6.2606159e+00 2.13e-08 1.21e-07 -4.0 2.01e-04 - 1.00e+00 1.00e+00h 1 28 6.2606159e+00 7.68e-13 4.37e-12 -4.0 1.21e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 6.2606159260817034e+00 6.2606159260817034e+00 Dual infeasibility......: 4.3741676947206543e-12 4.3741676947206543e-12 Constraint violation....: 7.6760819922583323e-13 7.6760819922583323e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000267915352e-04 1.0000000267915352e-04 Overall NLP error.......: 4.3741676947206543e-12 4.3741676947206543e-12 Number of objective function evaluations = 40 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 30.033 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.049s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.05s) 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: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.092s) evaluator created (0.092s) 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: 0.093s) 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 2.3174988e+00 2.91e+00 7.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3433803e+00 2.89e+00 1.99e+01 1.2 1.89e+01 0.0 2.59e-02 4.24e-03f 1 2 2.3161927e+00 1.02e+00 1.43e+01 0.0 2.09e+00 -0.5 4.78e-01 6.45e-01f 1 3 2.9791346e+00 1.76e-02 4.59e+00 -0.8 8.75e-01 -1.0 6.61e-01 1.00e+00f 1 4 2.9473865e+00 1.89e-01 7.65e-01 -1.0 1.31e+00 -1.4 9.15e-01 1.00e+00h 1 5 2.4655590e+00 1.31e-01 3.20e-01 -1.4 7.57e-01 -1.0 7.16e-01 9.83e-01h 1 6 2.2614840e+00 1.02e-02 2.92e-01 -2.0 2.67e-01 -1.5 7.55e-01 1.00e+00h 1 7 2.1271053e+00 5.19e-03 1.18e-01 -2.7 3.36e-01 -2.0 9.99e-01 7.58e-01h 1 8 2.0931309e+00 3.57e-05 4.91e-03 -3.9 9.18e-03 -2.4 9.98e-01 1.00e+00h 1 9 2.0908887e+00 8.65e-06 3.21e-05 -4.0 1.74e-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 2.0908839e+00 6.03e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908689e+00 8.73e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908241e+00 7.85e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906900e+00 7.07e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902894e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891049e+00 5.77e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857046e+00 5.26e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798579e+00 2.21e-03 1.17e-01 -4.0 9.04e+01 -6.7 1.00e+00 6.71e-01h 1 18 2.0809387e+00 1.03e-04 1.62e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779487e+00 5.82e-03 2.25e-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 2.0770587e+00 1.19e-03 3.02e-02 -4.0 1.82e+02 -8.2 1.00e+00 9.41e-01h 1 21 2.0765976e+00 2.98e-03 4.20e-02 -4.0 3.06e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0759137e+00 2.84e-03 2.92e-02 -4.0 5.83e+02 -9.1 1.00e+00 7.37e-01h 1 23 2.0762066e+00 3.05e-03 1.87e-02 -4.0 1.99e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760759e+00 4.58e-04 8.67e-04 -4.0 8.90e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.21e-06 1.29e-05 -4.0 1.37e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.08e-08 4.23e-07 -4.0 6.68e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.86e-10 2.15e-08 -4.0 1.75e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.36e-12 1.90e-10 -4.0 1.92e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668693002464e+00 2.0760668693002464e+00 Dual infeasibility......: 1.8967529099005870e-10 1.8967529099005870e-10 Constraint violation....: 2.3645529978466584e-12 2.3645529978466584e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000068e-04 1.0000000000000068e-04 Overall NLP error.......: 1.8967529099005870e-10 1.8967529099005870e-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 = 30.354 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.817s) optimizer initialization complete (total: 0.929s) 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 2.9673954e+00 3.37e+00 3.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4360223e+00 2.53e+00 2.53e+00 -0.8 1.88e+00 0.0 6.59e-01 2.50e-01h 1 2 2.7704611e+00 3.46e-02 8.41e-01 -0.9 2.00e+00 -0.5 9.07e-01 1.00e+00f 1 3 2.4809430e+00 6.18e-02 3.82e-01 -1.4 6.11e-01 -1.0 9.56e-01 9.16e-01h 1 4 2.1814931e+00 2.15e-02 1.57e-01 -2.1 4.31e-01 -1.4 9.61e-01 1.00e+00h 1 5 2.1023197e+00 2.24e-03 2.60e-02 -2.8 1.31e-01 -1.9 9.75e-01 1.00e+00h 1 6 2.0910873e+00 1.86e-05 3.19e-04 -4.0 1.01e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908957e+00 5.08e-07 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908913e+00 8.47e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908780e+00 6.88e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908382e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907189e+00 5.58e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903625e+00 5.03e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893070e+00 4.55e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862617e+00 4.14e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798655e+00 2.42e-03 7.33e-02 -4.0 8.30e+01 -6.7 1.00e+00 8.01e-01h 1 16 2.0814281e+00 1.01e-04 1.67e-01 -4.0 6.99e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782349e+00 4.84e-03 2.31e-02 -4.0 1.09e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783853e+00 1.76e-02 3.50e-02 -3.7 1.60e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771804e+00 1.34e-02 1.86e-02 -3.8 2.90e+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 2.0763408e+00 8.73e-03 2.19e-02 -3.9 4.59e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0761551e+00 8.67e-03 1.21e-02 -4.0 1.59e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760781e+00 5.32e-04 5.82e-04 -4.0 7.00e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760669e+00 4.34e-06 8.79e-06 -4.0 1.42e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 3.41e-08 5.32e-07 -4.0 7.48e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.37e-10 3.28e-08 -4.0 2.15e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.58e-12 3.60e-10 -4.0 2.64e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693064268e+00 2.0760668693064268e+00 Dual infeasibility......: 3.6044458533884306e-10 3.6044458533884306e-10 Constraint violation....: 4.5846659801895839e-12 4.5846659801895839e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000047e-04 1.0000000000000047e-04 Overall NLP error.......: 3.6044458533884306e-10 3.6044458533884306e-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 = 30.950 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: 0.045s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.102s) evaluator created (0.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: global linear constraint on :g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.001s) optimizer initialization complete (total: 0.105s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 2.1085326e+00 3.36e+00 4.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8509553e+00 2.21e+00 1.68e+00 -0.9 2.44e+00 0.0 7.34e-01 3.43e-01f 1 2 2.7125372e+00 6.20e-02 1.66e+00 -1.0 1.79e+00 -0.5 9.50e-01 1.00e+00h 1 3 2.3595226e+00 1.57e-02 6.19e-01 -1.3 1.81e-01 -0.1 9.81e-01 7.90e-01h 1 4 2.2209728e+00 4.97e-03 1.15e-01 -2.1 1.50e-01 -0.5 9.93e-01 1.00e+00h 1 5 2.1355619e+00 2.19e-03 1.21e-01 -3.4 5.22e-02 -1.0 1.00e+00 6.39e-01h 1 6 2.0925457e+00 1.62e-04 3.84e-02 -4.0 2.95e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909175e+00 2.54e-06 7.20e-03 -4.0 1.22e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909300e+00 1.17e-08 4.09e-05 -4.0 1.12e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909282e+00 1.71e-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 2.0909233e+00 9.65e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909083e+00 8.69e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908635e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907292e+00 7.04e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903285e+00 6.35e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891434e+00 5.74e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857413e+00 5.23e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798603e+00 2.22e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.74e-01h 1 18 2.0809900e+00 1.17e-04 1.70e-01 -4.0 6.54e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779602e+00 6.03e-03 2.42e-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 2.0770165e+00 1.18e-03 2.88e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766424e+00 2.37e-03 2.85e-02 -4.0 2.77e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758950e+00 2.23e-03 3.17e-02 -4.0 5.43e+02 -9.1 1.00e+00 7.42e-01h 1 23 2.0762204e+00 2.71e-03 1.62e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757954e+00 1.51e-03 8.09e-04 -4.1 9.39e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.63e-04 6.77e-06 -4.0 1.27e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.51e-07 3.66e-07 -4.0 5.76e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.68e-10 1.74e-08 -4.0 1.67e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.02e-12 1.00e-09 -4.0 1.84e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692994408e+00 2.0760668692994408e+00 Dual infeasibility......: 1.0000000001241655e-09 1.0000000001241655e-09 Constraint violation....: 2.0220491947497976e-12 2.0220491947497976e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.0000000001241655e-09 1.0000000001241655e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 30 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 29 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 33.429 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.113s) 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: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.052s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.109s) 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 2.0285172e+00 3.16e+00 2.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5107677e+00 6.54e-02 7.80e-01 -1.1 2.62e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3320472e+00 8.85e-02 2.40e-01 -1.5 1.30e+00 -2.5 9.96e-01 1.00e+00h 1 3 2.1513402e+00 5.21e-02 1.06e-01 -2.4 1.76e+00 -3.0 9.80e-01 1.00e+00h 1 4 2.0953610e+00 4.45e-03 2.66e-02 -3.3 5.72e-01 -3.4 1.00e+00 9.75e-01h 1 5 2.0908462e+00 6.60e-05 5.01e-04 -4.0 1.63e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907381e+00 5.74e-06 3.04e-05 -4.0 4.99e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0905910e+00 8.41e-07 2.05e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0901522e+00 7.70e-06 5.41e-05 -4.0 4.47e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888565e+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 2.0851543e+00 6.35e-04 4.15e-03 -4.0 3.81e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0798646e+00 1.99e-03 1.52e-01 -4.0 9.57e+01 -6.8 1.00e+00 5.72e-01h 1 12 2.0805565e+00 1.25e-04 1.65e-01 -4.0 6.42e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0777504e+00 7.40e-03 2.31e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 14 2.0773510e+00 1.34e-03 6.02e-02 -4.0 1.88e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0763633e+00 1.24e-03 1.94e-02 -4.0 3.34e+02 -8.7 1.00e+00 9.12e-01h 1 16 2.0758558e+00 1.67e-03 2.32e-02 -4.0 4.52e+02 -9.2 1.00e+00 7.59e-01h 1 17 2.0761518e+00 2.01e-03 9.69e-03 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0760750e+00 2.08e-04 3.53e-04 -4.0 6.56e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0760669e+00 2.32e-06 4.20e-06 -4.0 1.37e+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 1.33e-08 3.80e-07 -4.0 6.37e+00 -11.1 1.00e+00 1.00e+00h 1 21 2.0760669e+00 2.31e-10 1.70e-08 -4.0 1.58e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0760669e+00 1.57e-12 1.00e-09 -4.0 1.57e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0760668692970086e+00 2.0760668692970086e+00 Dual infeasibility......: 9.9999999998864018e-10 9.9999999998864018e-10 Constraint violation....: 1.5740742043135469e-12 1.5740742043135469e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000018e-04 1.0000000000000018e-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 = 28.831 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.105s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.107s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 2.6018989e+00 2.35e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4551317e+00 8.34e-01 1.34e+00 -0.9 1.98e+00 0.0 9.72e-01 6.45e-01f 1 2 2.5628539e+00 2.27e-02 5.53e-01 -1.1 6.73e-01 -0.5 9.57e-01 1.00e+00h 1 3 2.2872708e+00 9.68e-03 1.27e-01 -1.7 1.73e-01 -1.0 9.69e-01 8.86e-01h 1 4 2.1122779e+00 1.47e-03 8.60e-03 -2.7 5.58e-02 -1.4 9.98e-01 1.00e+00h 1 5 2.0912441e+00 6.82e-05 3.41e-03 -4.0 1.12e-02 -1.9 1.00e+00 9.72e-01h 1 6 2.0908331e+00 3.00e-07 1.69e-04 -4.0 4.11e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908317e+00 3.07e-09 1.27e-04 -4.0 9.24e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908273e+00 7.68e-10 8.63e-05 -4.0 1.89e-01 -3.3 1.00e+00 1.00e+00h 1 9 2.0908140e+00 6.91e-09 5.33e-05 -4.0 3.50e-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 2.0907743e+00 6.22e-08 3.20e-05 -4.0 6.30e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906550e+00 5.60e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902990e+00 5.05e-06 3.56e-05 -4.0 3.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892444e+00 4.56e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862019e+00 4.16e-04 2.74e-03 -4.0 3.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798629e+00 2.40e-03 7.47e-02 -4.0 8.29e+01 -6.7 1.00e+00 7.95e-01h 1 16 2.0814230e+00 1.05e-04 1.71e-01 -4.0 6.81e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782382e+00 4.66e-03 2.42e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783461e+00 1.70e-02 2.87e-02 -3.7 1.57e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771548e+00 1.35e-02 1.65e-02 -3.8 2.80e+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 2.0762238e+00 1.07e-02 2.12e-02 -3.9 4.47e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0761679e+00 7.22e-03 1.17e-02 -4.0 2.27e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760766e+00 4.67e-04 5.99e-04 -4.0 5.13e+02 -10.0 1.00e+00 1.00e+00h 1 23 2.0760669e+00 2.47e-06 8.89e-06 -4.0 7.55e+02 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 3.37e-08 5.27e-07 -4.0 1.44e+03 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.28e-10 3.22e-08 -4.0 2.30e+03 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.46e-12 5.78e-09 -4.0 4.05e+03 -11.9 1.00e+00 1.00e+00f 1 27 2.0760669e+00 6.22e-15 3.55e-09 -4.0 6.49e+03 -12.4 1.00e+00 1.00e+00f 1 28 2.0757337e+00 3.48e-04 7.66e-07 -4.1 8.32e+03 -12.9 1.00e+00 1.00e+00f 1 29 2.0760682e+00 3.53e-04 8.62e-07 -4.0 1.87e+04 -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 2.0757383e+00 3.43e-04 8.30e-07 -4.1 1.43e+04 -13.8 1.00e+00 1.00e+00h 1 31 2.0744292e+00 5.45e-03 1.84e-04 -6.1 1.98e+02 -14.3 9.74e-01 1.00e+00h 1 32 2.0761004e+00 1.94e-02 9.46e-05 -4.0 2.39e+05 -14.8 1.00e+00 1.00e+00h 1 33 2.0758367e+00 1.84e-03 3.17e-05 -4.1 9.28e+04 -15.3 1.00e+00 1.00e+00h 1 34 2.0758358e+00 4.17e-07 3.38e-07 -4.1 1.06e+05 -15.7 1.00e+00 1.00e+00h 1 35 2.0760675e+00 1.70e-04 4.33e-07 -4.0 2.96e+03 -16.2 1.00e+00 1.00e+00h 1 36 2.0757393e+00 3.39e-04 7.85e-07 -4.1 3.79e+02 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.41e-04 8.29e-07 -4.0 1.20e+02 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.24e-07 -4.1 1.91e+01 -17.7 1.00e+00 1.00e+00h 1 39 2.0744293e+00 5.46e-03 1.84e-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 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.10e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0761101e+00 4.75e-02 4.80e-04 -4.0 4.89e+02 -19.1 1.00e+00 1.00e+00f 1 42 2.0757519e+00 5.77e-03 1.68e-04 -4.1 3.92e+02 -19.6 1.00e+00 1.00e+00h 1 43 2.0757497e+00 2.72e-06 3.82e-06 -4.1 9.36e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0760680e+00 3.21e-04 8.45e-07 -4.0 1.37e+01 -20.0 1.00e+00 1.00e+00h 1 45 2.0757393e+00 3.41e-04 8.25e-07 -4.1 1.40e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -20.0 9.74e-01 1.00e+00h 1 47 2.0744089e+00 6.52e-05 1.58e-05 -6.1 7.11e+01 -20.0 1.00e+00 1.00e+00h 1 48 2.0744089e+00 2.17e-09 4.47e-08 -6.1 3.98e+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 2.0757522e+00 5.99e-03 1.81e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 51 2.0757500e+00 2.84e-06 4.10e-06 -4.1 3.67e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744297e+00 5.53e-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 5.39e-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 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0757506e+00 3.00e-06 4.44e-06 -4.1 3.83e+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 4.41e-08 -6.1 3.97e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0743968e+00 2.65e-06 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 63 2.0743968e+00 3.93e-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 2.0757529e+00 6.26e-03 1.97e-04 -4.1 2.53e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0757506e+00 3.01e-06 4.45e-06 -4.1 3.83e+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 4.41e-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 5.41e-08 -9.0 2.94e+00 -20.0 9.99e-01 1.00e+00h 1 71 2.0743968e+00 3.93e-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 9.09e-15 -9.0 1.56e-06 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 1.78e-15 9.09e-15 -9.0 1.05e-13 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -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 = 30.258 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: 0.054s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.055s) 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 (0.103s) 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: 0.104s) 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 6.1747389e+00 2.22e+00 4.64e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7001342e+00 7.92e-02 1.82e+00 -0.9 1.80e+00 0.0 7.61e-01 1.00e+00f 1 2 2.9363975e+00 4.35e-02 7.56e-01 -0.7 3.88e-01 -0.5 1.00e+00 7.89e-01f 1 3 2.6784759e+00 8.41e-03 9.03e-02 -1.2 1.87e-01 -1.0 9.73e-01 1.00e+00f 1 4 2.2387263e+00 3.83e-02 8.54e-02 -2.2 4.64e-01 -1.4 9.34e-01 9.69e-01f 1 5 2.1265483e+00 4.95e-03 3.60e-02 -2.5 1.84e-01 -1.9 9.00e-01 8.70e-01h 1 6 2.0915316e+00 1.01e-04 4.07e-03 -3.8 2.29e-02 -2.4 9.87e-01 1.00e+00h 1 7 2.0908315e+00 1.78e-06 8.84e-05 -4.0 1.51e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908253e+00 1.60e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908120e+00 6.89e-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 2.0907722e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906530e+00 5.59e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0902969e+00 5.04e-06 3.56e-05 -4.0 3.62e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892423e+00 4.56e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861998e+00 4.15e-04 2.74e-03 -4.0 3.12e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798541e+00 2.40e-03 7.45e-02 -4.0 8.29e+01 -6.7 1.00e+00 7.96e-01h 1 16 2.0814280e+00 1.26e-04 1.85e-01 -4.0 6.76e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782349e+00 5.18e-03 2.74e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783512e+00 1.55e-02 3.03e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771591e+00 1.33e-02 1.97e-02 -3.8 2.75e+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 2.0761037e+00 1.36e-02 1.93e-02 -3.9 4.46e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0761841e+00 5.07e-03 1.05e-02 -4.0 1.61e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760749e+00 3.93e-04 5.80e-04 -4.0 7.59e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760669e+00 1.03e-06 7.67e-06 -4.0 1.42e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 2.76e-08 5.47e-07 -4.0 7.58e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.57e-10 3.40e-08 -4.0 2.19e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.76e-12 3.73e-10 -4.0 2.68e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693065591e+00 2.0760668693065591e+00 Dual infeasibility......: 3.7285199941069526e-10 3.7285199941069526e-10 Constraint violation....: 4.7610804188025213e-12 4.7610804188025213e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 3.7285199941069526e-10 3.7285199941069526e-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 = 29.963 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: 0.116s integrator 2 jacobian structure: 0.106s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.223s) integrator 1 hessian structure: 0.104s integrator 2 hessian structure: 0.105s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.404s sub-objective 2 (QuadraticRegularizer): 0.147s sub-objective 3 (LinearRegularizer): 0.138s sub-objective 4 (MinimumTimeObjective): 0.073s objective hessian structure: 0.902s hessian structure: 2431 nonzeros (1.113s) linear index maps built (0.0s) evaluator ready (total: 1.336s) evaluator created (1.69s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.232s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (2.285s) optimizer initialization complete (total: 4.209s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3447963e+00 3.93e+00 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3017568e+00 4.52e+00 2.34e+00 -1.0 3.77e+01 -4.0 8.39e-01 1.00e+00f 1 2 2.9263439e+00 2.81e-01 2.10e+00 -1.2 1.95e+00 -1.8 5.45e-01 1.00e+00f 1 3 2.5313882e+00 2.21e-02 4.34e-01 -1.8 1.25e+00 -2.2 7.88e-01 1.00e+00h 1 4 2.3785993e+00 4.21e-02 1.46e-01 -1.8 1.22e+00 -1.8 9.97e-01 1.00e+00f 1 5 3.0777765e+00 4.07e-01 7.13e-01 0.1 2.40e+02 -2.3 1.04e-02 1.82e-02f 1 6 2.5117613e+00 4.23e-02 4.00e-01 -1.5 2.35e+00 -1.0 1.00e+00 9.47e-01f 1 7 2.3606947e+00 2.15e-03 1.79e-01 -2.6 1.08e+00 -1.4 1.00e+00 1.00e+00h 1 8 2.3128706e+00 1.57e-02 9.24e-02 -4.0 1.08e+00 -1.9 4.20e-01 4.12e-01f 1 9 2.2250507e+00 6.16e-03 4.48e-02 -3.9 3.62e-01 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1958756e+00 5.08e-04 1.10e-02 -4.0 1.29e-01 -1.1 1.00e+00 1.00e+00h 1 11 2.1565904e+00 7.40e-03 2.52e-02 -4.0 3.18e-01 -1.5 1.00e+00 1.00e+00h 1 12 2.1347705e+00 6.07e-04 8.47e-03 -4.0 1.12e-01 -1.1 1.00e+00 1.00e+00h 1 13 2.1149894e+00 2.04e-03 7.88e-03 -4.0 2.81e-01 -1.6 1.00e+00 5.12e-01h 1 14 2.1030754e+00 9.17e-03 1.07e-01 -3.3 2.26e+00 -2.1 1.00e+00 1.30e-01h 1 15 2.0686390e+00 4.75e-03 1.54e-02 -4.0 3.43e-01 -1.6 1.00e+00 1.00e+00h 1 16 2.0247130e+00 1.92e-02 1.86e-02 -4.0 8.17e-01 -2.1 1.00e+00 1.00e+00h 1 17 2.0048094e+00 1.63e-02 7.57e-02 -3.3 1.46e+00 -2.6 1.00e+00 3.16e-01h 1 18 1.9511908e+00 6.17e-02 6.73e-02 -3.6 3.13e+00 -3.1 1.00e+00 9.71e-01h 1 19 1.9416495e+00 5.53e-03 1.03e-02 -2.9 9.56e-01 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.9108619e+00 5.02e-02 2.35e-02 -3.7 2.78e+00 -3.1 9.42e-01 1.00e+00h 1 21 1.8501156e+00 1.87e+00 7.34e-02 -4.0 2.71e+01 -3.6 1.69e-01 3.32e-01h 1 22 1.8546724e+00 2.41e+00 1.70e-01 -2.7 1.33e+01 -4.1 9.09e-01 1.00e+00h 1 23 1.8551693e+00 2.26e+00 1.99e-01 -2.5 8.93e+01 -3.7 8.89e-02 4.56e-02h 2 24 1.9137782e+00 2.35e-01 2.30e-01 -2.5 4.37e+00 -3.2 6.75e-01 1.00e+00h 1 25 1.8910824e+00 4.53e-01 3.86e-02 -2.5 6.29e+00 -3.7 1.00e+00 1.00e+00h 1 26 1.8582906e+00 1.20e-01 4.10e-02 -3.0 9.17e+00 -4.2 1.00e+00 1.00e+00h 1 27 2.8753284e+00 1.41e+01 1.40e+00 -1.0 4.19e+02 -4.7 9.17e-02 1.75e-01f 1 28 2.9667558e+00 8.95e+00 1.59e+00 -1.5 6.94e+01 -4.2 1.30e-02 1.96e-01H 1 29 3.1848251e+00 1.77e+00 2.96e+00 -1.5 1.39e+01 -3.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4951710e+00 8.91e-01 4.18e-01 -1.5 1.05e+01 -3.4 1.00e+00 8.29e-01h 1 31 2.4886319e+00 3.64e+00 5.30e-01 -1.5 1.79e+01 -3.9 1.00e+00 1.00e+00h 1 32 2.3035146e+00 2.90e-01 2.75e-01 -1.5 1.18e+01 -4.3 1.00e+00 1.00e+00h 1 33 2.1191558e+00 6.70e-01 3.33e-01 -2.3 3.71e+01 -4.8 9.14e-01 1.00e+00h 1 34 1.9783839e+00 8.01e-01 3.61e-01 -2.3 5.33e+01 -5.3 1.00e+00 1.00e+00h 1 35 1.8923996e+00 1.27e+00 3.53e-01 -2.3 7.72e+01 -5.8 1.00e+00 8.15e-01h 1 36 1.8936116e+00 1.03e+00 1.06e+00 -2.3 1.08e+02 -6.2 1.00e+00 1.00e+00h 1 37 1.8657726e+00 2.08e+00 1.40e+00 -2.3 2.11e+02 -6.7 1.00e+00 9.87e-01h 1 38 1.8796505e+00 2.35e+00 2.73e+00 -2.3 3.29e+02 -7.2 1.00e+00 1.00e+00h 1 39 1.8504173e+00 3.07e+00 3.86e+00 -2.3 5.45e+02 -7.7 1.00e+00 9.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.7792296e+00 4.19e+00 3.63e+00 -2.6 8.62e+02 -8.2 1.00e+00 1.00e+00h 1 41 1.7773216e+00 4.10e+00 6.36e+00 -2.8 1.09e+03 -8.6 1.00e+00 1.00e+00h 1 42 1.7840859e+00 5.56e+00 2.04e+01 -2.7 1.59e+03 -9.1 1.00e+00 1.00e+00h 1 43 1.7580371e+00 5.91e+00 1.30e+01 -2.8 2.64e+03 -9.6 1.00e+00 7.69e-01h 1 44 1.7389594e+00 9.48e+00 6.31e+00 -3.6 3.56e+03 -10.1 1.00e+00 1.00e+00h 1 45 1.7359883e+00 6.53e+00 1.10e+01 -4.0 4.38e+03 -10.5 1.00e+00 1.00e+00h 1 46 1.7345530e+00 9.35e+00 3.13e+01 -4.0 6.08e+03 -11.0 1.00e+00 1.00e+00h 1 47 1.7330412e+00 1.04e+01 4.50e+01 -4.0 8.58e+03 -11.5 1.00e+00 1.00e+00h 1 48 1.7324018e+00 1.16e+01 7.86e+01 -4.0 1.16e+04 -12.0 1.00e+00 1.00e+00h 1 49 1.7312606e+00 1.23e+01 1.17e+02 -4.0 1.53e+04 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.7310104e+00 1.26e+01 1.86e+02 -4.0 1.95e+04 -12.9 1.00e+00 1.00e+00h 1 51 1.7301234e+00 1.26e+01 2.50e+02 -4.0 2.42e+04 -13.4 1.00e+00 1.00e+00h 1 52 1.7300095e+00 1.23e+01 3.20e+02 -4.0 2.91e+04 -13.9 1.00e+00 1.00e+00h 1 53 1.7293846e+00 1.19e+01 2.82e+02 -4.0 3.43e+04 -14.4 1.00e+00 1.00e+00h 1 54 1.7292109e+00 1.14e+01 2.42e+02 -4.0 3.96e+04 -14.8 1.00e+00 1.00e+00h 1 55 1.7288719e+00 1.08e+01 8.90e+01 -4.0 4.52e+04 -15.3 1.00e+00 1.00e+00h 1 56 1.7286981e+00 1.04e+01 6.38e+01 -4.0 5.09e+04 -15.8 1.00e+00 1.00e+00h 1 57 1.7285148e+00 9.92e+00 1.26e+01 -4.0 5.69e+04 -16.3 1.00e+00 1.00e+00h 1 58 1.7283794e+00 9.52e+00 1.15e+01 -4.0 6.31e+04 -16.7 1.00e+00 1.00e+00h 1 59 1.7282551e+00 9.17e+00 1.95e+00 -4.0 6.97e+04 -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 60 1.7281495e+00 8.86e+00 1.87e+00 -4.0 7.65e+04 -17.7 1.00e+00 1.00e+00h 1 61 1.7280547e+00 8.59e+00 6.51e-01 -4.0 8.37e+04 -18.2 1.00e+00 1.00e+00h 1 62 1.7279706e+00 8.35e+00 6.63e-01 -4.0 9.12e+04 -18.7 1.00e+00 1.00e+00h 1 63 1.7278947e+00 8.13e+00 6.76e-01 -4.0 9.91e+04 -19.1 1.00e+00 1.00e+00h 1 64 1.7278262e+00 7.94e+00 6.88e-01 -4.0 1.07e+05 -19.6 1.00e+00 1.00e+00h 1 65 1.7277639e+00 7.78e+00 7.01e-01 -4.0 1.16e+05 -20.0 1.00e+00 1.00e+00h 1 66 1.7277072e+00 7.63e+00 7.13e-01 -4.0 1.25e+05 -20.0 1.00e+00 1.00e+00h 1 67 1.7276552e+00 7.49e+00 7.26e-01 -4.0 1.34e+05 -20.0 1.00e+00 1.00e+00h 1 68 1.7276074e+00 7.38e+00 7.39e-01 -4.0 1.44e+05 -20.0 1.00e+00 1.00e+00h 1 69 1.7275634e+00 7.27e+00 7.53e-01 -4.0 1.54e+05 -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 1.7275227e+00 7.18e+00 7.66e-01 -4.0 1.65e+05 -20.0 1.00e+00 1.00e+00h 1 71 1.7274850e+00 7.10e+00 7.80e-01 -4.0 1.76e+05 -20.0 1.00e+00 1.00e+00h 1 72 1.7274499e+00 7.02e+00 7.94e-01 -4.0 1.88e+05 -20.0 1.00e+00 1.00e+00h 1 73 1.7274173e+00 6.96e+00 8.08e-01 -4.0 2.00e+05 -20.0 1.00e+00 1.00e+00h 1 74 1.7273868e+00 6.90e+00 8.23e-01 -4.0 2.13e+05 -20.0 1.00e+00 1.00e+00h 1 75 1.7273583e+00 6.85e+00 8.37e-01 -4.0 2.26e+05 -20.0 1.00e+00 1.00e+00h 1 76 1.7273316e+00 6.81e+00 8.52e-01 -4.0 2.40e+05 -20.0 1.00e+00 1.00e+00h 1 77 1.7273065e+00 6.78e+00 8.67e-01 -4.0 2.55e+05 -20.0 1.00e+00 1.00e+00h 1 78 1.7272828e+00 6.75e+00 8.83e-01 -4.0 2.70e+05 -20.0 1.00e+00 1.00e+00h 1 79 1.7272606e+00 6.72e+00 8.99e-01 -4.0 2.86e+05 -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 1.7272396e+00 6.71e+00 9.14e-01 -4.0 3.02e+05 -20.0 1.00e+00 1.00e+00h 1 81 1.7272197e+00 6.69e+00 9.31e-01 -4.0 3.19e+05 -20.0 1.00e+00 1.00e+00h 1 82 1.7272010e+00 6.68e+00 9.47e-01 -4.0 3.37e+05 -20.0 1.00e+00 1.00e+00h 1 83 1.7271832e+00 6.68e+00 9.64e-01 -4.0 3.56e+05 -20.0 1.00e+00 1.00e+00h 1 84 1.7271663e+00 6.68e+00 9.81e-01 -4.0 3.75e+05 -20.0 1.00e+00 1.00e+00h 1 85 1.7271503e+00 6.68e+00 9.98e-01 -4.0 3.95e+05 -20.0 1.00e+00 1.00e+00h 1 86 1.7271350e+00 6.68e+00 1.02e+00 -4.0 4.16e+05 -20.0 1.00e+00 1.00e+00h 1 87 1.7271205e+00 6.69e+00 1.03e+00 -4.0 4.38e+05 -20.0 1.00e+00 1.00e+00h 1 88 1.7271067e+00 6.71e+00 1.05e+00 -4.0 4.61e+05 -20.0 1.00e+00 1.00e+00h 1 89 1.7270935e+00 6.72e+00 1.07e+00 -4.0 4.84e+05 -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 1.7270809e+00 6.74e+00 1.09e+00 -4.0 5.09e+05 -20.0 1.00e+00 1.00e+00h 1 91 1.7270689e+00 6.76e+00 1.11e+00 -4.0 5.34e+05 -20.0 1.00e+00 1.00e+00h 1 92 1.7270574e+00 6.79e+00 1.13e+00 -4.0 5.61e+05 -20.0 1.00e+00 1.00e+00h 1 93 1.7270464e+00 6.81e+00 1.15e+00 -4.0 5.89e+05 -20.0 1.00e+00 1.00e+00h 1 94 1.7270359e+00 6.84e+00 1.17e+00 -4.0 6.17e+05 -20.0 1.00e+00 1.00e+00h 1 95 1.7270258e+00 6.87e+00 1.19e+00 -4.0 6.47e+05 -20.0 1.00e+00 1.00e+00h 1 96 1.7270161e+00 6.91e+00 1.21e+00 -4.0 6.78e+05 -20.0 1.00e+00 1.00e+00h 1 97 1.7266772e+00 6.61e+00 4.89e+01 -4.1 6.95e+05 -20.0 1.00e+00 1.00e+00h 1 98 1.7270497e+00 5.78e+00 1.27e+02 -4.0 6.76e+05 -20.0 1.00e+00 1.00e+00h 1 99 1.7269471e+00 7.00e+00 8.90e+01 -4.0 7.72e+05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 1.7266629e+00 6.72e+00 2.63e+01 -4.1 7.92e+05 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.7266628783920703e+00 1.7266628783920703e+00 Dual infeasibility......: 2.6302356735945978e+01 2.6302356735945978e+01 Constraint violation....: 6.7210660043383541e+00 6.7210660043383541e+00 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.0585288402157992e-05 8.0585288402157992e-05 Overall NLP error.......: 2.6302356735945978e+01 2.6302356735945978e+01 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 48.007 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.053s) 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 (2.291s) optimizer initialization complete (total: 2.409s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.5485199e+00 3.83e+00 3.23e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1195332e+00 7.81e-02 1.71e+00 -1.1 2.11e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.4397325e+00 5.51e-02 1.06e-01 -1.5 5.58e-01 -1.6 9.84e-01 1.00e+00h 1 3 2.2040678e+00 3.91e-03 3.47e-01 -2.6 1.35e-01 -1.1 9.61e-01 1.00e+00h 1 4 2.1107932e+00 2.31e-03 2.46e-01 -3.4 1.73e-01 -1.6 1.00e+00 8.84e-01h 1 5 2.0956912e+00 1.20e-03 4.07e-01 -4.0 3.87e-01 -2.1 1.00e+00 4.40e-01h 1 6 2.0916196e+00 9.17e-04 1.60e+00 -4.0 1.76e+00 -2.6 1.00e+00 5.06e-01h 1 7 2.0905114e+00 1.97e-04 1.70e-01 -4.0 1.20e+00 -3.1 1.00e+00 8.22e-01h 1 8 2.0909416e+00 1.16e-05 5.14e-02 -4.0 2.34e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0909203e+00 6.40e-07 6.83e-04 -4.0 8.56e-02 -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 2.0909130e+00 4.52e-08 4.79e-05 -4.0 2.02e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0909028e+00 2.09e-08 1.16e-04 -4.0 4.34e-01 -5.0 1.00e+00 1.00e+00h 1 12 2.0908934e+00 4.89e-08 1.15e-04 -4.0 1.12e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0908856e+00 7.61e-08 3.45e-04 -4.0 2.05e+00 -5.9 1.00e+00 1.00e+00h 1 14 2.0908811e+00 3.87e-08 4.18e-04 -4.0 2.38e+00 -6.4 1.00e+00 1.00e+00h 1 15 2.0908799e+00 2.97e-08 1.51e-04 -4.0 1.51e+00 -6.9 1.00e+00 1.00e+00h 1 16 2.0908798e+00 4.39e-09 1.16e-05 -4.0 4.29e-01 -7.4 1.00e+00 1.00e+00h 1 17 2.0908798e+00 4.43e-11 1.43e-07 -4.0 5.08e-02 -7.8 1.00e+00 1.00e+00h 1 18 2.0908798e+00 3.50e-14 2.43e-10 -4.0 2.45e-03 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0908797984799348e+00 2.0908797984799348e+00 Dual infeasibility......: 2.4290346795595441e-10 2.4290346795595441e-10 Constraint violation....: 3.5027536426923689e-14 3.5027536426923689e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 2.4290346795595441e-10 2.4290346795595441e-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 = 30.706 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) 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: 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 (0.086s) optimizer initialization complete (total: 0.192s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.1990783e+00 2.34e+00 3.56e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0528285e+00 1.35e-01 6.45e-01 -1.0 2.65e+00 -2.0 9.95e-01 1.00e+00f 1 2 2.3948836e+00 4.34e-02 1.37e-01 -1.5 6.40e-01 -1.6 8.29e-01 9.24e-01h 1 3 2.1608025e+00 4.22e-03 9.14e-02 -2.3 1.18e-01 -1.1 8.69e-01 1.00e+00h 1 4 2.1066098e+00 9.85e-04 3.57e-01 -3.4 7.89e-02 -1.6 1.00e+00 8.85e-01h 1 5 2.0970447e+00 4.92e-04 4.68e-01 -4.0 2.37e-01 -2.1 1.00e+00 8.05e-01h 1 6 2.0915467e+00 8.67e-04 1.93e-01 -4.0 6.01e-01 -2.6 1.00e+00 4.46e-01h 1 7 2.0907720e+00 2.21e-04 4.24e-01 -4.0 6.71e-01 -3.1 1.00e+00 7.64e-01h 1 8 2.0908596e+00 1.31e-05 2.93e-03 -4.0 1.83e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0908684e+00 5.33e-07 4.53e-04 -4.0 1.88e-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 2.0908511e+00 2.39e-08 2.03e-04 -4.0 4.43e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0908233e+00 8.34e-08 3.92e-04 -4.0 9.61e-01 -5.0 1.00e+00 1.00e+00h 1 12 2.0907972e+00 2.48e-07 8.93e-04 -4.0 1.63e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0907848e+00 6.56e-08 9.41e-04 -4.0 1.90e+00 -5.9 1.00e+00 1.00e+00h 1 14 2.0907807e+00 1.39e-07 4.04e-04 -4.0 1.52e+00 -6.4 1.00e+00 1.00e+00h 1 15 2.0907799e+00 4.00e-08 6.71e-05 -4.0 7.34e-01 -6.9 1.00e+00 1.00e+00h 1 16 2.0907799e+00 1.78e-09 2.99e-06 -4.0 2.26e-01 -7.4 1.00e+00 1.00e+00h 1 17 2.0907799e+00 9.70e-12 3.84e-08 -4.0 2.93e-02 -7.8 1.00e+00 1.00e+00h 1 18 2.0907799e+00 1.80e-14 1.14e-10 -4.0 1.58e-03 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0907798543035558e+00 2.0907798543035558e+00 Dual infeasibility......: 1.1412079541452992e-10 1.1412079541452992e-10 Constraint violation....: 1.7989882044981698e-14 1.7989882044981698e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.1412079541452992e-10 1.1412079541452992e-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 = 31.701 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.096s jacobian structure: 180 nonzeros (0.201s) integrator 1 hessian structure: 0.093s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.364s sub-objective 2 (QuadraticRegularizer): 0.116s sub-objective 3 (MinimumTimeObjective): 0.058s objective hessian structure: 0.66s hessian structure: 375 nonzeros (0.753s) linear index maps built (0.0s) evaluator ready (total: 1.161s) evaluator created (1.729s) NL constraint bounds extracted (0.054s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.207s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.795s) optimizer initialization complete (total: 4.787s) 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 1.6021815e+00 8.91e-01 1.45e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5114279e+00 2.45e-01 1.87e+00 -1.0 1.09e+00 - 1.00e+00 1.00e+00h 1 2 1.4437311e+00 1.36e-01 6.29e-01 -0.8 4.10e-01 0.0 8.41e-01 4.46e-01h 1 3 1.5742352e+00 3.07e-02 1.02e+00 -2.2 5.19e-01 - 8.52e-01 1.00e+00h 1 4 1.4130596e+00 2.05e-02 5.21e-01 -1.3 5.32e-01 -0.5 1.00e+00 2.66e-01h 1 5 1.6217737e+00 1.94e-02 1.11e+00 -1.6 6.34e-01 - 9.90e-01 5.74e-01h 1 6 1.4187722e+00 1.75e-02 5.59e-01 -1.2 8.74e-01 -1.0 1.00e+00 1.72e-01f 1 7 1.2204281e+00 1.46e-03 2.54e-01 -2.2 5.82e-01 - 9.96e-01 1.00e+00h 1 8 1.1166684e+00 2.69e-04 3.77e-02 -3.5 1.47e-01 - 1.00e+00 7.66e-01f 1 9 1.0911857e+00 9.27e-06 1.68e-02 -4.0 1.40e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908981e+00 9.24e-09 1.54e-03 -4.0 4.33e-02 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.03e-14 7.34e-05 -4.0 3.12e-04 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 1.46e-24 7.27e-05 -4.0 1.21e-08 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 9.98e-28 3.09e-16 -4.0 7.13e-16 - 1.00e+00 1.00e+00 0 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 3.0948551013598724e-16 3.0948551013598724e-16 Constraint violation....: 9.9772857559303961e-28 9.9772857559303961e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 3.0948551013598724e-16 3.0948551013598724e-16 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 27.925 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: 0.059s hessian structure: 20 nonzeros (0.059s) linear index maps built (0.0s) evaluator ready (total: 0.059s) evaluator created (0.352s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.099s) 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 (1.695s) optimizer initialization complete (total: 2.148s) 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 1.5905823e-01 8.33e-17 9.83e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1162512e-01 2.69e-11 4.61e-01 -4.0 9.98e-02 -2.0 9.43e-01 1.00e+00f 1 2 1.3323086e-01 5.40e-11 9.15e-01 -1.9 1.68e+00 -1.6 1.46e-01 1.00e+00f 1 3 1.3323086e-01 5.40e-11 7.33e-01 -1.6 2.16e+00 -1.1 2.95e-01 1.33e-14h 43 4 1.1819196e-01 4.50e-11 5.03e-01 -1.6 1.42e+00 -1.6 1.00e+00 9.11e-02f 3 5 1.8168907e-02 2.11e-10 4.90e-01 -1.6 5.23e-01 -2.1 3.41e-01 1.00e+00f 1 6 1.6577436e-02 2.05e-10 1.86e+00 -2.1 1.12e+01 -2.6 3.84e-01 3.00e-02f 3 7 1.6577436e-02 2.05e-10 1.89e-01 -1.8 4.45e+00 -3.1 9.69e-01 6.62e-16h 45 8 1.1657271e-02 1.67e-10 2.81e-01 -1.6 1.44e+00 -3.5 1.00e+00 1.75e-01f 3 9 1.1657271e-02 1.67e-10 2.34e-01 -1.8 1.03e+00 -4.0 9.27e-01 6.85e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0017786e-02 1.56e-10 4.98e-01 -1.6 8.43e-01 -4.5 1.00e+00 6.25e-02f 5 11 1.0017786e-02 1.56e-10 3.26e-01 -1.8 8.64e-01 -5.0 9.61e-01 7.11e-15h 48 12 8.1322332e-03 1.46e-10 6.96e-01 -1.6 1.27e+00 -5.4 1.00e+00 6.25e-02f 5 13 8.1322332e-03 1.46e-10 3.45e-01 -1.7 6.88e-01 -5.9 9.61e-01 7.11e-15h 48 14 6.6366615e-03 1.37e-10 6.25e-01 -1.5 1.42e+00 -6.4 1.00e+00 6.09e-02f 5 15 6.6366615e-03 1.37e-10 2.59e-01 -1.7 7.17e-01 -6.9 9.60e-01 7.11e-15h 48 16 6.6366615e-03 1.37e-10 5.30e-01 -1.5 1.52e+00 -7.4 1.00e+00 1.95e-13h 43 17 8.8922386e-02 7.93e-12 3.65e-01 -1.5 8.24e-01 -7.8 1.00e+00 1.00e+00S 61 18 8.8922386e-02 7.93e-12 6.56e-01 -1.5 8.28e+00 -2.0 1.72e-01 1.04e-15h 46 19 2.9769766e-02 2.50e-11 5.09e-01 -1.5 4.13e-01 -1.6 8.45e-01 8.45e-01s 63 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.3923200e-02 6.33e-11 4.19e-01 -1.5 8.32e-01 -2.0 1.00e+00 1.00e+00s 63 21r 2.3923200e-02 6.33e-11 3.50e+00 -1.5 0.00e+00 -2.5 0.00e+00 0.00e+00R 1 22r 2.3936315e-02 7.60e-11 3.50e-02 -4.0 9.86e-04 - 9.90e-01 9.93e-01f 1 23r 2.6766708e-02 1.83e-13 2.38e-04 -4.0 2.79e-02 - 9.93e-01 1.00e+00f 1 24 2.6766708e-02 1.83e-13 3.86e-01 -1.5 7.37e-01 -3.0 1.00e+00 1.21e-12h 39 25 2.5721781e-02 1.62e-13 3.89e-01 -1.5 4.13e-01 -3.5 1.00e+00 3.12e-02f 6 26 1.5251362e-02 9.93e-14 4.73e-01 -1.5 7.86e-01 -3.9 1.00e+00 2.50e-01f 3 27 1.5251362e-02 9.93e-14 4.80e-01 -1.5 8.34e-01 -4.4 1.00e+00 4.55e-13h 42 28 1.0432038e-02 8.81e-14 5.91e-01 -1.5 1.01e+00 -4.9 1.00e+00 1.25e-01f 4 29 1.0432038e-02 8.82e-14 5.34e-01 -1.5 8.98e-01 -5.4 1.00e+00 4.55e-13h 42 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.2617950e-03 8.63e-14 6.07e-01 -1.5 1.09e+00 -5.9 1.00e+00 3.12e-02f 6 31 9.2617950e-03 8.64e-14 5.53e-01 -1.5 1.05e+00 -6.3 1.00e+00 4.55e-13f 42 32 8.0752371e-03 8.47e-14 6.05e-01 -1.5 1.20e+00 -6.8 1.00e+00 3.12e-02f 6 33 8.0752371e-03 8.47e-14 5.15e-01 -1.5 1.09e+00 -7.3 1.00e+00 2.27e-13f 43 34 7.5015564e-03 8.38e-14 5.74e-01 -1.5 1.26e+00 -7.8 1.00e+00 1.56e-02f 7 35 7.5015564e-03 8.38e-14 4.82e-01 -1.5 1.08e+00 -8.2 1.00e+00 2.27e-13f 43 36 6.9435911e-03 8.30e-14 5.67e-01 -1.5 1.32e+00 -8.7 1.00e+00 1.56e-02f 7 37 6.9435911e-03 8.30e-14 4.36e-01 -1.5 1.03e+00 -9.2 1.00e+00 1.14e-13h 44 38 6.6841097e-03 8.26e-14 5.72e-01 -1.5 1.42e+00 -9.7 1.00e+00 7.40e-03f 8 39 6.6841097e-03 8.26e-14 4.60e-01 -1.5 9.52e-01 -10.1 9.30e-01 1.14e-13f 44 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 6.2217978e-03 8.19e-14 6.00e-01 -1.5 1.57e+00 -10.6 1.00e+00 1.33e-02f 7 41 4.8763580e-03 7.86e-14 4.99e-01 -1.4 1.07e+00 -11.1 8.99e-01 6.25e-02f 5 42 4.8763580e-03 7.86e-14 4.08e-01 -1.7 1.35e+00 -11.6 9.67e-01 5.29e-14h 45 43 4.2280380e-03 7.62e-14 5.54e-01 -1.4 1.69e+00 -12.1 1.00e+00 4.79e-02f 5 44 4.2280380e-03 7.62e-14 4.52e-01 -1.6 1.08e+00 -12.5 9.38e-01 2.84e-14h 46 45 4.0555401e-03 7.48e-14 4.88e-01 -1.4 1.35e+00 -13.0 1.00e+00 2.82e-02f 6 46 4.0555401e-03 7.48e-14 4.50e-01 -1.6 8.94e-01 -13.5 9.52e-01 1.14e-13h 44 47 4.0228486e-03 7.44e-14 4.99e-01 -1.4 1.28e+00 -14.0 1.00e+00 7.20e-03f 8 48 4.0228486e-03 7.44e-14 5.28e-01 -1.5 7.84e-01 -14.4 8.39e-01 1.14e-13h 44 49 3.9806605e-03 7.17e-14 5.20e-01 -1.4 1.26e+00 -14.9 1.00e+00 5.80e-02f 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.9806605e-03 7.17e-14 5.25e-01 -1.5 7.34e-01 -15.4 8.15e-01 1.14e-13h 44 51 3.9806605e-03 7.17e-14 5.26e-01 -1.4 1.14e+00 -15.9 1.00e+00 2.19e-13f 43 52 3.9806605e-03 7.17e-14 5.31e-01 -1.4 7.73e-01 -16.3 1.00e+00 1.14e-13h 44 53 3.9806605e-03 7.17e-14 5.42e-01 -1.4 1.05e+00 -16.8 1.00e+00 2.27e-13f 43 54 3.9806605e-03 7.17e-14 5.54e-01 -1.4 8.17e-01 -17.3 1.00e+00 2.27e-13f 43 55 3.9866296e-03 7.10e-14 5.64e-01 -1.4 1.01e+00 -17.8 1.00e+00 1.56e-02f 7 56 3.9866296e-03 7.09e-14 5.75e-01 -1.4 8.37e-01 -18.3 1.00e+00 3.64e-12f 39 57 4.0185252e-03 6.95e-14 5.84e-01 -1.4 9.69e-01 -18.7 1.00e+00 3.12e-02f 6 58 4.0185252e-03 6.95e-14 5.93e-01 -1.4 8.35e-01 -19.2 1.00e+00 9.09e-13f 41 59 4.0369833e-03 6.88e-14 6.08e-01 -1.4 9.15e-01 -19.7 1.00e+00 1.56e-02f 7 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 4.0577724e-03 6.81e-14 6.19e-01 -1.4 8.38e-01 -20.0 1.00e+00 1.56e-02f 7 61 4.0761181e-03 6.74e-14 6.32e-01 -1.4 8.72e-01 -20.0 1.00e+00 1.56e-02f 7 62 4.0893212e-03 6.67e-14 6.45e-01 -1.4 8.24e-01 -20.0 1.00e+00 1.56e-02f 7 63 4.1106195e-03 6.54e-14 6.56e-01 -1.4 8.35e-01 -20.0 1.00e+00 3.12e-02f 6 64 4.1111900e-03 6.50e-14 6.68e-01 -1.4 7.92e-01 -20.0 1.00e+00 7.81e-03f 8 65 4.0856329e-03 6.37e-14 6.84e-01 -1.4 7.94e-01 -20.0 1.00e+00 3.12e-02f 6 66 4.0592857e-03 6.30e-14 6.94e-01 -1.4 7.63e-01 -20.0 1.00e+00 1.56e-02f 7 67 3.9755056e-03 6.17e-14 7.09e-01 -1.4 7.53e-01 -20.0 1.00e+00 3.12e-02f 6 68 3.9179120e-03 6.11e-14 7.20e-01 -1.4 7.26e-01 -20.0 1.00e+00 1.56e-02f 7 69 3.9179120e-03 6.11e-14 4.66e-01 -1.8 7.32e-01 -20.0 9.82e-01 5.68e-14h 45 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.9179120e-03 6.11e-14 9.29e-01 -1.5 8.72e-01 -20.0 1.00e+00 1.14e-13h 44 71 3.9179120e-03 6.11e-14 8.03e-01 -1.5 6.93e-01 -20.0 1.00e+00 1.14e-13h 44 72 3.9179120e-03 6.11e-14 8.56e-01 -1.5 7.82e-01 -20.0 1.00e+00 1.42e-14h 47 73 3.9179120e-03 6.11e-14 9.10e-01 -1.5 7.64e-01 -20.0 1.00e+00 1.14e-13h 44 74 3.9026988e-03 6.11e-14 9.70e-01 -1.5 8.42e-01 -20.0 1.00e+00 9.77e-04f 11 75 3.9026988e-03 6.11e-14 7.02e-01 -1.8 7.63e-01 -20.0 9.87e-01 1.42e-14h 47 76 2.0576227e-03 5.55e-14 2.23e+00 -1.5 2.77e+00 -20.0 1.00e+00 1.60e-01f 3 77 2.0576227e-03 5.55e-14 2.31e-01 -1.5 7.68e-01 -20.0 9.87e-01 1.14e-13h 44 78 2.0576227e-03 5.55e-14 3.79e-01 -1.4 9.31e-01 -20.0 1.00e+00 2.27e-13h 43 79 2.0576227e-03 5.55e-14 2.58e-01 -1.4 6.40e-01 -20.0 1.00e+00 2.27e-13h 43 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0576227e-03 5.55e-14 2.17e-01 -2.1 7.10e-01 -20.0 8.20e-01 5.68e-14h 45 81 2.0576227e-03 5.55e-14 5.42e-01 -2.1 1.41e+00 -20.0 1.00e+00 1.34e-14h 47 82 2.0576227e-03 5.55e-14 3.86e-01 -2.1 8.30e-01 -20.0 8.36e-01 5.68e-14h 45 83 2.0576227e-03 5.55e-14 5.91e-01 -2.1 1.55e+00 -20.0 1.00e+00 1.22e-14h 47 84 2.0576227e-03 5.55e-14 4.16e-01 -2.1 8.47e-01 -20.0 7.81e-01 2.84e-14h 46 85 2.0576227e-03 5.55e-14 5.91e-01 -2.1 1.55e+00 -20.0 1.00e+00 4.88e-14h 45 86 2.0576227e-03 5.55e-14 4.30e-01 -2.1 8.75e-01 -20.0 7.56e-01 2.84e-14h 46 87 2.0576227e-03 5.55e-14 5.88e-01 -2.1 1.54e+00 -20.0 1.00e+00 2.45e-14h 46 88 2.0576227e-03 5.55e-14 4.41e-01 -2.1 8.99e-01 -20.0 7.36e-01 2.84e-14h 46 89 2.0576227e-03 5.55e-14 5.85e-01 -2.1 1.53e+00 -20.0 1.00e+00 4.94e-14h 45 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0576227e-03 5.55e-14 4.51e-01 -2.1 1.09e+00 -20.0 7.18e-01 2.84e-14h 46 91 2.0576227e-03 5.55e-14 5.81e-01 -2.1 1.52e+00 -20.0 1.00e+00 2.49e-14h 46 92 2.0576227e-03 5.55e-14 4.58e-01 -2.1 1.21e+00 -20.0 7.03e-01 2.84e-14h 46 93 2.0576227e-03 5.55e-14 5.78e-01 -2.1 1.51e+00 -20.0 1.00e+00 1.25e-14h 47 94 2.0576227e-03 5.55e-14 4.65e-01 -2.1 1.27e+00 -20.0 6.90e-01 2.75e-14h 46 95 2.0576227e-03 5.54e-14 5.75e-01 -2.1 1.50e+00 -20.0 1.00e+00 2.51e-14h 46 96 2.0576227e-03 5.55e-14 4.71e-01 -2.1 1.28e+00 -20.0 6.79e-01 1.36e-14h 47 97 2.0576227e-03 5.55e-14 5.73e-01 -2.1 1.50e+00 -20.0 1.00e+00 1.26e-14h 47 98 2.0576227e-03 5.55e-14 4.76e-01 -2.1 1.28e+00 -20.0 6.68e-01 1.36e-14h 47 99 2.0576227e-03 5.55e-14 5.70e-01 -2.1 1.49e+00 -20.0 1.00e+00 1.27e-14h 47 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0576227e-03 5.55e-14 4.80e-01 -2.1 1.28e+00 -20.0 6.59e-01 2.73e-14h 46 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0576227040355840e-03 2.0576227040355840e-03 Dual infeasibility......: 4.8005585055354416e-01 4.8005585055354416e-01 Constraint violation....: 5.5497273443450013e-14 5.5497273443450013e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3672388467999125e-01 1.3672388467999125e-01 Overall NLP error.......: 4.8005585055354416e-01 4.8005585055354416e-01 Number of objective function evaluations = 2898 Number of objective gradient evaluations = 100 Number of equality constraint evaluations = 2898 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 = 2.132 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.117s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.238s hessian structure: 30 nonzeros (0.238s) linear index maps built (0.0s) evaluator ready (total: 0.239s) evaluator created (0.551s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.208s) 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 (1.936s) optimizer initialization complete (total: 2.696s) 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 3.1009321e+00 4.56e-01 9.86e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8977507e+00 2.88e-09 1.42e-01 -0.4 3.71e-01 -2.0 9.99e-01 1.00e+00f 1 2 3.6379057e-01 1.92e-09 7.15e-01 -1.9 1.87e+00 -1.6 8.34e-01 1.00e+00f 1 3 1.9470793e-01 1.71e-10 1.17e-01 -2.3 4.63e-01 -1.1 1.00e+00 1.00e+00f 1 4 3.8072323e-02 2.93e-11 1.74e-01 -3.2 9.41e-01 -1.6 9.96e-01 1.00e+00f 1 5 6.5273243e-03 3.52e-11 6.18e-02 -4.0 5.95e-01 -2.1 1.00e+00 1.00e+00f 1 6 1.4671036e-03 9.44e-12 1.73e-02 -4.0 2.98e-01 -2.6 1.00e+00 1.00e+00f 1 7 6.3366299e-04 2.14e-12 5.09e-03 -4.0 1.31e-01 -3.1 1.00e+00 1.00e+00f 1 8 6.2360630e-04 4.88e-13 1.15e-03 -4.0 4.58e-02 -3.5 1.00e+00 1.00e+00f 1 9 6.5180519e-04 2.32e-13 8.38e-04 -4.0 4.03e-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 4.0399771e-04 1.56e-13 1.62e-03 -4.1 5.14e-02 -4.5 1.00e+00 1.00e+00f 1 11 8.9715346e-04 1.82e-13 2.80e-03 -4.0 8.42e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.7479366e-04 7.70e-14 2.27e-03 -4.1 1.33e-01 -5.4 1.00e+00 5.00e-01f 2 13 5.1967794e-04 9.54e-14 2.06e-04 -4.1 6.62e-03 -5.9 1.00e+00 1.00e+00f 1 14 2.3797150e-05 1.08e-13 4.19e-03 -6.2 1.98e-01 -6.4 9.89e-01 9.67e-01f 1 15 9.4900379e-04 6.35e-14 7.20e-03 -4.0 5.50e-01 -6.9 1.00e+00 5.00e-01f 2 16 5.3177061e-04 1.23e-13 2.33e-03 -4.2 4.31e-01 -7.4 1.00e+00 1.44e-01f 2 17 2.9163296e-04 1.30e-13 2.21e-03 -4.2 8.34e-02 -7.8 1.00e+00 1.00e+00f 1 18 4.6709438e-04 3.41e-13 1.12e-03 -4.2 3.86e-02 -8.3 1.00e+00 1.00e+00f 1 19 3.1674798e-04 1.12e-13 1.08e-03 -4.2 3.76e-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 4.4667442e-04 4.35e-14 8.47e-04 -4.2 3.00e-02 -9.3 1.00e+00 1.00e+00f 1 21 3.8073853e-04 4.82e-14 4.29e-04 -4.2 2.95e-02 -9.7 1.00e+00 5.00e-01f 2 22 2.2339168e-05 8.79e-14 3.32e-03 -6.3 1.66e-01 -10.2 9.91e-01 1.00e+00f 1 23 1.2900871e-03 3.63e-14 8.84e-03 -4.0 6.39e-01 -10.7 1.00e+00 5.00e-01f 2 24 8.8535108e-04 8.57e-14 1.75e-03 -4.2 5.97e-01 -11.2 1.00e+00 7.06e-02f 2 25 1.7534485e-04 2.03e-13 5.20e-03 -4.2 1.68e-01 -11.6 1.00e+00 1.00e+00f 1 26 5.4660908e-04 3.64e-13 2.69e-03 -4.2 9.77e-02 -12.1 1.00e+00 1.00e+00f 1 27 3.9835807e-04 2.00e-13 1.01e-03 -4.2 6.54e-02 -12.6 1.00e+00 5.00e-01f 2 28 4.2912144e-04 7.83e-14 2.12e-04 -4.2 1.41e-02 -13.1 1.00e+00 1.00e+00f 1 29 1.8246408e-05 6.93e-14 3.72e-03 -6.3 1.85e-01 -13.6 9.89e-01 9.84e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.2133942e-03 4.45e-14 8.83e-03 -4.0 6.38e-01 -14.0 1.00e+00 5.00e-01f 2 31 8.9647354e-04 8.26e-14 3.61e-03 -4.2 6.62e-01 -14.5 1.00e+00 4.95e-02f 2 32 1.3572001e-04 2.03e-13 5.54e-03 -4.2 1.87e-01 -15.0 1.00e+00 1.00e+00f 1 33 5.3425869e-04 4.16e-13 3.08e-03 -4.2 1.12e-01 -15.5 1.00e+00 1.00e+00f 1 34 3.7369440e-04 2.10e-13 1.12e-03 -4.2 7.37e-02 -15.9 1.00e+00 5.00e-01f 2 35 4.1301971e-04 6.98e-14 2.69e-04 -4.2 1.94e-02 -16.4 1.00e+00 1.00e+00f 1 36 1.7410454e-05 5.81e-14 3.65e-03 -6.3 1.85e-01 -16.9 9.89e-01 9.75e-01f 1 37 3.0852712e-04 5.43e-14 1.25e-01 -4.0 5.91e+00 -17.4 5.10e-01 8.43e-02f 2 38 1.8511549e-04 3.99e-14 1.10e-01 -4.5 3.77e-02 0.5 1.00e+00 2.61e-02f 2 39 1.2368641e-04 1.31e-13 4.54e-03 -4.5 5.61e-03 -0.0 1.00e+00 8.79e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0022985e-04 9.16e-13 2.05e-03 -4.5 6.18e-03 -0.5 1.00e+00 1.00e+00f 1 41 1.1572542e-04 4.59e-13 1.04e-03 -4.5 9.41e-03 -1.0 1.00e+00 1.00e+00f 1 42 1.4174545e-04 2.61e-13 5.64e-04 -4.5 1.53e-02 -1.4 1.00e+00 1.00e+00f 1 43 1.7831794e-04 1.75e-13 4.81e-04 -4.5 1.88e-02 -1.9 1.00e+00 1.00e+00f 1 44 2.0624261e-04 9.48e-14 1.14e-03 -4.5 4.12e-02 -2.4 1.00e+00 1.00e+00f 1 45 2.0199308e-04 4.89e-14 1.04e-02 -4.5 1.44e-01 -2.9 1.00e+00 1.00e+00f 1 46 2.0680732e-04 2.35e-14 2.97e-03 -4.5 7.70e-02 -2.4 1.00e+00 1.00e+00f 1 47 2.0602777e-04 1.87e-14 6.55e-03 -4.5 1.25e+00 -2.9 8.67e-02 2.44e-01f 3 48 2.1671063e-04 1.53e-14 1.14e-03 -4.5 6.96e-03 -0.7 1.00e+00 2.50e-01f 3 49 2.0929007e-04 2.21e-14 4.33e-04 -4.5 6.24e-03 -1.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0550463e-04 8.72e-15 4.05e-04 -4.5 1.86e-02 -1.6 1.00e+00 1.00e+00f 1 51 2.0239748e-04 1.26e-14 1.08e-03 -4.5 4.78e-02 -2.1 1.00e+00 1.00e+00f 1 52 1.9447177e-04 3.54e-14 8.49e-05 -4.5 1.28e-02 -2.6 1.00e+00 1.00e+00f 1 53 1.7977476e-05 6.04e-14 1.91e-03 -6.8 1.15e-01 -3.1 9.94e-01 1.00e+00f 1 54 6.6690255e-06 1.19e-14 2.95e-04 -6.8 3.11e-02 -3.5 1.00e+00 1.00e+00f 1 55 1.7518194e-03 1.76e-14 1.16e-02 -4.0 3.15e+00 -4.0 1.00e+00 1.25e-01f 4 56 1.5672879e-03 3.96e-13 6.43e-03 -4.0 5.35e-02 -0.9 1.00e+00 1.93e-01f 2 57 1.0904614e-03 1.08e-12 1.89e-03 -4.0 4.66e-02 -1.4 1.00e+00 1.00e+00f 1 58 8.6662694e-04 8.24e-13 1.63e-03 -4.0 4.06e-02 -1.8 1.00e+00 1.00e+00f 1 59 6.5976838e-04 6.49e-13 1.42e-03 -4.0 4.21e-02 -2.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 6.1781322e-04 3.95e-13 6.09e-04 -4.0 2.54e-02 -2.8 1.00e+00 1.00e+00f 1 61 4.3376962e-05 9.80e-14 4.52e-03 -6.0 1.87e-01 -3.3 9.90e-01 1.00e+00f 1 62 2.0347648e-05 3.68e-14 4.42e-04 -6.0 3.35e-02 -3.8 1.00e+00 1.00e+00f 1 63 5.8075312e-06 7.29e-15 3.79e-04 -6.0 3.97e-02 -4.2 1.00e+00 1.00e+00f 1 64 1.5951385e-03 2.84e-14 1.04e-02 -4.0 3.09e+00 -4.7 1.00e+00 1.25e-01f 4 65 1.3387162e-03 2.49e-14 1.64e-03 -4.1 6.66e-01 -5.2 1.00e+00 2.29e-02f 2 66 2.2435791e-04 2.18e-13 6.94e-03 -4.1 2.00e-01 -5.7 1.00e+00 1.00e+00f 1 67 7.2543842e-04 4.03e-13 3.32e-03 -4.1 1.10e-01 -6.1 1.00e+00 1.00e+00f 1 68 3.9464389e-04 1.04e-13 2.16e-03 -4.1 6.68e-02 -6.6 1.00e+00 1.00e+00f 1 69 7.0501283e-04 1.00e-13 1.83e-03 -4.1 5.74e-02 -7.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.4397222e-04 1.00e-13 9.19e-04 -4.1 5.51e-02 -7.6 1.00e+00 5.00e-01f 2 71 5.6737755e-04 4.61e-14 9.52e-05 -4.1 5.22e-03 -8.0 1.00e+00 1.00e+00f 1 72 2.5469338e-05 1.29e-13 4.42e-03 -6.1 1.99e-01 -8.5 9.89e-01 9.91e-01f 1 73 1.5330455e-05 6.28e-14 2.30e-04 -6.1 1.99e-02 -9.0 1.00e+00 1.00e+00f 1 74 4.3168646e-06 5.26e-15 3.25e-04 -6.1 3.78e-02 -9.5 1.00e+00 1.00e+00f 1 75 2.4692667e-03 2.55e-14 1.40e-02 -4.0 3.72e+00 -10.0 1.00e+00 1.25e-01f 4 76 2.1078207e-03 2.35e-14 4.22e-03 -4.0 1.30e+00 -10.4 1.00e+00 1.14e-02f 2 77 6.4967526e-04 2.66e-13 7.21e-03 -4.0 3.31e-01 -10.9 1.00e+00 5.00e-01f 2 78 5.6033718e-04 3.78e-13 9.43e-04 -4.0 3.81e-02 -11.4 1.00e+00 1.00e+00f 1 79 6.4295220e-04 2.50e-13 2.98e-04 -4.0 1.79e-02 -11.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.8031151e-05 7.90e-14 4.86e-03 -6.0 2.17e-01 -12.3 9.87e-01 9.58e-01f 1 81 1.6731436e-05 5.70e-14 2.54e-04 -6.0 2.11e-02 -12.8 1.00e+00 1.00e+00f 1 82 4.7453813e-06 6.26e-15 3.50e-04 -6.0 3.91e-02 -13.3 1.00e+00 1.00e+00f 1 83 6.0479532e-06 7.12e-15 2.47e-05 -6.0 3.26e-03 -13.8 1.00e+00 1.00e+00f 1 84 6.1116861e-06 3.43e-15 4.08e-05 -6.0 8.22e-03 -14.2 1.00e+00 1.00e+00f 1 85 5.5745976e-06 3.98e-15 1.98e-05 -6.0 5.62e-03 -14.7 1.00e+00 1.00e+00h 1 86 5.9772732e-06 1.40e-15 9.10e-06 -6.0 2.16e-03 -15.2 1.00e+00 1.00e+00h 1 87 5.5411724e-06 7.89e-16 1.23e-05 -6.0 1.76e-03 -15.7 1.00e+00 1.00e+00h 1 88 5.9269302e-06 1.54e-16 1.00e-05 -6.0 1.44e-03 -16.2 1.00e+00 1.00e+00h 1 89 5.5374469e-06 2.59e-16 1.05e-05 -6.0 1.50e-03 -16.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 5.9106701e-06 1.13e-16 9.87e-06 -6.0 1.42e-03 -17.1 1.00e+00 1.00e+00h 1 91 5.5429953e-06 1.04e-17 9.79e-06 -6.0 1.41e-03 -17.6 1.00e+00 1.00e+00H 1 92 5.9015291e-06 1.40e-16 9.52e-06 -6.0 1.37e-03 -18.1 1.00e+00 1.00e+00h 1 93 5.5500929e-06 1.17e-17 9.34e-06 -6.0 1.34e-03 -18.5 1.00e+00 1.00e+00H 1 94 5.8939247e-06 1.38e-16 9.13e-06 -6.0 1.31e-03 -19.0 1.00e+00 1.00e+00h 1 95 5.5572163e-06 1.44e-16 8.95e-06 -6.0 1.28e-03 -19.5 1.00e+00 1.00e+00h 1 96 2.7697533e-07 1.26e-15 2.00e-04 -9.0 4.15e-02 -20.0 9.97e-01 1.00e+00f 1 97 4.3415750e-03 2.75e-15 2.11e-02 -4.0 1.16e+01 -20.0 6.66e-01 5.39e-02f 5 98 3.4324217e-03 3.19e-14 1.50e-02 -4.1 6.32e+00 -20.0 1.00e+00 4.40e-03f 1 99 9.4591599e-04 5.49e-13 1.04e-02 -4.1 8.43e-01 -20.0 1.00e+00 2.41e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.5700653e-04 4.19e-13 5.40e-03 -4.1 1.64e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.5700653075407692e-04 2.5700653075407692e-04 Dual infeasibility......: 5.4031080482912141e-03 5.4031080482912141e-03 Constraint violation....: 4.1894439306577880e-13 4.1894439306577880e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.3040552939922523e-04 3.3040552939922523e-04 Overall NLP error.......: 5.4031080482912141e-03 5.4031080482912141e-03 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 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 = 2.583 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: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.351s) optimizer initialization complete (total: 0.457s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7918339e+00 3.10e+00 8.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5997517e+00 2.48e+00 2.25e+00 -0.6 1.97e+01 -2.0 1.28e-01 3.21e-01f 1 2 1.5730710e+00 2.25e+00 1.40e+00 -4.0 1.26e+01 -0.7 6.02e-02 9.49e-02h 1 3 1.6587069e+00 1.45e+00 1.39e+00 -4.0 4.61e+00 -1.1 1.22e-01 3.88e-01h 1 4 1.6826142e+00 1.11e+00 1.40e+00 -2.6 2.67e+00 -0.7 1.47e-01 2.30e-01h 1 5 1.6559869e+00 1.03e+00 1.79e+00 -1.1 2.55e+01 -1.2 9.25e-02 8.67e-02f 1 6 1.5168253e+00 8.54e-01 1.21e+00 -0.8 1.52e+01 -1.7 1.60e-01 1.74e-01f 1 7 1.5430380e+00 5.82e-01 7.91e-01 -2.1 2.07e+00 -1.3 4.52e-01 3.36e-01h 1 8 1.6455716e+00 3.21e-01 6.84e-01 -1.4 1.67e+00 -0.8 9.07e-01 4.53e-01h 1 9 1.5689380e+00 1.05e+00 1.27e+00 -4.0 7.55e+00 -1.3 2.83e-01 5.35e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5222026e+00 2.30e-01 6.46e-01 -2.0 1.26e+00 -1.8 5.32e-01 7.99e-01h 1 11 1.5128697e+00 7.11e-02 2.88e-01 -1.8 1.64e+00 -2.3 9.33e-01 6.87e-01f 1 12 1.3718084e+00 9.97e-02 7.62e-02 -2.6 4.75e+00 -2.7 9.03e-01 1.00e+00h 1 13 1.3211346e+00 8.83e-02 3.52e-02 -2.7 5.55e-01 -1.4 9.97e-01 1.00e+00h 1 14 1.2966493e+00 2.35e-01 1.25e-01 -4.0 1.73e+01 -1.9 8.12e-02 6.08e-02h 1 15 1.2820542e+00 2.99e-02 1.21e-02 -3.2 2.42e-01 -1.5 7.77e-01 8.70e-01h 1 16 1.2698390e+00 1.01e-02 4.87e-03 -3.8 3.54e-01 -1.9 9.98e-01 1.00e+00h 1 17 1.2668547e+00 9.65e-03 5.62e-03 -4.0 5.19e-01 -2.4 1.00e+00 1.00e+00h 1 18 1.2662266e+00 7.60e-03 4.08e-03 -4.0 5.53e-01 -2.9 1.00e+00 8.71e-01h 1 19 1.2659281e+00 5.22e-03 1.68e-03 -4.0 3.69e-01 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2662267e+00 6.07e-04 1.98e-04 -4.0 1.74e-01 -3.8 1.00e+00 1.00e+00h 1 21 1.2662579e+00 1.53e-05 4.58e-06 -4.0 2.52e-02 -4.3 1.00e+00 1.00e+00h 1 22 1.2662587e+00 2.80e-08 1.77e-08 -4.0 1.09e-03 -4.8 1.00e+00 1.00e+00h 1 23 1.2662587e+00 4.38e-12 6.93e-11 -4.0 1.30e-05 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.2662587174897237e+00 1.2662587174897237e+00 Dual infeasibility......: 6.9276549828342424e-11 6.9276549828342424e-11 Constraint violation....: 4.3753889400477419e-12 4.3753889400477419e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000520e-04 1.0000000000000520e-04 Overall NLP error.......: 6.9276549828342424e-11 6.9276549828342424e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.492 EXIT: Optimal Solution Found. 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 (0.161s) integrator 1 hessian structure: 0.055s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.1s sub-objective 2 (QuadraticRegularizer): 0.065s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.046s objective hessian structure: 0.333s hessian structure: 375 nonzeros (0.389s) linear index maps built (0.0s) evaluator ready (total: 0.757s) evaluator created (1.086s) NL constraint bounds extracted (0.047s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.109s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.787s) optimizer initialization complete (total: 3.031s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.2708236e+00 7.96e-01 1.62e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7182200e+00 1.62e-01 2.43e+00 -0.7 7.13e-01 0.0 8.66e-01 1.00e+00h 1 2 2.6574601e+00 5.20e-02 2.26e+00 -4.0 2.42e+00 - 3.28e-01 9.12e-01f 1 3 2.2759076e+00 4.98e-03 1.42e+00 -1.3 2.02e-01 0.4 4.37e-01 1.00e+00f 1 4 1.6098115e+00 2.47e-04 1.29e+00 -1.7 1.81e-01 0.9 1.00e+00 1.00e+00f 1 5 1.4630555e+00 1.77e-04 6.09e-01 -1.4 2.93e-01 0.4 1.00e+00 2.86e-01h 1 6 1.1960348e+00 3.99e-05 3.58e-01 -4.0 1.77e+00 - 2.50e-01 7.64e-01f 1 7 1.1264954e+00 2.32e-07 2.66e-02 -3.3 3.47e-02 -0.1 9.89e-01 1.00e+00f 1 8 1.1068971e+00 1.81e-10 5.74e-02 -4.0 9.17e-01 - 4.79e-01 1.00e+00f 1 9 1.1055546e+00 1.22e-15 1.08e-02 -4.0 3.99e-02 -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 10 1.1047679e+00 1.84e-23 3.33e-03 -4.0 8.62e-02 -1.1 1.00e+00 1.00e+00f 1 11 1.1047181e+00 4.04e-27 1.61e-03 -4.0 6.10e-02 - 1.00e+00 1.00e+00f 1 12 1.1047063e+00 8.88e-16 2.37e-04 -4.0 7.30e-03 -1.5 1.00e+00 1.00e+00f 1 13 1.1046949e+00 8.88e-16 2.18e-04 -4.0 2.21e-02 -2.0 1.00e+00 1.00e+00f 1 14 1.1044944e+00 8.88e-16 4.01e-03 -4.0 1.39e-01 -2.5 1.00e+00 1.00e+00f 1 15 1.1044756e+00 8.88e-16 1.33e-03 -4.0 2.71e-02 -1.2 1.00e+00 1.00e+00f 1 16 1.1043318e+00 1.37e-33 3.37e-03 -4.0 8.44e-02 -1.6 1.00e+00 3.42e-01f 2 17 1.1041511e+00 2.50e-31 4.77e-02 -4.0 4.56e-01 - 1.00e+00 9.47e-02f 2 18 1.1038370e+00 3.65e-30 1.16e-02 -4.0 1.52e-01 - 1.00e+00 1.00e+00f 1 19 1.1036685e+00 3.33e-30 1.58e-01 -4.0 5.59e-01 - 1.00e+00 9.13e-02f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1036077e+00 8.88e-16 1.91e-03 -4.0 6.18e-02 - 1.00e+00 1.00e+00f 1 21 1.1034779e+00 8.88e-16 1.00e-03 -4.0 4.47e-02 - 1.00e+00 1.00e+00f 1 22 1.1035058e+00 8.88e-16 1.40e-05 -4.0 5.30e-03 - 1.00e+00 1.00e+00f 1 23 1.1033030e+00 8.88e-16 2.81e-05 -4.1 7.50e-03 - 1.00e+00 1.00e+00f 1 24 1.1035055e+00 6.93e-29 2.73e-05 -4.0 7.38e-03 - 1.00e+00 1.00e+00f 1 25 1.1033029e+00 8.88e-16 2.73e-05 -4.1 7.39e-03 - 1.00e+00 1.00e+00f 1 26 1.1035055e+00 8.88e-16 2.73e-05 -4.0 7.39e-03 - 1.00e+00 1.00e+00f 1 27 1.1033029e+00 1.41e-29 2.73e-05 -4.1 7.39e-03 - 1.00e+00 1.00e+00f 1 28 1.1025783e+00 8.88e-16 1.01e-03 -6.1 2.86e-02 - 1.00e+00 9.00e-01f 1 29 1.1034943e+00 8.88e-16 4.64e-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 30 1.1032989e+00 8.88e-16 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 31 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 32 1.1034943e+00 5.74e-29 4.65e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 33 1.1032989e+00 3.18e-29 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 34 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 35 1.1025070e+00 4.07e-30 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 36 1.1034948e+00 1.73e-28 5.06e-04 -4.0 3.18e-02 - 1.00e+00 1.00e+00f 1 37 1.1032990e+00 7.11e-29 1.28e-05 -4.1 5.05e-03 - 1.00e+00 1.00e+00f 1 38 1.1025776e+00 1.20e-28 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 39 1.1025070e+00 1.73e-29 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1024999e+00 8.90e-33 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 41 1.1034946e+00 8.88e-16 5.12e-04 -4.0 3.20e-02 - 1.00e+00 1.00e+00f 1 42 1.1032990e+00 1.78e-15 1.26e-05 -4.1 5.02e-03 - 1.00e+00 1.00e+00f 1 43 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 44 1.1025070e+00 8.88e-16 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 45 1.1024999e+00 1.65e-30 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 46 1.1024999e+00 1.15e-35 6.26e-15 -9.0 1.12e-07 - 1.00e+00 1.00e+00f 1 47 1.1024999e+00 1.78e-15 2.11e-16 -9.0 4.54e-15 - 1.00e+00 1.00e+00h 1 48 1.1024999e+00 8.88e-16 3.12e-16 -9.0 1.86e-16 - 1.00e+00 1.00e+00 0 49 1.1024999e+00 3.21e-43 3.12e-16 -9.0 9.84e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 1.1024999065909094e+00 1.1024999065909094e+00 Dual infeasibility......: 3.1200628018701604e-16 3.1200628018701604e-16 Constraint violation....: 3.2124050191874714e-43 3.2124050191874714e-43 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 = 55 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 55 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 = 50 Total seconds in IPOPT = 16.388 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... [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 39 running 1 of 1 signal (10): User defined signal 1 _ZSt16__insertion_sortIPPN4llvm7jitlink6SymbolEN9__gnu_cxx5__ops15_Iter_comp_iterIZNS1_9LinkGraph14splitBlockImplESt6vectorIPNS1_5BlockESaISB_EEPSt8optionalINS0_11SmallVectorIS3_Lj8EEEEEUlPKS2_SK_E_EEEvT_SN_T0_.constprop.0 at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink9LinkGraph14splitBlockImplESt6vectorIPNS0_5BlockESaIS4_EEPSt8optionalINS_11SmallVectorIPNS0_6SymbolELj8EEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink9LinkGraph10splitBlockIRSt6vectorIjSaIjEEEES3_IPNS0_5BlockESaIS8_EERS7_OT_PSt8optionalINS_11SmallVectorIPNS0_6SymbolELj8EEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink26DWARFRecordSectionSplitter12processBlockERNS0_9LinkGraphERNS0_5BlockERSt8optionalINS_11SmallVectorIPNS0_6SymbolELj8EEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink26DWARFRecordSectionSplitterclERNS0_9LinkGraphE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm6detail18UniqueFunctionBaseINS_5ErrorEJRNS_7jitlink9LinkGraphEEE8CallImplINS3_26DWARFRecordSectionSplitterEEES2_PvS5_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink13JITLinkerBase9runPassesERSt6vectorINS_15unique_functionIFNS_5ErrorERNS0_9LinkGraphEEEESaIS8_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink13JITLinkerBase10linkPhase1ESt10unique_ptrIS1_St14default_deleteIS1_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink15link_ELF_x86_64ESt10unique_ptrINS0_9LinkGraphESt14default_deleteIS2_EES1_INS0_14JITLinkContextES3_IS6_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink8link_ELFESt10unique_ptrINS0_9LinkGraphESt14default_deleteIS2_EES1_INS0_14JITLinkContextES3_IS6_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm7jitlink4linkESt10unique_ptrINS0_9LinkGraphESt14default_deleteIS2_EES1_INS0_14JITLinkContextES3_IS6_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm3orc21LinkGraphLinkingLayer4emitESt10unique_ptrINS0_29MaterializationResponsibilityESt14default_deleteIS3_EES2_INS_7jitlink9LinkGraphES4_IS8_EES2_INS_12MemoryBufferES4_ISB_EE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) materialize at /source/src/jitlayers.cpp:1102:16 _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 jl_apply at /source/src/julia.h:2535:12 [inlined] jl_f__call_in_world_total at /source/src/builtins.c:1092:15 _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:2535:12 [inlined] jl_f__apply_iterate at /source/src/builtins.c:1041:26 #_concrete_eval_call#172 at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:1146:0 (pc: 194) _concrete_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:1133:0 [inlined] concrete_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:1129:0 (pc: 83) abstract_call_method_with_const_args at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:961:0 (pc: 133) abstract_call_method_with_const_args at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:954:0 [inlined] handle1 at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:205:0 (pc: 138) jfptr_handle1_3.1 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 doworkloop at ./../usr/share/julia/Compiler/src/inferencestate.jl:1561:0 (pc: 94) jfptr_doworkloop_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 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:5091:0 (pc: 173) typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1795:0 (pc: 106) typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:2074:0 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:2083:0 (pc: 16) jfptr_typeinf_ext_toplevel_5.1 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:2535:12 [inlined] jl_type_infer at /source/src/gf.c:482:35 jl_compile_method_very_internal at /source/src/gf.c:4082:20 _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: 0x71da3da7f78e) 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: 0x71da3da7e038) 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: 0x71da3d9fcfcd) 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:2535:12 [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:3291:0 (pc: 140) include_string at ./loading.jl:3301:0 (pc: 1) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #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: 0x71db147b537c) 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: 0x71db147af7b0) 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: 0x71db147ad862) 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:2535:12 [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:3291:0 (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:3353:0 (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:2535:12 [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:2535:12 [inlined] true_main at /source/src/jlapi.c:990:29 jl_repl_entrypoint at /source/src/jlapi.c:1157:15 main at /source/cli/loader_exe.c:117:15 unknown function (ip: 0x71db32bdf249) 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:2535:12 [inlined] start_task at /source/src/task.c:1280:23 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 0x0000746c8537ed10 Total snapshots: 367. Utilization: 0% ╎367 @Base/task.jl:1528 wait_forever() 366╎ 367 @Base/task.jl:? wait() [39] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:245 _ZN4llvm19SmallPtrSetImplBase14insert_imp_bigEPKv at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm15SmallPtrSetImplIPNS_11InstructionEE6insertES2_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier16visitInstructionERN4llvm11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier22visitGetElementPtrInstERN4llvm17GetElementPtrInstE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN12_GLOBAL__N_18Verifier6verifyERKN4llvm8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm14verifyFunctionERKNS_8FunctionEPNS_11raw_ostreamE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) verifyLLVMIR at /source/src/pipeline.cpp:1134:23 runOnLoop at /source/src/llvm-julia-licm.cpp:361:9 run at /source/src/llvm-julia-licm.cpp:386:28 run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE13runSinglePassIS1_St10unique_ptrINS_6detail11PassConceptIS1_S5_JS4_S7_EEESt14default_deleteISD_EEEESt8optionalINS_17PreservedAnalysesEERT_RT0_RS5_S4_S7_RNS_19PassInstrumentationE.isra.0 at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE24runWithoutLoopNestPassesERS1_RS5_S4_S7_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) _ZN4llvm11PassManagerINS_4LoopENS_15AnalysisManagerIS1_JRNS_27LoopStandardAnalysisResultsEEEEJS4_RNS_10LPMUpdaterEEE3runERS1_RS5_S4_S7_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm25FunctionToLoopPassAdaptor3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.22.1jl (unknown line) run at /source/src/pipeline.cpp:990:12 operator() at /source/src/jitlayers.cpp:1461:17 operator() at /source/src/jitlayers.cpp:1599:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2689:18 operator() at /source/src/jitlayers.cpp:1051:35 [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: 0x71da3da7f78e) 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: 0x71da3da7e038) 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: 0x71da3d9fcfcd) 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:2535:12 [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:3291:0 (pc: 140) include_string at ./loading.jl:3301:0 (pc: 1) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 #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: 0x71db147b537c) 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: 0x71db147af7b0) 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: 0x71db147ad862) 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:2535:12 [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:3291:0 (pc: 140) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 PkgEval terminated after 2727.92s: test duration exceeded the time limit