Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.3141 (fbd24f51d0*) started at 2026-09-09T02:37:41.574 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 15.0s ################################################################################ # 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 v7.20.1 [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 v1.16.0 [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 v2.49.4 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.17.0 [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 v0.5.26 [0bca4576] + SciMLBase v3.53.1 [19f34311] + SciMLJacobianOperators v0.1.19 [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 v8.22.0+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 5.59s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/sTG3E/src/julia-1.13/activate_set.jl:78 Precompiling package dependencies... Precompiling project... WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. Stacktrace: [1] top-level scope @ ~/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 [2] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [3] top-level scope @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 [4] include(mapexpr::Function, mod::Module, _path::String) @ Base Base.jl:335 [5] top-level scope @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 [6] include(mod::Module, _path::String) @ Base Base.jl:334 [7] top-level scope @ stdin:5 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 19.5 s ✓ MadNLP → MadNLPMOI 48.3 s ✓ Ipopt → IpoptMathOptInterfaceExt 30.0 s ✓ DirectTrajOpt 34.4 s ✓ DirectTrajOpt → MadNLPSolverExt 4 dependencies successfully precompiled in 155 seconds. 226 already precompiled. 1 dependency had output during precompilation: ┌ JET │ WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. │ WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. │ ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` │ Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. │ Stacktrace: │ [1] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 │ [2] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [3] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ [4] include(mapexpr::Function, mod::Module, _path::String) │ @ Base Base.jl:335 │ [5] top-level scope │ @ ~/.julia/packages/JET/wP86V/src/JET.jl:43 │ [6] include(mod::Module, _path::String) │ @ Base Base.jl:334 │ [7] top-level scope │ @ stdin:5 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/abstractinterpret/typeinfer.jl:239 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JETBase.jl:320 │ in expression starting at /home/pkgeval/.julia/packages/JET/wP86V/src/JET.jl:1 │ in expression starting at stdin:5 └ ERROR: LoadError: The following 1 package failed to precompile: JET Failed to precompile JET [c3a54625-cd67-489e-a8e7-0a5a0ff4e31b] to "/home/pkgeval/.julia/compiled/v1.14/JET/jl_aWWzhq" (ProcessExited(1)). in expression starting at /PkgEval.jl/scripts/precompile.jl:34 Precompilation failed after 181.7s ################################################################################ # 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_iwKc3X/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_iwKc3X/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 v2.49.4 ⇒ 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_iwKc3X/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 v1.16.0 ⌅ [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 v3.53.1 [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_iwKc3X/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 v7.20.1 [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 v1.16.0 [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 v4.17.0 [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 v0.5.26 [0bca4576] SciMLBase v3.53.1 [19f34311] SciMLJacobianOperators v0.1.19 [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 v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.14.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [3fa0cd96] REPL v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.13.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.5.7+0 [deac9b47] LibCURL_jll v8.22.0+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. 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 2.7334129e+00 3.11e+00 1.24e+00 9.19e-01 -1.0 - 0.00e+00 1 0 1 2.7334125e+00 3.11e+00 8.30e-04 1.87e-05 -1.0 0.0 1.00e-07 1 2h 2 3.2980209e+00 2.54e-01 1.16e-03 1.65e-05 -1.0 -0.5 1.00e+00 1 1h 3 2.9612550e+00 1.55e-01 7.20e-04 1.60e-05 -1.7 -0.1 4.43e-01 1 1h 4 2.4561413e+00 3.72e-02 5.83e-04 1.61e-05 -2.5 -0.5 9.01e-01 1 1h 5 2.2039730e+00 1.92e-02 5.76e-04 1.48e-05 -2.5 -1.0 4.88e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.2039730449847372e+00 2.2039730449847372e+00 Dual infeasibility......: 5.7562257323194566e-04 5.7562257323194566e-04 Constraint violation....: 1.9160998566034794e-02 1.9160998566034794e-02 Complementarity.........: 1.4817337027406221e-05 1.4817337027406221e-05 Overall NLP error.......: 1.9160998566034794e-02 1.9160998566034794e-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 = 19.742 s Total wall secs in linear solver = 0.030 s Total wall secs in NLP function evaluations = 32.530 s Total wall secs in solver (w/o init./fun./lin. alg.) = 59.644 s Total wall secs = 111.946 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 3.2796615e+00 3.25e+00 8.84e-01 9.86e-01 -1.0 - 0.00e+00 1 0 1 3.2796612e+00 3.25e+00 1.83e-03 3.54e-04 -1.0 0.0 1.00e-07 1 2h 2 2.6222784e+00 2.13e+00 4.00e-03 2.14e-04 -1.0 -0.5 3.45e-01 1 1h 3 2.3725060e+00 7.60e-01 1.56e-03 1.09e-04 -1.0 -1.0 6.43e-01 1 1h 4 2.1671306e+00 3.18e-01 7.37e-04 5.40e-05 -1.7 -0.5 5.94e-01 1 1h 5 2.2010565e+00 1.60e-02 2.08e-04 7.29e-06 -1.7 -1.0 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.2010564540908986e+00 2.2010564540908986e+00 Dual infeasibility......: 2.0802791598037971e-04 2.0802791598037971e-04 Constraint violation....: 1.6007742710373748e-02 1.6007742710373748e-02 Complementarity.........: 7.2915786802040743e-06 7.2915786802040743e-06 Overall NLP error.......: 1.6007742710373748e-02 1.6007742710373748e-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 = 0.005 s Total wall secs in NLP function evaluations = 17.712 s Total wall secs in solver (w/o init./fun./lin. alg.) = 21.882 s Total wall secs = 39.600 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 4.3598891e+00 2.70e+00 2.65e+00 9.86e-01 -1.0 - 0.00e+00 1 0 1 4.3598886e+00 2.70e+00 1.11e-03 5.74e-05 -1.0 0.0 1.00e-07 1 2h 2 2.5213104e+00 4.83e-01 5.70e-04 3.13e-05 -1.0 -0.5 8.22e-01 1 1h 3 2.3196843e+00 4.60e-02 2.87e-04 2.26e-05 -1.7 -1.0 9.77e-01 1 1h 4 2.1540172e+00 3.76e-03 2.50e-04 2.20e-05 -2.5 -1.4 9.35e-01 1 1h 5 2.1015109e+00 7.24e-04 3.49e-03 3.70e-05 -3.8 -1.9 8.56e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1015108762601344e+00 2.1015108762601344e+00 Dual infeasibility......: 3.4862513591776643e-03 3.4862513591776643e-03 Constraint violation....: 7.2398770550652358e-04 7.2398770550652358e-04 Complementarity.........: 3.7026324026557018e-05 3.7026324026557018e-05 Overall NLP error.......: 3.4862513591776643e-03 3.4862513591776643e-03 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 16.981 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.816 s Total wall secs = 25.803 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 3.6229894e+00 3.13e+00 4.76e+00 9.71e-01 -1.0 - 0.00e+00 0 0 1 3.6229889e+00 3.13e+00 4.07e-04 4.23e-05 -1.0 -2.0 2.00e-07 1 1h 2 3.1616447e+00 2.11e+00 1.33e-04 9.70e-06 -1.0 -0.7 3.27e-01 1 1h 3 2.8166801e+00 2.85e-01 2.56e-05 3.12e-06 -1.0 -1.1 8.72e-01 1 1h 4 2.4908423e+00 1.56e-01 1.50e-05 3.11e-06 -1.7 -1.6 4.76e-01 1 1h 5 2.1596180e+00 7.80e-02 1.46e-05 3.54e-06 -2.5 -2.1 6.99e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1596180334785746e+00 2.1596180334785746e+00 Dual infeasibility......: 1.4599531351043313e-05 1.4599531351043313e-05 Constraint violation....: 7.7988340776757925e-02 7.7988340776757925e-02 Complementarity.........: 3.5389335248837080e-06 3.5389335248837080e-06 Overall NLP error.......: 7.7988340776757925e-02 7.7988340776757925e-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 = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 5 Total wall secs in initialization = 13.717 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 18.249 s Total wall secs in solver (w/o init./fun./lin. alg.) = 32.853 s Total wall secs = 64.822 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 5.7139188e+00 3.64e+00 2.94e+00 9.75e-01 -1.0 - 0.00e+00 1 0 1 5.7139182e+00 3.64e+00 2.58e-03 7.49e-05 -1.0 0.0 1.00e-07 1 2h 2 3.9896251e+00 2.01e+00 1.61e-03 4.08e-05 -1.0 -0.5 4.47e-01 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 4.0322348e+00 2.21e+00 5.69e-01 9.76e-01 -1.0 - 0.00e+00 1 0 1 2.6134281e+00 7.45e-01 3.31e+00 2.83e-01 -1.0 0.0 6.69e-01 1 1h 2 2.2995118e+00 1.94e-01 2.47e+00 1.87e-01 -1.0 -0.5 7.42e-01 2 1h 3 3.3909661e+00 1.73e-01 2.88e+00 3.01e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.6782599e+00 6.07e-02 7.92e-01 1.53e-01 -1.0 -0.5 7.59e-01 1 1h 5 2.3570302e+00 4.99e-02 5.90e-01 6.30e-02 -1.7 -1.0 1.00e+00 2 1h 6 2.2921877e+00 1.69e-02 2.56e-01 2.73e-02 -1.7 -1.5 1.00e+00 2 1h 7 2.2565779e+00 3.79e-04 1.38e-02 2.03e-02 -1.7 -2.0 1.00e+00 2 1h 8 2.1040444e+00 4.59e-03 2.05e-02 2.76e-03 -3.8 -2.4 1.00e+00 2 1h 9 2.0913936e+00 2.31e-04 1.51e-03 1.58e-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 2.0915148e+00 9.96e-06 1.33e-04 1.50e-04 -3.8 -3.4 1.00e+00 2 1h 11 2.0901238e+00 3.72e-05 3.35e-04 7.08e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0900831e+00 2.27e-05 2.41e-03 3.80e-06 -5.7 -4.3 6.28e-01 2 1h 13 2.0900129e+00 2.36e-04 2.36e-03 2.01e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0900013e+00 1.78e-04 1.85e-03 2.48e-05 -5.7 -4.4 2.54e-01 1 1h 15 2.0899637e+00 1.24e-04 9.21e-04 8.47e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0899492e+00 1.82e-05 1.24e-04 1.85e-06 -5.7 -3.5 8.53e-01 1 1h 17 2.0899465e+00 1.04e-07 2.81e-05 2.75e-06 -5.7 -4.0 1.00e+00 2 1h 18 2.0899326e+00 4.32e-07 6.19e-05 1.84e-06 -5.7 -4.5 1.00e+00 2 1h 19 2.0899200e+00 7.06e-07 1.67e-04 2.29e-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 2.0899089e+00 5.82e-07 1.58e-04 1.84e-06 -5.7 -5.5 1.00e+00 2 1h 21 2.0899008e+00 3.06e-07 2.28e-04 1.85e-06 -5.7 -5.9 1.00e+00 2 1h 22 2.0899014e+00 4.98e-08 1.09e-03 5.74e-05 -5.7 -3.7 8.52e-01 1 1h 23 2.0899011e+00 4.70e-10 4.78e-05 1.54e-05 -5.7 -4.2 1.00e+00 2 1h 24 2.0899008e+00 2.19e-09 2.33e-06 2.02e-06 -5.7 -4.7 1.00e+00 2 1h 25 2.0898834e+00 4.50e-07 1.54e-05 4.94e-08 -8.6 -5.1 1.00e+00 1 1h 26 2.0898822e+00 4.76e-08 4.43e-05 8.48e-09 -8.6 -5.6 1.00e+00 1 1h 27 2.0898819e+00 4.11e-09 3.88e-06 2.86e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898813e+00 1.58e-08 1.52e-05 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 29 2.0898806e+00 2.70e-08 2.96e-05 2.51e-09 -8.6 -6.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 1.91e-08 2.38e-05 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898800e+00 5.57e-09 6.48e-06 2.51e-09 -8.6 -7.1 1.00e+00 1 1h 32 2.0898800e+00 3.50e-10 3.42e-07 2.51e-09 -8.6 -7.6 1.00e+00 1 1h 33 2.0898800e+00 2.83e-12 2.32e-09 2.51e-09 -8.6 -8.0 1.00e+00 1 1h Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 2.0898800325024522e+00 2.0898800325024522e+00 Dual infeasibility......: 2.3193184820607948e-09 2.3193184820607948e-09 Constraint violation....: 2.8302915566769116e-12 2.8302915566769116e-12 Complementarity.........: 2.5059035603806618e-09 2.5059035603806618e-09 Overall NLP error.......: 2.5059035603806618e-09 2.5059035603806618e-09 Number of objective function evaluations = 34 Number of objective gradient evaluations = 34 Number of constraint evaluations = 34 Number of constraint Jacobian evaluations = 34 Number of Lagrangian Hessian evaluations = 33 Number of KKT factorizations = 77 Number of KKT backsolves = 53 Total wall secs in initialization = 2.908 s Total wall secs in linear solver = 0.031 s Total wall secs in NLP function evaluations = 17.664 s Total wall secs in solver (w/o init./fun./lin. alg.) = 28.744 s Total wall secs = 49.347 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.1725545e+00 2.85e+00 1.15e+00 9.41e-01 -1.0 - 0.00e+00 1 0 1 2.7252195e+00 5.13e-02 1.78e+00 5.73e-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 2.7437060e+00 2.03e-02 2.57e-01 1.17e-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 2.3790314e+00 6.16e-03 2.29e-01 3.76e-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 2.2605580e+00 1.44e-03 5.29e-02 2.04e-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 5 2.1202329e+00 8.98e-04 4.33e-02 4.13e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1202329225973267e+00 2.1202329225973267e+00 Dual infeasibility......: 4.3336465735350833e-02 4.3336465735350833e-02 Constraint violation....: 8.9832212894314957e-04 8.9832212894314957e-04 Complementarity.........: 4.1344204112441713e-03 4.1344204112441713e-03 Overall NLP error.......: 4.3336465735350833e-02 4.3336465735350833e-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 = 0.480 s Total wall secs in linear solver = 0.005 s Total wall secs in NLP function evaluations = 0.035 s Total wall secs in solver (w/o init./fun./lin. alg.) = 31.455 s Total wall secs = 31.975 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 4.0626709e+00 3.46e+00 1.54e+00 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.7463650e+00 6.54e-02 1.32e+00 2.24e-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 2.7542063e+00 2.92e-02 1.97e-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 2.3204955e+00 1.14e-02 1.80e-01 2.96e-02 -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 4 2.1141173e+00 6.54e-03 1.31e-01 3.97e-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 2.1152839e+00 1.66e-03 1.30e-02 2.89e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1152838707891597e+00 2.1152838707891597e+00 Dual infeasibility......: 1.2982202154398676e-02 1.2982202154398676e-02 Constraint violation....: 1.6599654273207198e-03 1.6599654273207198e-03 Complementarity.........: 2.8904752690271603e-03 2.8904752690271603e-03 Overall NLP error.......: 1.2982202154398676e-02 1.2982202154398676e-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 = 0.004 s Total wall secs in NLP function evaluations = 0.032 s Total wall secs in solver (w/o init./fun./lin. alg.) = 7.953 s Total wall secs = 7.991 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 5.1088819e+00 3.13e+00 1.49e+00 9.79e-01 -1.0 - 0.00e+00 1 0 1 2.6277075e+00 8.26e-02 3.09e+00 1.47e-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 2.5992392e+00 5.29e-02 2.28e-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 2.4207122e+00 1.07e-02 6.45e-02 3.54e-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 2.1431774e+00 1.21e-02 1.16e-01 6.31e-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 2.1110816e+00 2.11e-03 1.40e-02 2.95e-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 2.0915333e+00 1.69e-05 4.89e-03 1.97e-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 2.0913971e+00 3.10e-07 1.88e-03 1.55e-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 2.0913959e+00 1.51e-08 2.54e-03 1.50e-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 9 2.0913917e+00 2.89e-08 1.97e-04 1.50e-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 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899860e+00 7.19e-05 1.39e-03 2.88e-06 -5.7 - 1.00e+00 1 1h Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0899859610594693e+00 2.0899859610594693e+00 Dual infeasibility......: 1.3908567496847780e-03 1.3908567496847780e-03 Constraint violation....: 7.1895491065232520e-05 7.1895491065232520e-05 Complementarity.........: 2.8759767973253988e-06 2.8759767973253988e-06 Overall NLP error.......: 1.3908567496847780e-03 1.3908567496847780e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of constraint evaluations = 11 Number of constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 0 Number of KKT factorizations = 11 Number of KKT backsolves = 11 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.008 s Total wall secs in NLP function evaluations = 0.046 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.046 s Total wall secs = 8.101 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 1.7058770e+01 2.06e+00 4.81e+00 1.85e+00 -1.0 - 0.00e+00 1 0 1 4.7592180e+00 3.70e-01 4.84e+00 6.97e-01 -1.0 0.0 9.24e-01 1 1h 2 3.5314629e+00 1.27e-01 2.48e+00 4.34e-01 -1.0 0.4 7.29e-01 1 1h 3 2.8460254e+00 1.64e-02 2.50e+00 1.30e-01 -1.0 -0.1 1.00e+00 2 1h 4 2.7760104e+00 3.49e-03 7.66e-02 1.25e-01 -1.0 -0.5 1.00e+00 2 1h 5 2.3677377e+00 2.79e-02 5.27e-02 4.13e-02 -2.5 -1.0 7.89e-01 2 1h 6 2.1665693e+00 5.17e-03 7.28e-02 1.07e-02 -2.5 -1.5 1.00e+00 2 1h 7 2.1088434e+00 9.33e-04 2.52e-02 2.91e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0917440e+00 4.41e-04 1.31e-02 2.14e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0913840e+00 2.36e-06 8.73e-05 1.57e-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 2.0900189e+00 1.11e-05 3.84e-04 4.13e-05 -5.7 -3.4 1.00e+00 2 1h 11 2.0899678e+00 3.08e-06 8.19e-04 2.47e-06 -5.7 -3.9 8.76e-01 2 1h 12 2.0899550e+00 2.26e-05 3.86e-05 2.28e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0899325e+00 4.38e-05 2.34e-04 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 14 2.0899156e+00 2.25e-05 3.18e-04 1.84e-06 -5.7 -5.3 1.00e+00 2 1h 15 2.0899042e+00 3.51e-06 2.64e-04 1.84e-06 -5.7 -5.8 1.00e+00 2 1h 16 2.0899064e+00 2.07e-09 6.91e-05 3.30e-06 -5.7 -4.4 1.00e+00 1 1h 17 2.0899043e+00 8.47e-09 7.13e-05 1.84e-06 -5.7 -4.9 1.00e+00 2 1h 18 2.0899040e+00 8.12e-10 1.47e-05 1.84e-06 -5.7 -4.5 1.00e+00 1 1h 19 2.0898939e+00 9.29e-08 8.48e-04 9.95e-07 -8.6 -5.0 4.61e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898835e+00 3.88e-07 5.82e-05 3.13e-09 -8.6 -5.5 1.00e+00 1 1h 21 2.0898818e+00 5.49e-08 4.55e-05 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 22 2.0898804e+00 1.09e-07 9.93e-05 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 23 2.0898807e+00 5.02e-12 1.49e-05 6.73e-07 -8.6 -3.3 1.00e+00 1 1h 24 2.0898806e+00 1.77e-11 1.46e-06 1.41e-07 -8.6 -3.7 1.00e+00 2 1h 25 2.0898804e+00 9.02e-12 1.22e-05 2.51e-09 -8.6 -4.2 9.80e-01 1 1h 26 2.0898804e+00 5.17e-11 4.19e-07 2.82e-09 -8.6 -4.7 1.00e+00 1 1h 27 2.0898804e+00 3.47e-10 3.93e-07 2.51e-09 -8.6 -5.2 1.00e+00 1 1h 28 2.0898803e+00 2.12e-09 1.39e-06 2.51e-09 -8.6 -5.7 1.00e+00 2 1h 29 2.0898801e+00 9.01e-09 4.78e-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 1.43e-08 4.62e-05 2.51e-09 -8.6 -6.6 1.00e+00 1 1h 31 2.0898801e+00 1.07e-08 1.87e-04 1.03e-07 -8.6 -6.2 2.53e-01 1 2h 32 2.0898801e+00 4.05e-09 2.70e-04 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 33 2.0898801e+00 3.27e-09 2.14e-04 2.67e-09 -8.6 -6.2 1.93e-01 2 1h 34 2.0898800e+00 1.09e-09 5.31e-06 2.51e-09 -8.6 -6.7 1.00e+00 2 1h 35 2.0898800e+00 3.72e-10 2.34e-07 2.51e-09 -8.6 -7.2 1.00e+00 2 1h 36 2.0898800e+00 1.28e-11 3.63e-08 4.44e-09 -8.6 -7.7 1.00e+00 1 1h 37 2.0898800e+00 6.97e-14 1.35e-08 2.71e-09 -8.6 -8.1 1.00e+00 1 1h 38 2.0898800e+00 1.82e-14 1.47e-10 9.28e-10 -9.0 -8.6 1.00e+00 1 1h Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0898800181311175e+00 2.0898800181311175e+00 Dual infeasibility......: 1.4717884363129348e-10 1.4717884363129348e-10 Constraint violation....: 1.8164566149311042e-14 1.8164566149311042e-14 Complementarity.........: 9.2789227874721802e-10 9.2789227874721802e-10 Overall NLP error.......: 9.2789227874721802e-10 9.2789227874721802e-10 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of constraint evaluations = 40 Number of constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Number of KKT factorizations = 89 Number of KKT backsolves = 59 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.045 s Total wall secs in NLP function evaluations = 34.766 s Total wall secs in solver (w/o init./fun./lin. alg.) = 13.389 s Total wall secs = 48.201 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.4029235e+00 3.19e+00 2.01e+00 9.80e-01 -1.0 - 0.00e+00 1 0 1 2.8820115e+00 5.90e-02 4.15e+00 7.18e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5905292e+00 2.84e-02 6.47e-01 1.11e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.3587480e+00 3.06e-03 3.46e-02 3.70e-02 -1.7 -1.0 1.00e+00 2 1h 4 2.1253011e+00 6.75e-03 1.83e-02 6.38e-03 -2.5 -1.4 1.00e+00 2 1h 5 2.0914194e+00 9.26e-04 6.15e-04 2.21e-04 -3.8 -1.9 9.89e-01 2 1h 6 2.0902151e+00 5.56e-06 5.14e-04 6.10e-05 -5.7 -2.4 1.00e+00 2 1h 7 2.0901042e+00 9.34e-08 2.44e-04 2.88e-06 -5.7 -2.9 1.00e+00 2 1h 8 2.0900957e+00 9.29e-07 2.81e-05 1.84e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0900733e+00 9.69e-06 2.93e-05 1.84e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900226e+00 1.40e-04 8.45e-05 1.85e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0900256e+00 9.75e-07 1.06e-04 1.85e-05 -5.7 -3.0 1.00e+00 1 1h 12 2.0900158e+00 7.37e-06 2.69e-05 3.31e-06 -5.7 -3.4 1.00e+00 2 1h 13 2.0899952e+00 5.91e-05 4.89e-04 1.85e-06 -5.7 -3.9 1.00e+00 2 1h 14 2.0899776e+00 5.88e-05 1.63e-03 4.62e-06 -5.7 -4.4 1.00e+00 2 1h 15 2.0899490e+00 2.16e-05 4.48e-04 2.21e-06 -5.7 -4.9 1.00e+00 2 1h 16 2.0899406e+00 1.38e-05 6.76e-04 3.33e-06 -5.7 -4.4 4.02e-01 1 1h 17 2.0899285e+00 5.04e-06 3.19e-04 4.56e-06 -5.7 -4.9 1.00e+00 2 1h 18 2.0899198e+00 3.11e-06 5.11e-04 1.85e-06 -5.7 -4.5 4.41e-01 1 1h 19 2.0899144e+00 1.33e-06 9.13e-05 2.11e-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 2.0899080e+00 7.75e-07 6.44e-05 1.84e-06 -5.7 -5.5 1.00e+00 2 1h 21 2.0899250e+00 4.59e-07 2.22e-03 1.85e-06 -5.7 -5.9 1.00e+00 2 1h 22 2.0899072e+00 2.65e-07 5.76e-03 1.85e-06 -5.7 -2.8 4.23e-01 1 1h 23 2.0899224e+00 4.10e-09 8.89e-05 1.85e-05 -5.7 -3.3 1.00e+00 2 1h 24 2.0899107e+00 8.00e-09 7.38e-05 5.14e-06 -5.7 -3.7 1.00e+00 2 1h 25 2.0899060e+00 3.36e-08 2.91e-05 2.37e-06 -5.7 -4.2 1.00e+00 2 1h 26 2.0899012e+00 1.60e-07 1.90e-04 1.85e-06 -5.7 -4.7 1.00e+00 2 1h 27 2.0899020e+00 5.28e-10 4.60e-05 5.39e-06 -5.7 -3.4 1.00e+00 1 1h 28 2.0899011e+00 2.64e-09 1.30e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 29 2.0898835e+00 1.58e-07 7.26e-05 1.04e-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 2.0898840e+00 1.23e-07 2.96e-03 9.76e-09 -8.6 -4.8 2.20e-01 2 1h 31 2.0898824e+00 2.26e-08 8.19e-05 3.06e-09 -8.6 -5.3 1.00e+00 2 1h 32 2.0898814e+00 2.81e-08 1.44e-05 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 33 2.0898806e+00 5.00e-08 4.31e-05 1.65e-07 -8.6 -6.2 8.22e-01 1 1h 34 2.0898809e+00 4.09e-08 6.22e-04 8.95e-08 -8.6 -6.7 1.00e+00 1 1h 35 2.0898801e+00 1.23e-09 2.84e-04 2.28e-08 -8.6 -4.5 1.00e+00 1 1h 36 2.0898801e+00 9.40e-11 5.13e-06 2.51e-09 -8.6 -5.0 1.00e+00 2 1h 37 2.0898801e+00 2.11e-10 3.33e-07 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 38 2.0898801e+00 4.33e-10 7.39e-07 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 39 2.0898800e+00 1.32e-09 8.63e-07 2.51e-09 -8.6 -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 1.22e-09 4.86e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 41 2.0898800e+00 1.91e-10 5.93e-08 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 42 2.0898800e+00 3.88e-12 4.81e-09 2.51e-09 -8.6 -7.8 1.00e+00 1 1h Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0898800325024598e+00 2.0898800325024598e+00 Dual infeasibility......: 4.8101104476522606e-09 4.8101104476522606e-09 Constraint violation....: 3.8822278725092474e-12 3.8822278725092474e-12 Complementarity.........: 2.5059035603030127e-09 2.5059035603030127e-09 Overall NLP error.......: 4.8101104476522606e-09 4.8101104476522606e-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 = 70 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.041 s Total wall secs in NLP function evaluations = 17.824 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.258 s Total wall secs = 27.123 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.5366622e+00 2.83e+00 8.00e-01 9.54e-01 -1.0 - 0.00e+00 1 0 1 2.6955810e+00 1.01e-01 3.70e+00 3.74e-01 -1.0 0.0 1.00e+00 1 1h 2 2.5241983e+00 2.21e-02 9.79e-01 1.85e-01 -1.0 0.4 8.75e-01 1 1h 3 2.3909370e+00 2.32e-03 3.00e-01 3.48e-02 -1.7 -0.1 1.00e+00 1 1h 4 2.2348817e+00 3.28e-03 1.52e-01 2.10e-02 -1.7 -0.5 1.00e+00 1 1h 5 2.1092805e+00 1.26e-03 1.92e-02 3.45e-03 -2.5 -1.0 1.00e+00 1 1h 6 2.0912191e+00 1.60e-04 5.94e-03 1.98e-04 -3.8 -1.5 1.00e+00 1 1h 7 2.0914241e+00 2.59e-07 1.99e-04 1.52e-04 -3.8 -2.0 1.00e+00 1 1h 8 2.0900773e+00 1.78e-06 1.35e-04 3.02e-05 -5.7 -2.4 1.00e+00 1 1h 9 2.0900383e+00 9.91e-08 1.59e-04 7.31e-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 2.0900188e+00 3.98e-07 1.88e-03 1.85e-06 -5.7 -3.4 5.30e-01 1 1h 11 2.0900082e+00 9.15e-06 2.55e-05 2.07e-06 -5.7 -3.9 1.00e+00 1 1h 12 2.0899815e+00 5.38e-05 1.30e-04 1.84e-06 -5.7 -4.3 1.00e+00 1 1h 13 2.0899445e+00 1.18e-04 3.88e-04 1.84e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0899205e+00 5.34e-05 4.94e-04 1.98e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0899073e+00 6.53e-06 2.86e-04 1.84e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0899639e+00 4.20e-07 3.08e-03 1.85e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0899130e+00 2.96e-07 3.14e-02 1.85e-06 -5.7 -2.2 2.96e-01 1 1h 18 2.0899623e+00 1.14e-09 9.91e-05 5.48e-05 -5.7 -2.7 1.00e+00 1 1h 19 2.0899204e+00 4.62e-10 2.76e-05 8.00e-06 -5.7 -3.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899133e+00 1.24e-09 7.57e-06 2.01e-06 -5.7 -3.6 1.00e+00 1 1h 21 2.0898930e+00 1.57e-07 8.66e-06 2.36e-07 -8.6 -4.1 1.00e+00 1 1h 22 2.0898892e+00 2.95e-08 2.58e-05 5.26e-08 -8.6 -4.6 1.00e+00 1 1h 23 2.0898850e+00 5.73e-08 7.49e-05 1.36e-08 -8.6 -5.1 1.00e+00 1 1h 24 2.0898819e+00 5.50e-08 1.14e-04 2.51e-09 -8.6 -5.6 1.00e+00 1 1h 25 2.0898805e+00 5.36e-08 6.21e-04 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898804e+00 5.12e-08 4.20e-04 2.51e-09 -8.6 -3.8 4.46e-02 1 1h 27 2.0898804e+00 1.25e-11 6.43e-07 3.39e-09 -8.6 -4.3 1.00e+00 1 1h 28 2.0898804e+00 1.04e-10 5.98e-07 2.55e-09 -8.6 -4.8 1.00e+00 1 1h 29 2.0898803e+00 7.13e-10 1.03e-06 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 2.0898802e+00 3.74e-09 8.78e-06 2.51e-09 -8.6 -5.7 1.00e+00 1 1h 31 2.0898802e+00 2.75e-10 4.78e-06 3.31e-08 -8.6 -4.4 1.00e+00 1 1h 32 2.0898802e+00 1.76e-10 3.61e-07 3.41e-09 -8.6 -4.9 1.00e+00 1 1h 33 2.0898802e+00 4.11e-10 1.21e-05 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 34 2.0898801e+00 5.84e-09 1.80e-06 4.09e-09 -8.6 -5.8 1.00e+00 1 1h 35 2.0898801e+00 1.60e-08 2.08e-06 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 36 2.0898800e+00 1.37e-08 1.66e-06 2.51e-09 -8.6 -6.8 1.00e+00 1 1h 37 2.0898800e+00 2.49e-09 3.16e-07 2.51e-09 -8.6 -7.2 1.00e+00 1 1h 38 2.0898800e+00 6.60e-11 6.27e-08 2.51e-09 -8.6 -7.7 1.00e+00 1 1h 39 2.0898800e+00 2.39e-13 1.55e-09 2.51e-09 -8.6 -8.2 1.00e+00 1 1h Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 2.0898800325024314e+00 2.0898800325024314e+00 Dual infeasibility......: 1.5479838327740246e-09 1.5479838327740246e-09 Constraint violation....: 2.3891999489933369e-13 2.3891999489933369e-13 Complementarity.........: 2.5059035605201621e-09 2.5059035605201621e-09 Overall NLP error.......: 2.5059035605201621e-09 2.5059035605201621e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of constraint evaluations = 40 Number of constraint Jacobian evaluations = 40 Number of Lagrangian Hessian evaluations = 39 Number of KKT factorizations = 92 Number of KKT backsolves = 40 Total wall secs in initialization = 4.578 s Total wall secs in linear solver = 0.079 s Total wall secs in NLP function evaluations = 18.690 s Total wall secs in solver (w/o init./fun./lin. alg.) = 26.214 s Total wall secs = 49.562 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 3.9178259e+00 1.89e+00 8.11e-01 9.63e-01 -1.0 - 0.00e+00 1 0 1 2.7297128e+00 5.40e-01 2.76e+00 8.18e-01 -1.3 0.0 7.14e-01 2 1h 2 3.2252169e+00 1.42e-01 2.38e+00 8.60e-01 -0.8 -0.5 1.00e+00 2 1h 3 2.6318533e+00 3.67e-02 2.32e+00 3.87e-01 -4.6 -1.0 1.00e+00 2 1h 4 2.5514720e+00 9.71e-03 1.85e-01 1.23e-01 -1.2 -1.4 1.00e+00 2 1h 5 2.2810001e+00 2.05e-02 5.89e-02 3.40e-02 -1.9 -1.9 1.00e+00 2 1h 6 2.1084442e+00 1.09e-02 1.82e-02 3.66e-03 -2.9 -2.4 1.00e+00 2 1h 7 2.1024389e+00 1.63e-03 2.26e-03 1.38e-03 -2.9 -2.9 1.00e+00 2 1h 8 2.0906764e+00 2.04e-04 3.50e-04 1.15e-04 -4.3 -3.3 1.00e+00 2 1h 9 2.0902135e+00 7.03e-05 9.27e-03 2.46e-05 -6.4 -3.8 6.39e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900020e+00 5.09e-05 2.39e-04 4.63e-07 -6.4 -4.3 1.00e+00 2 1h 11 2.0899599e+00 2.10e-04 4.07e-04 3.63e-07 -6.4 -4.8 1.00e+00 2 1h 12 2.0899236e+00 9.62e-05 6.12e-04 3.81e-07 -6.4 -5.2 1.00e+00 2 1h 13 2.0899009e+00 1.14e-05 4.24e-04 3.63e-07 -6.4 -5.7 1.00e+00 2 1h 14 2.0898882e+00 2.90e-06 6.49e-04 3.63e-07 -6.4 -6.2 1.00e+00 2 1h 15 2.0899307e+00 1.72e-08 9.07e-04 1.49e-04 -6.4 -3.1 1.00e+00 1 1h 16 2.0899091e+00 4.22e-08 2.84e-04 1.52e-05 -6.4 -3.5 1.00e+00 2 1h 17 2.0898949e+00 6.42e-08 2.67e-04 1.39e-06 -6.4 -4.0 1.00e+00 2 1h 18 2.0898926e+00 3.13e-09 5.31e-05 4.85e-07 -6.4 -3.6 1.00e+00 1 1h 19 2.0898910e+00 1.65e-09 7.58e-05 3.64e-07 -6.4 -4.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0898906e+00 9.67e-11 7.18e-06 3.63e-07 -6.4 -3.6 1.00e+00 1 1h 21 2.0898902e+00 1.18e-09 1.26e-05 3.63e-07 -6.4 -4.1 1.00e+00 2 1h 22 2.0898892e+00 3.10e-08 4.36e-05 3.63e-07 -6.4 -4.6 1.00e+00 2 1h 23 2.0898889e+00 4.56e-09 2.12e-06 3.63e-07 -6.4 -4.2 1.00e+00 1 1h 24 2.0898867e+00 1.85e-08 3.37e-04 2.01e-07 -9.0 -4.7 4.47e-01 1 1h 25 2.0898836e+00 1.54e-07 1.75e-05 1.99e-09 -9.0 -5.1 1.00e+00 1 1h 26 2.0898826e+00 1.10e-07 2.09e-05 9.10e-10 -9.0 -5.6 9.89e-01 2 1h 27 2.0898812e+00 8.04e-08 4.11e-05 9.09e-10 -9.0 -6.1 1.00e+00 1 1h 28 2.0898802e+00 6.48e-08 7.58e-05 9.09e-10 -9.0 -6.6 1.00e+00 1 1h 29 2.0898803e+00 1.78e-12 9.43e-06 3.31e-07 -9.0 -3.4 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898803e+00 6.86e-12 7.66e-07 5.39e-08 -9.0 -3.9 1.00e+00 2 1h 31 2.0898802e+00 3.60e-12 7.69e-07 4.23e-09 -9.0 -4.4 1.00e+00 1 1h 32 2.0898802e+00 2.54e-12 2.03e-06 9.09e-10 -9.0 -4.9 9.29e-01 1 1H 33 2.0898802e+00 1.98e-10 2.45e-07 9.09e-10 -9.0 -5.3 1.00e+00 1 1h 34 2.0898801e+00 1.10e-09 9.62e-07 9.09e-10 -9.0 -5.8 1.00e+00 1 1h 35 2.0898801e+00 3.49e-09 2.88e-06 9.09e-10 -9.0 -6.3 1.00e+00 1 1h 36 2.0898801e+00 1.11e-16 7.42e-05 9.09e-10 -9.0 -6.8 1.00e+00 1 1H 37 2.0898800e+00 1.89e-11 8.64e-04 9.09e-10 -9.0 -4.5 2.01e-01 1 1h 38 2.0898800e+00 7.60e-10 1.61e-03 9.09e-10 -9.0 -5.0 1.00e+00 2 1h 39 2.0898800e+00 6.71e-11 2.77e-06 1.38e-09 -9.0 -5.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0898800e+00 8.63e-11 1.05e-06 9.09e-10 -9.0 -6.0 1.00e+00 2 1h 41 2.0898800e+00 9.71e-11 4.86e-07 9.09e-10 -9.0 -6.4 1.00e+00 2 1h 42 2.0898800e+00 6.71e-11 1.79e-07 9.09e-10 -9.0 -6.9 1.00e+00 1 1h 43 2.0898800e+00 8.36e-12 7.41e-08 9.09e-10 -9.0 -7.4 1.00e+00 1 1h 44 2.0898800e+00 1.38e-13 3.08e-08 9.09e-10 -9.0 -7.9 1.00e+00 1 1h 45 2.0898800e+00 3.33e-16 3.47e-09 9.09e-10 -9.0 -8.4 1.00e+00 1 1h Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0898800181311179e+00 2.0898800181311179e+00 Dual infeasibility......: 3.4698994009876470e-09 3.4698994009876470e-09 Constraint violation....: 3.3306690738754696e-16 3.3306690738754696e-16 Complementarity.........: 9.0909090966346894e-10 9.0909090966346894e-10 Overall NLP error.......: 3.4698994009876470e-09 3.4698994009876470e-09 Number of objective function evaluations = 48 Number of objective gradient evaluations = 46 Number of constraint evaluations = 48 Number of constraint Jacobian evaluations = 46 Number of Lagrangian Hessian evaluations = 45 Number of KKT factorizations = 107 Number of KKT backsolves = 73 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.052 s Total wall secs in NLP function evaluations = 19.292 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.093 s Total wall secs = 28.438 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.0446204e+00 3.39e+00 9.98e-01 9.68e-01 -1.0 - 0.00e+00 1 0 1 3.1950234e+00 2.52e+00 1.75e+01 4.17e+00 -0.2 0.0 2.58e-01 2 1h 2 3.3820912e+00 1.60e-01 1.46e+01 2.14e+00 0.1 -0.5 1.00e+00 2 1h 3 3.2053223e+00 5.22e-02 2.63e+01 1.45e+00 -1.7 -0.1 1.00e+00 1 1h 4 3.4735614e+00 4.93e-02 2.57e+00 1.11e+00 -0.2 -0.5 1.00e+00 2 1h 5 3.1203772e+00 3.00e-01 1.12e+00 4.09e-01 -6.2 -1.0 7.24e-01 2 1h 6 3.0537543e+00 1.51e-01 1.32e+00 2.64e-01 -0.7 -1.5 1.00e+00 2 1h 7 2.9404401e+00 1.93e-01 1.43e+00 1.55e-01 -1.4 -2.0 1.31e-01 2 1H 8 2.8119802e+00 3.80e-01 1.44e+00 1.75e-01 -7.0 -2.4 4.45e-02 2 1h 9 2.7918693e+00 3.77e-01 2.61e+00 1.48e-01 -1.1 -1.1 8.99e-03 1 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.2893969e+00 4.75e-02 2.10e+00 1.17e-01 -2.9 -1.6 1.00e+00 2 1h 11 2.4324524e+00 4.93e-02 4.46e+00 4.26e-01 -1.3 -0.3 9.40e-02 1 3h 12 2.5926561e+00 4.32e-02 1.92e+00 7.05e-01 -0.8 -0.7 7.90e-02 2 2h 13 2.6031784e+00 4.64e-02 2.47e+00 7.79e-01 -1.1 -1.2 5.05e-02 2 2h 14 2.4927342e+00 7.14e-02 2.22e+00 6.65e-01 -7.1 -1.7 1.30e-01 2 1h 15 2.4482612e+00 2.97e-01 1.54e+00 4.51e-01 -1.3 -2.2 1.90e-01 2 1h 16 2.5537060e+00 3.85e-01 1.86e+00 3.56e-01 -1.3 -1.7 2.29e-01 1 2h 17 3.1898668e+00 1.21e-01 8.71e-01 1.91e-01 -0.9 -1.3 1.00e+00 1 1h 18 2.3988909e+00 2.26e-01 4.75e-01 6.51e-02 -2.8 -1.8 9.76e-01 2 1h 19 2.3080856e+00 1.70e-01 1.13e+00 4.54e-02 -1.7 -2.3 2.49e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.5309082e+00 3.13e-01 6.18e-01 5.24e-02 -1.3 -2.7 6.19e-01 2 1h 21 2.2818545e+00 2.02e-01 2.34e-01 3.41e-02 -1.7 -2.3 7.64e-01 1 1h 22 2.2971248e+00 1.67e-01 3.59e-01 6.27e-02 -1.7 -2.8 4.34e-01 2 1h 23 2.2317081e+00 7.76e-02 1.07e-01 2.60e-02 -1.7 -3.3 1.00e+00 2 1h 24 2.1173835e+00 1.70e-02 2.06e-02 4.26e-03 -2.6 -3.7 1.00e+00 2 1h 25 2.0919333e+00 1.14e-03 5.35e-03 3.25e-04 -3.9 -4.2 1.00e+00 2 1h 26 2.0912707e+00 1.59e-04 2.63e-03 1.37e-04 -3.9 -4.7 1.00e+00 2 1h 27 2.0911861e+00 9.80e-04 1.29e-03 1.36e-04 -3.9 -5.2 1.00e+00 2 1h 28 2.0899281e+00 3.14e-04 1.71e-03 2.60e-06 -5.8 -5.7 1.00e+00 2 1h 29 2.0899076e+00 1.70e-05 1.22e-03 1.59e-06 -5.8 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898968e+00 4.18e-06 4.42e-04 1.59e-06 -5.8 -6.6 1.00e+00 2 1h 31 2.0898944e+00 1.11e-06 1.44e-04 1.59e-06 -5.8 -7.1 1.00e+00 2 1h 32 2.0898943e+00 6.46e-08 9.32e-06 1.59e-06 -5.8 -7.6 1.00e+00 1 1h 33 2.0898800e+00 6.61e-08 7.84e-08 2.02e-09 -8.7 -8.0 1.00e+00 1 1h 34 2.0898800e+00 5.08e-13 7.97e-11 2.00e-09 -8.7 -8.5 1.00e+00 1 1h Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 2.0898800279619762e+00 2.0898800279619762e+00 Dual infeasibility......: 7.9739897844433028e-11 7.9739897844433028e-11 Constraint violation....: 5.0848214527832170e-13 5.0848214527832170e-13 Complementarity.........: 2.0014085527625421e-09 2.0014085527625421e-09 Overall NLP error.......: 2.0014085527625421e-09 2.0014085527625421e-09 Number of objective function evaluations = 51 Number of objective gradient evaluations = 35 Number of constraint evaluations = 51 Number of constraint Jacobian evaluations = 35 Number of Lagrangian Hessian evaluations = 34 Number of KKT factorizations = 79 Number of KKT backsolves = 78 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.033 s Total wall secs in NLP function evaluations = 20.687 s Total wall secs in solver (w/o init./fun./lin. alg.) = 12.363 s Total wall secs = 33.084 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: 0.035s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.867s jacobian structure: 1600 nonzeros (1.902s) integrator 1 hessian structure: 0.031s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.581s 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 (3.613s) linear index maps built (0.0s) evaluator ready (total: 5.516s) evaluator created (5.541s) 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: 5.543s) 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 3.9728902e+00 2.86e+00 2.20e+00 9.53e-01 -1.0 - 0.00e+00 1 0 1 2.9828671e+00 8.47e-02 2.14e+00 6.01e-01 -1.0 0.0 9.73e-01 1 1h 2 2.6748554e+00 1.17e-01 1.60e+00 4.39e-01 -1.0 -0.5 2.75e-01 2 1h 3 2.4569116e+00 5.29e-02 8.02e-01 1.80e-01 -1.0 -0.1 6.79e-01 1 1h 4 2.3315682e+00 1.26e-02 1.61e-01 3.98e-02 -1.7 -0.5 1.00e+00 2 1h 5 2.1496357e+00 1.70e-03 1.27e-01 9.52e-03 -2.5 -1.0 1.00e+00 2 1h 6 2.1147632e+00 1.26e-03 3.54e-02 2.88e-03 -2.5 -1.5 1.00e+00 2 1h 7 2.1153360e+00 8.53e-06 2.24e-03 2.84e-03 -2.5 -2.0 1.00e+00 2 1h 8 2.0914061e+00 2.53e-05 5.26e-05 1.64e-04 -3.8 -2.4 1.00e+00 2 1h 9 2.0899733e+00 1.79e-06 1.40e-05 2.86e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899530e+00 9.33e-07 1.79e-05 2.78e-07 -8.6 -3.4 1.00e+00 2 1h 11 2.0899472e+00 3.92e-06 3.65e-05 2.57e-08 -8.6 -3.9 1.00e+00 2 1h 12 2.0899397e+00 4.09e-06 5.07e-04 2.53e-09 -8.6 -4.3 4.93e-01 1 1h 13 2.0899162e+00 4.39e-05 2.24e-04 8.98e-07 -8.6 -4.8 1.00e+00 2 1h 14 2.0899122e+00 3.44e-05 7.10e-04 2.51e-09 -8.6 -4.4 2.20e-01 1 1h 15 2.0899025e+00 6.27e-06 1.30e-04 2.72e-09 -8.6 -4.9 1.00e+00 2 1h 16 2.0898950e+00 4.62e-06 1.15e-04 2.51e-09 -8.6 -5.4 1.00e+00 2 1h 17 2.0898880e+00 1.67e-06 1.69e-04 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 18 2.0898822e+00 5.08e-07 3.44e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 19 2.0898896e+00 4.45e-11 9.75e-05 1.84e-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 2.0898865e+00 1.06e-10 4.22e-05 3.48e-06 -8.6 -3.6 1.00e+00 2 1h 21 2.0898822e+00 8.65e-11 4.67e-04 2.51e-09 -8.6 -4.1 9.17e-01 1 1h 22 2.0898821e+00 2.99e-10 1.18e-06 3.06e-09 -8.6 -4.6 1.00e+00 1 1h 23 2.0898819e+00 1.42e-09 9.74e-07 2.52e-09 -8.6 -5.1 1.00e+00 1 1h 24 2.0898815e+00 4.96e-09 5.68e-06 2.51e-09 -8.6 -5.6 1.00e+00 1 1h 25 2.0898807e+00 1.17e-08 2.37e-05 2.51e-09 -8.6 -6.0 1.00e+00 1 1h 26 2.0898802e+00 1.44e-08 6.04e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 27 2.0898802e+00 4.11e-11 4.00e-04 1.21e-06 -8.6 -4.3 1.00e+00 1 1h 28 2.0898802e+00 1.18e-11 7.46e-06 2.51e-09 -8.6 -4.8 1.00e+00 2 1h 29 2.0898802e+00 4.99e-11 3.06e-07 2.51e-09 -8.6 -5.2 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898801e+00 2.28e-10 1.66e-06 2.51e-09 -8.6 -5.7 1.00e+00 2 1h 31 2.0898801e+00 7.27e-10 2.59e-06 2.51e-09 -8.6 -6.2 1.00e+00 2 1h 32 2.0898800e+00 1.12e-09 1.63e-06 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 33 2.0898800e+00 4.11e-10 2.94e-07 2.51e-09 -8.6 -7.1 1.00e+00 2 1h 34 2.0898800e+00 2.34e-11 1.12e-08 2.51e-09 -8.6 -7.6 1.00e+00 2 1h 35 2.0898800e+00 1.74e-12 5.59e-11 9.18e-10 -9.0 -8.1 1.00e+00 2 1h Number of Iterations....: 35 (scaled) (unscaled) Objective...............: 2.0898800181311175e+00 2.0898800181311175e+00 Dual infeasibility......: 5.5855967001392927e-11 5.5855967001392927e-11 Constraint violation....: 1.7388972206600073e-12 1.7388972206600073e-12 Complementarity.........: 9.1788582511581442e-10 9.1788582511581442e-10 Overall NLP error.......: 9.1788582511581442e-10 9.1788582511581442e-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 = 56 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.040 s Total wall secs in NLP function evaluations = 21.237 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.339 s Total wall secs = 30.616 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: 0.042s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 1.881s jacobian structure: 1680 nonzeros (1.924s) integrator 1 hessian structure: 0.03s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 6.691s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (6.721s) linear index maps built (0.0s) evaluator ready (total: 8.646s) evaluator created (8.67s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 8.671s) 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 1.2317818e+01 3.34e+00 4.63e+00 1.84e+00 -1.0 - 0.00e+00 1 0 1 4.7395464e+00 7.24e-01 2.27e+00 3.95e-01 -1.0 0.0 7.86e-01 1 1h 2 2.6685451e+00 1.42e-01 3.48e+00 2.53e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.6484699e+00 3.06e-02 1.77e-01 1.09e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.2096339e+00 3.96e-02 2.22e-01 2.32e-02 -2.5 -1.4 1.00e+00 2 1h 5 2.1278342e+00 2.54e-03 6.28e-02 5.79e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.1151413e+00 2.20e-03 2.49e-03 2.88e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0918578e+00 1.61e-04 3.15e-04 2.43e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0901446e+00 1.35e-05 1.82e-03 7.50e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0900564e+00 1.33e-05 3.30e-04 1.28e-05 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0900099e+00 1.26e-04 1.51e-04 4.15e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0899572e+00 2.90e-04 5.06e-04 1.84e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0899523e+00 2.16e-04 1.10e-03 1.85e-06 -5.7 -3.4 2.54e-01 1 1h 13 2.0899492e+00 1.37e-06 1.61e-05 2.00e-06 -5.7 -3.9 1.00e+00 2 1h 14 2.0899260e+00 2.58e-06 1.75e-04 4.45e-07 -8.6 -4.4 7.60e-01 2 1h 15 2.0899060e+00 6.91e-06 1.54e-04 3.62e-09 -8.6 -4.9 1.00e+00 2 1h 16 2.0898952e+00 2.79e-06 1.54e-04 2.51e-09 -8.6 -5.4 1.00e+00 2 1h 17 2.0898874e+00 5.85e-07 2.20e-04 2.51e-09 -8.6 -5.8 1.00e+00 2 1h 18 2.0898818e+00 9.24e-08 3.86e-04 2.51e-09 -8.6 -6.3 1.00e+00 1 1h 19 2.0898915e+00 6.28e-11 1.56e-04 2.66e-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 2.0898873e+00 1.73e-10 5.61e-05 4.40e-06 -8.6 -3.6 1.00e+00 2 1h 21 2.0898873e+00 6.44e-15 4.35e-05 4.17e-08 -8.6 -1.4 1.00e+00 1 1h 22 2.0898871e+00 5.62e-14 4.35e-05 3.54e-09 -8.6 -1.9 1.00e+00 2 1h 23 2.0898866e+00 4.07e-13 4.28e-05 2.57e-09 -8.6 -2.4 1.00e+00 2 1h 24 2.0898852e+00 1.72e-12 4.12e-05 2.51e-09 -8.6 -2.8 1.00e+00 2 1h 25 2.0898847e+00 1.73e-13 4.07e-05 2.51e-09 -8.6 -2.4 1.00e+00 1 1h 26 2.0898834e+00 3.25e-13 3.99e-05 2.51e-09 -8.6 -2.9 1.00e+00 1 1h 27 2.0898818e+00 3.27e-12 3.58e-03 2.51e-09 -8.6 -3.4 3.81e-01 1 1h 28 2.0898823e+00 1.29e-12 2.26e-06 5.39e-07 -8.6 -3.9 1.00e+00 1 1h 29 2.0898817e+00 4.31e-11 3.01e-06 6.14e-09 -8.6 -4.3 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0898816e+00 1.90e-10 9.57e-07 2.51e-09 -8.6 -4.8 1.00e+00 1 1h 31 2.0898813e+00 5.08e-10 2.25e-06 2.51e-09 -8.6 -5.3 1.00e+00 1 1h 32 2.0898809e+00 1.81e-09 1.14e-05 2.51e-09 -8.6 -5.8 1.00e+00 1 1h 33 2.0898803e+00 4.64e-09 3.16e-05 2.51e-09 -8.6 -6.2 1.00e+00 1 1h 34 2.0898801e+00 3.85e-09 1.20e-04 2.51e-09 -8.6 -6.7 1.00e+00 1 1h 35 2.0898801e+00 9.01e-12 8.75e-06 6.22e-08 -8.6 -4.5 1.00e+00 1 1h 36 2.0898801e+00 3.70e-12 2.57e-07 2.51e-09 -8.6 -5.0 1.00e+00 1 1h 37 2.0898801e+00 8.53e-12 1.45e-06 2.51e-09 -8.6 -5.4 1.00e+00 2 1h 38 2.0898800e+00 7.49e-11 2.88e-06 2.51e-09 -8.6 -5.9 1.00e+00 2 1h 39 2.0898800e+00 2.45e-10 1.52e-06 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 2.0898800e+00 2.31e-10 5.05e-07 2.51e-09 -8.6 -6.9 1.00e+00 2 1h 41 2.0898800e+00 3.95e-11 2.86e-08 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 42 2.0898800e+00 9.22e-13 4.10e-09 2.51e-09 -8.6 -7.8 1.00e+00 1 1h Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0898800325024371e+00 2.0898800325024371e+00 Dual infeasibility......: 4.1023775852343212e-09 4.1023775852343212e-09 Constraint violation....: 9.2215124425365502e-13 9.2215124425365502e-13 Complementarity.........: 2.5059035603714681e-09 2.5059035603714681e-09 Overall NLP error.......: 4.1023775852343212e-09 4.1023775852343212e-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 = 66 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.048 s Total wall secs in NLP function evaluations = 21.671 s Total wall secs in solver (w/o init./fun./lin. alg.) = 9.692 s Total wall secs = 31.413 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: 1.955s jacobian structure: 1600 nonzeros (1.997s) integrator 1 hessian structure: 0.032s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.421s 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 (3.454s) linear index maps built (0.0s) evaluator ready (total: 5.451s) evaluator created (6.887s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.162s) variables set (0.631s) 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 (2.093s) optimizer initialization complete (total: 9.91s) ┌ 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/JN6dO/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 1.9433308e+01 5.59e+00 6.03e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0489198e+01 2.32e-01 3.16e+00 -0.9 2.41e+00 -4.0 9.64e-01 1.00e+00f 1 2 1.0328037e+01 4.81e-02 4.28e-01 -1.0 4.26e-01 -4.5 8.04e-01 1.00e+00h 1 3 9.7137458e+00 1.47e-02 8.42e-02 -1.9 3.12e-01 -5.0 9.65e-01 1.00e+00h 1 4 9.4941649e+00 3.49e-03 2.73e-02 -2.9 1.46e-01 -5.4 9.52e-01 1.00e+00h 1 5 9.4359470e+00 5.56e-04 3.49e-03 -4.0 6.19e-02 -5.9 9.94e-01 1.00e+00h 1 6 9.4265821e+00 9.52e-05 4.02e-04 -4.0 1.85e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4258288e+00 5.39e-06 2.04e-05 -4.0 3.26e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258111e+00 2.33e-08 7.90e-08 -4.0 3.03e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 8.20e-12 1.00e-09 -4.0 4.54e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226267732e+00 9.4258086226267732e+00 Dual infeasibility......: 9.9999689045615191e-10 9.9999689045615191e-10 Constraint violation....: 8.2001072598814062e-12 8.2001072598814062e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003024774472e-04 1.0000003024774472e-04 Overall NLP error.......: 9.9999689045615191e-10 9.9999689045615191e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 29.621 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: 0.003s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 1.9433308e+01 5.59e+00 6.03e-01 9.57e-01 -1.0 - 0.00e+00 1 0 1 1.0499934e+01 2.01e-01 2.80e+00 3.12e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0223875e+01 1.24e-01 2.69e-01 1.33e-01 -1.0 -4.5 1.00e+00 2 1h 3 9.7138071e+00 4.24e-03 2.50e-02 3.77e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.4980388e+00 3.60e-03 5.85e-02 8.69e-03 -3.8 -5.4 1.00e+00 2 1h 5 9.4380507e+00 6.83e-04 2.62e-03 2.15e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4273854e+00 1.52e-04 4.77e-04 4.71e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246283e+00 2.11e-05 1.30e-04 4.30e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245373e+00 3.99e-07 5.96e-07 2.48e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 9.93e-10 2.53e-09 4.60e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129858733900e+00 9.4245129858733900e+00 Dual infeasibility......: 2.5277748783025800e-09 2.5277748783025800e-09 Constraint violation....: 9.9293029354186046e-10 9.9293029354186046e-10 Complementarity.........: 4.6049792014720023e-09 4.6049792014720023e-09 Overall NLP error.......: 4.6049792014720023e-09 4.6049792014720023e-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 = 0.008 s Total wall secs in NLP function evaluations = 0.141 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.007 s Total wall secs = 0.157 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: 0.047s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 1.941s jacobian structure: 1600 nonzeros (1.988s) integrator 1 hessian structure: 0.031s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.262s 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 (3.295s) linear index maps built (0.0s) evaluator ready (total: 5.284s) evaluator created (5.316s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 5.318s) This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.2848955e+00 2.49e+00 1.44e+00 9.69e-01 -1.0 - 0.00e+00 1 0 1 2.9026565e+00 1.19e-01 2.73e+00 2.95e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6232855e+00 6.18e-02 7.81e-01 1.18e-01 -1.0 -0.5 7.76e-01 1 1h 3 2.3654167e+00 3.54e-02 1.83e-01 4.80e-02 -1.7 -1.0 7.83e-01 1 1h 4 2.1364797e+00 7.55e-03 4.39e-02 1.06e-02 -2.5 -1.4 1.00e+00 1 1h 5 2.1163019e+00 1.03e-03 2.12e-02 3.09e-03 -2.5 -1.9 1.00e+00 1 1h 6 2.0911446e+00 1.44e-04 1.53e-03 1.61e-04 -3.8 -2.4 1.00e+00 1 1h 7 2.0913559e+00 7.99e-07 2.76e-05 1.50e-04 -3.8 -2.9 1.00e+00 1 1h 8 2.0900167e+00 5.24e-06 2.82e-05 2.49e-06 -5.7 -3.3 1.00e+00 1 1h 9 2.0900089e+00 1.70e-05 5.70e-05 1.93e-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 2.0899870e+00 7.96e-05 7.55e-04 1.85e-06 -5.7 -4.3 9.51e-01 1 1h 11 2.0899600e+00 9.23e-05 3.77e-04 6.92e-06 -5.7 -4.8 1.00e+00 1 1h 12 2.0899458e+00 5.49e-05 1.55e-03 1.85e-06 -5.7 -4.3 4.11e-01 1 1h 13 2.0899282e+00 4.67e-06 2.00e-04 2.57e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0899107e+00 3.20e-06 2.86e-04 1.84e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0899022e+00 1.19e-06 1.23e-04 1.85e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0899103e+00 7.46e-07 4.90e-02 1.03e-04 -5.7 -3.5 3.76e-01 1 1h 17 2.0899053e+00 5.32e-09 4.63e-04 2.17e-05 -5.7 -4.0 1.00e+00 1 1h 18 2.0899036e+00 2.47e-09 6.83e-05 2.45e-06 -5.7 -4.5 1.00e+00 1 1h 19 2.0899020e+00 2.47e-08 7.01e-05 1.84e-06 -5.7 -5.0 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0899000e+00 8.96e-08 7.32e-05 1.84e-06 -5.7 -5.5 1.00e+00 1 1h 21 2.0898981e+00 1.41e-07 1.16e-04 1.84e-06 -5.7 -5.9 1.00e+00 1 1h 22 2.0898970e+00 7.47e-08 8.84e-05 1.84e-06 -5.7 -6.4 1.00e+00 1 1h 23 2.0898966e+00 1.39e-08 2.55e-05 1.84e-06 -5.7 -6.9 1.00e+00 1 1h 24 2.0898966e+00 1.73e-09 3.07e-06 1.84e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0898800e+00 6.57e-08 5.85e-08 2.53e-09 -8.6 -7.8 1.00e+00 1 1h 26 2.0898800e+00 1.11e-13 1.40e-10 2.51e-09 -8.6 -8.3 1.00e+00 1 1h Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0898800325024318e+00 2.0898800325024318e+00 Dual infeasibility......: 1.3964754179418559e-10 1.3964754179418559e-10 Constraint violation....: 1.1091128016005314e-13 1.1091128016005314e-13 Complementarity.........: 2.5059035788817366e-09 2.5059035788817366e-09 Overall NLP error.......: 2.5059035788817366e-09 2.5059035788817366e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of constraint evaluations = 27 Number of constraint Jacobian evaluations = 27 Number of Lagrangian Hessian evaluations = 26 Number of KKT factorizations = 59 Number of KKT backsolves = 27 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.050 s Total wall secs in NLP function evaluations = 18.123 s Total wall secs in solver (w/o init./fun./lin. alg.) = 8.497 s Total wall secs = 26.670 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/KFMSZ/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.043s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.044s) integrator 1 hessian structure: 0.036s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.037s) linear index maps built (0.0s) evaluator ready (total: 0.081s) evaluator created (0.12s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.567s) optimizer initialization complete (total: 0.688s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9065463e+00 2.92e+00 2.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6549463e+00 2.95e-02 2.12e+00 -1.0 1.60e+00 -2.0 9.99e-01 1.00e+00h 1 2 2.3355877e+00 7.81e-02 3.25e-01 -1.7 1.76e+00 -2.5 9.93e-01 1.00e+00h 1 3 2.1594603e+00 2.27e-02 6.35e-02 -2.3 1.14e+00 -3.0 9.61e-01 1.00e+00h 1 4 2.0972444e+00 2.27e-03 6.82e-03 -3.3 3.42e-01 -3.4 9.88e-01 1.00e+00h 1 5 2.0910320e+00 1.29e-04 5.28e-04 -4.0 1.84e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909602e+00 1.43e-06 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0908125e+00 8.34e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903715e+00 7.59e-06 5.44e-05 -4.0 4.49e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890694e+00 6.84e-05 4.80e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0853472e+00 6.16e-04 4.16e-03 -4.0 3.83e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0799862e+00 1.88e-03 1.26e-01 -4.0 9.65e+01 -6.8 1.00e+00 5.75e-01h 1 12 2.0806755e+00 4.14e-05 1.66e-01 -4.0 6.43e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0778601e+00 5.25e-03 2.40e-02 -4.0 1.20e+02 -7.7 1.00e+00 1.00e+00h 1 14 2.0774717e+00 3.09e-04 6.81e-02 -4.0 1.98e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0765578e+00 7.91e-04 2.39e-02 -4.0 3.41e+02 -8.7 1.00e+00 8.12e-01h 1 16 2.0759782e+00 5.28e-04 2.34e-02 -4.0 4.94e+02 -9.2 1.00e+00 7.56e-01h 1 17 2.0762608e+00 8.19e-04 1.12e-02 -4.0 1.53e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0758572e+00 1.92e-03 5.25e-04 -4.1 8.41e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0761671e+00 3.01e-04 8.67e-06 -4.0 1.26e+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 2.0758188e+00 3.79e-04 8.85e-07 -4.1 1.44e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0761673e+00 3.78e-04 6.20e-07 -4.0 1.44e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0761661e+00 3.51e-08 2.86e-09 -4.0 6.82e-01 -12.0 1.00e+00 1.00e+00h 1 23 2.0761661e+00 8.99e-15 3.16e-13 -4.0 4.33e-03 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0761660582200516e+00 2.0761660582200516e+00 Dual infeasibility......: 3.1554061663899291e-13 3.1554061663899291e-13 Constraint violation....: 8.9928064994637680e-15 8.9928064994637680e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.1554061663899291e-13 3.1554061663899291e-13 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 27.236 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.083s jacobian structure: 180 nonzeros (0.169s) integrator 1 hessian structure: 0.081s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.371s sub-objective 2 (QuadraticRegularizer): 0.101s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.046s objective hessian structure: 0.629s hessian structure: 375 nonzeros (0.71s) linear index maps built (0.0s) evaluator ready (total: 1.118s) evaluator created (1.689s) NL constraint bounds extracted (0.04s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.186s) applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.016s) optimizer initialization complete (total: 3.931s) 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 1.6473954e+00 8.00e-01 1.40e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5963383e+00 2.66e-01 3.48e+00 -0.9 1.72e+00 - 6.94e-01 1.00e+00h 1 2 2.1201387e+00 2.04e-01 2.33e+00 -0.2 1.16e+00 0.0 3.75e-01 2.30e-01h 1 3 6.4532761e+01 6.25e-02 3.54e+02 -4.0 2.86e+01 - 1.52e-02 1.00e+00h 1 4 6.3526655e+00 5.78e-02 3.54e+02 -0.7 2.12e+00 2.2 1.00e+00 7.75e-02f 1 5 5.7740637e+00 5.74e-02 2.38e+01 -0.6 2.47e-01 1.8 1.00e+00 6.64e-03h 1 6 6.2130887e+00 3.04e-03 4.66e+00 -1.4 2.46e-01 1.3 1.00e+00 1.00e+00h 1 7 5.1385328e+00 2.69e-03 9.43e+00 -1.5 1.82e-01 0.8 1.00e+00 8.17e-01f 1 8 4.9888186e+00 7.04e-04 2.06e+00 -1.5 1.27e-01 0.3 1.00e+00 7.23e-01h 1 9 4.6259183e+00 2.69e-06 2.62e-01 -2.1 3.73e-01 -0.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.4648304e+00 1.60e-06 1.66e+01 -2.7 1.07e+00 -0.6 1.00e+00 4.08e-01f 1 11 1.1006684e+00 1.64e-08 2.13e+00 -4.0 2.57e+01 - 4.83e-01 1.00e+00f 1 12 1.0914448e+00 3.55e-11 6.41e-01 -4.0 2.62e-01 - 6.99e-01 1.00e+00f 1 13 1.0909482e+00 8.69e-16 7.31e-03 -4.0 1.30e-01 -1.1 1.00e+00 1.00e+00f 1 14 1.0909003e+00 1.65e-20 7.21e-04 -4.0 3.87e-02 - 9.81e-01 1.00e+00f 1 15 1.0908999e+00 8.23e-21 2.56e-04 -4.0 2.79e-01 - 1.00e+00 5.00e-01f 2 16 1.0908997e+00 2.70e-27 2.71e-05 -4.0 3.65e-02 - 1.00e+00 1.00e+00f 1 17 1.0908997e+00 3.03e-27 1.21e-06 -4.0 1.26e-02 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 1.13e-26 1.30e-10 -4.0 2.73e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 1.3001243271006823e-10 1.3001243271006823e-10 Constraint violation....: 1.1325328695790691e-26 1.1325328695790691e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000024929118e-04 1.0000000024929118e-04 Overall NLP error.......: 1.3001243271006823e-10 1.3001243271006823e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 29.764 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.045s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.046s) integrator 1 hessian structure: 0.036s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.038s) linear index maps built (0.0s) evaluator ready (total: 0.084s) 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 (0.082s) optimizer initialization complete (total: 0.168s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4231554e+00 3.75e+00 8.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9364036e+00 2.88e-02 5.27e-01 -1.0 2.19e+00 - 1.00e+00 1.00e+00f 1 2 2.3863823e+00 8.73e-03 1.04e-01 -1.6 1.09e-01 - 9.34e-01 1.00e+00f 1 3 2.1316246e+00 1.68e-03 2.19e-02 -2.7 4.29e-02 - 9.50e-01 9.10e-01h 1 4 2.0914515e+00 2.27e-04 7.64e-04 -4.0 3.29e-02 - 9.81e-01 1.00e+00h 1 5 2.0908930e+00 2.24e-05 1.81e-04 -4.0 2.54e-01 - 1.00e+00 1.00e+00h 1 6 2.0908971e+00 4.18e-09 2.01e-07 -4.0 1.33e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 2.01e-11 6.09e-11 -4.0 9.53e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971975820689e+00 2.0908971975820689e+00 Dual infeasibility......: 6.0865296472572411e-11 6.0865296472572411e-11 Constraint violation....: 2.0069299195603352e-11 2.0069299195603352e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000136882842434e-04 1.0000136882842434e-04 Overall NLP error.......: 1.3689154656153875e-09 1.3689154656153875e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 27.083 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.038s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.039s) linear index maps built (0.0s) evaluator ready (total: 0.098s) 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: 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: 0.099s) 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: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.9173452e+00 1.83e+00 4.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3749806e+00 7.83e-01 2.45e+00 -0.8 8.60e+00 -4.0 6.84e-01 5.73e-01f 1 2 2.8097814e+00 8.73e-01 1.37e+01 -1.0 1.04e+01 -2.7 3.10e-01 6.99e-01f 1 3 2.5001580e+00 1.72e-01 1.09e+00 -1.1 1.70e+00 -2.2 1.00e+00 1.00e+00f 1 4 2.3746093e+00 4.31e-02 2.56e-01 -1.6 1.15e+00 -2.7 9.96e-01 1.00e+00h 1 5 2.1803577e+00 1.83e-01 6.36e-02 -2.2 2.12e+00 -3.2 7.65e-01 9.75e-01h 1 6 2.1197643e+00 8.52e-03 1.42e-01 -2.6 8.93e-01 -3.7 1.00e+00 9.59e-01h 1 7 2.0917917e+00 2.58e-03 1.02e-02 -3.8 5.39e-01 -4.2 9.99e-01 1.00e+00h 1 8 2.0907449e+00 1.95e-04 3.05e-03 -4.0 7.13e-01 -4.6 1.00e+00 1.00e+00h 1 9 2.0905664e+00 1.42e-06 3.80e-04 -4.0 1.89e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902413e+00 3.82e-06 2.12e-03 -4.0 3.66e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0899814e+00 3.17e-06 3.09e-03 -4.0 4.93e+00 -6.1 1.00e+00 1.00e+00h 1 12 2.0898718e+00 1.71e-06 1.67e-03 -4.0 6.71e+00 -6.5 1.00e+00 1.00e+00h 1 13 2.0898342e+00 7.82e-07 1.07e-03 -4.0 1.06e+01 -7.0 1.00e+00 1.00e+00h 1 14 2.0898273e+00 1.84e-06 7.63e-04 -4.0 9.56e+00 -7.5 1.00e+00 1.00e+00h 1 15 2.0898259e+00 6.31e-07 1.24e-04 -4.0 4.00e+00 -8.0 1.00e+00 1.00e+00h 1 16 2.0898257e+00 1.26e-08 2.62e-06 -4.0 4.47e-01 -8.4 1.00e+00 1.00e+00h 1 17 2.0898256e+00 2.63e-11 7.35e-09 -4.0 3.52e-02 -8.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 2.0898256445859049e+00 2.0898256445859049e+00 Dual infeasibility......: 7.3473115786955659e-09 7.3473115786955659e-09 Constraint violation....: 2.6287916288225688e-11 2.6287916288225688e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 7.3473115786955659e-09 7.3473115786955659e-09 Number of objective function evaluations = 18 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 32.343 EXIT: Optimal Solution Found. 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 (0.051s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.095s) evaluator created (0.095s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.095s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.7343522e+00 2.14e+00 4.00e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.4056718e+00 1.99e+00 1.14e+01 -4.0 2.37e+00 0.0 5.86e-03 7.26e-02h 1 2 4.3993778e+00 1.99e+00 9.65e+01 -2.2 4.41e+00 -0.5 1.22e-01 1.43e-03h 1 3 4.4341007e+00 1.96e+00 5.30e+03 0.5 1.72e+01 -1.0 7.80e-01 1.32e-02f 1 4 4.9289058e+00 2.52e+00 3.54e+04 1.8 2.97e+02 -1.4 1.00e+00 6.47e-02f 1 5 4.9165031e+00 2.25e+00 3.17e+04 1.6 4.76e+01 -1.9 1.33e-01 1.07e-01h 1 6 4.9267827e+00 2.21e+00 2.13e+05 2.5 2.56e+02 -2.4 1.68e-01 9.91e-03h 1 7 5.0769135e+00 1.62e+00 4.63e+05 2.5 4.25e+03 -2.9 5.08e-02 1.09e-02f 2 8 5.2365129e+00 1.60e+00 7.24e+05 2.5 1.47e+04 -3.3 3.08e-02 1.12e-02h 1 9 5.2305619e+00 1.59e+00 8.31e+05 2.5 4.09e+04 -3.8 7.69e-03 6.58e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.2297885e+00 1.59e+00 2.48e+07 2.5 1.22e+05 -4.3 4.28e-02 1.07e-03h 2 11 5.2294011e+00 1.59e+00 2.86e+08 2.5 2.04e+05 -3.9 2.14e-02 9.80e-05h 5 12 5.2290127e+00 1.59e+00 3.58e+10 2.5 2.44e+05 -4.3 2.39e-01 1.10e-04h 5 13 5.2287405e+00 1.59e+00 3.13e+11 2.5 2.55e+05 -3.9 1.38e-02 1.09e-04h 5 14 5.2284426e+00 1.59e+00 7.20e+13 2.5 2.70e+05 -4.4 3.74e-01 1.02e-04h 5 15 5.2281614e+00 1.59e+00 7.04e+14 2.5 2.87e+05 -4.0 1.36e-02 9.51e-05h 5 16 5.2278685e+00 1.59e+00 1.78e+17 2.5 2.78e+05 -4.4 1.00e+00 9.63e-05h 5 17 4.8880635e+00 8.65e+02 3.03e+18 2.5 1.29e+04 -4.9 1.69e-02 3.73e-01f 1 18 4.7952928e+00 8.63e+02 3.02e+18 2.5 1.54e+02 12.9 5.49e-04 1.28e-03h 1 19 4.7922422e+00 8.63e+02 3.02e+18 2.5 2.05e+01 14.2 5.48e-03 2.24e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 4.7922422e+00 8.63e+02 9.99e+02 2.9 0.00e+00 14.7 0.00e+00 4.37e-07R 4 21r 4.7889672e+00 2.16e+02 2.56e+03 -3.2 1.27e+06 - 3.97e-02 9.93e-04f 1 22 4.7983542e+00 2.16e+02 2.98e+13 1.8 1.03e+02 14.2 1.00e+00 1.83e-03f 1 23 4.7985408e+00 2.16e+02 2.99e+13 1.8 1.01e+02 13.7 1.52e-03 2.09e-05h 1 24r 4.7985408e+00 2.16e+02 9.99e+02 2.3 0.00e+00 13.2 0.00e+00 1.58e-07R 2 25r 4.7910948e+00 6.01e+01 1.38e+04 -3.8 1.23e+06 - 1.15e-01 9.91e-04f 1 26r 4.7910948e+00 6.01e+01 9.99e+02 1.8 0.00e+00 12.8 0.00e+00 2.44e-07R 2 27r 4.7819219e+00 1.49e+01 9.98e+02 1.0 6.35e+05 - 8.94e-04 1.01e-03f 1 28 4.7581714e+00 1.48e+01 5.13e+10 0.4 3.54e+00 12.3 1.00e+00 7.48e-03h 1 29 4.7579840e+00 1.48e+01 5.15e+10 0.4 3.37e+00 11.8 1.30e-02 6.82e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.7579840e+00 1.48e+01 9.99e+02 1.2 0.00e+00 11.3 0.00e+00 3.43e-07R 2 31r 4.7196542e+00 3.62e+00 5.92e+03 2.1 3.82e+05 - 1.70e-01 1.04e-03f 1 32 4.6383027e+00 3.47e+00 2.86e+09 2.3 9.31e-01 10.9 2.80e-01 4.27e-02h 1 33 4.6375461e+00 3.46e+00 2.87e+09 2.5 8.93e-01 10.4 1.91e-01 4.40e-04h 1 34r 4.6375461e+00 3.46e+00 9.33e+02 2.5 0.00e+00 9.9 0.00e+00 4.39e-07R 5 35r 4.4081934e+00 7.46e-01 2.67e+03 1.4 1.70e+03 - 6.18e-01 8.82e-02f 1 36 4.3947950e+00 7.38e-01 2.35e+07 -0.5 8.20e-01 9.4 5.69e-01 1.07e-02h 1 37 4.3946649e+00 7.38e-01 2.36e+07 -0.0 8.11e-01 8.9 1.00e+00 1.08e-04h 1 38 4.3946774e+00 7.38e-01 1.01e+11 1.5 3.64e+00 8.5 1.00e+00 1.25e-05h 1 39 4.3966989e+00 7.36e-01 3.92e+10 2.4 4.21e+00 8.0 1.00e+00 2.70e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.3637607e+00 7.31e-01 3.86e+10 2.5 6.25e+00 7.5 5.90e-02 6.84e-03h 1 41 4.3634547e+00 7.31e-01 6.53e+10 2.5 8.88e+00 7.9 7.04e-02 4.91e-05h 1 42 4.3828344e+00 7.31e-01 7.73e+10 2.5 1.25e+02 7.5 2.78e-03 9.46e-04h 1 43 4.3822352e+00 7.30e-01 3.40e+11 2.5 1.82e+02 7.9 1.12e-02 8.15e-05h 1 44r 4.3822352e+00 7.30e-01 9.99e+02 -0.1 0.00e+00 7.4 0.00e+00 4.23e-07R 3 45r 4.3421884e+00 6.80e-01 3.01e+03 2.6 1.26e+05 - 2.80e-01 2.32e-03f 1 46r 3.8511937e+00 9.85e-01 5.95e+03 1.8 2.35e+03 - 5.51e-01 1.77e-01f 1 47r 3.6139979e+00 6.25e-01 3.25e+03 0.9 1.11e+03 - 5.56e-01 4.79e-01f 1 48 3.7255280e+00 5.01e-01 9.26e+05 -1.5 5.38e-01 6.9 7.04e-01 1.98e-01h 1 49 3.7266855e+00 5.00e-01 9.27e+05 -1.4 4.30e-01 6.5 1.00e+00 2.34e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 3.7322271e+00 4.93e-01 9.20e+05 -0.5 4.31e-01 6.0 1.00e+00 1.28e-02h 1 51 3.7499800e+00 4.69e-01 1.11e+06 -0.4 4.29e-01 6.4 1.00e+00 4.90e-02h 1 52 3.7563011e+00 4.60e-01 1.04e+06 -4.0 4.14e-01 5.9 8.18e-02 1.86e-02h 1 53 3.7958295e+00 3.60e-01 7.44e+05 1.6 4.11e-01 5.5 4.38e-01 2.18e-01f 1 54 3.7967114e+00 3.59e-01 7.42e+05 1.9 3.20e-01 5.9 8.26e-01 2.79e-03h 1 55 3.7966708e+00 3.59e-01 1.90e+07 2.5 2.45e+01 5.4 8.59e-03 5.23e-05h 1 56 3.7935340e+00 3.58e-01 3.16e+08 2.5 3.31e+01 5.8 3.73e-02 2.31e-03h 1 57 3.7898613e+00 3.57e-01 3.25e+08 2.5 3.25e+01 5.4 7.10e-03 2.47e-03h 1 58 3.7877721e+00 3.57e-01 7.81e+08 2.5 5.04e+01 5.8 4.45e-02 8.81e-04h 1 59 3.7864850e+00 3.56e-01 8.05e+08 2.5 4.35e+01 5.3 8.70e-03 2.17e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.7892397e+00 3.56e-01 1.46e+09 2.5 1.02e+02 5.7 1.52e-02 6.81e-04h 1 61 3.7934480e+00 3.56e-01 2.40e+09 2.5 1.03e+02 5.3 4.11e-02 1.34e-03h 1 62 3.7935111e+00 3.56e-01 7.09e+11 2.5 9.98e+01 5.7 2.11e-02 1.37e-05h 1 63r 3.7935111e+00 3.56e-01 9.94e+02 2.5 0.00e+00 5.2 0.00e+00 3.05e-07R 2 64r 3.8082429e+00 2.08e-01 3.19e+02 0.3 1.31e+01 - 8.36e-01 5.52e-01f 1 65 3.8101936e+00 2.07e-01 1.02e+02 -2.0 2.93e-01 4.7 8.32e-01 5.44e-03h 1 66 3.8102571e+00 2.07e-01 2.62e+06 -0.7 8.65e-01 4.2 1.00e+00 6.04e-05h 1 67 3.8103188e+00 2.07e-01 2.73e+08 0.9 4.79e+01 3.8 1.00e+00 1.78e-04h 1 68 3.8108609e+00 2.07e-01 1.86e+11 2.5 9.91e+01 3.3 3.05e-01 6.57e-05h 1 69 3.8116976e+00 2.07e-01 6.28e+13 2.5 3.78e+01 2.8 3.59e-02 1.05e-04h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70r 3.8116976e+00 2.07e-01 9.96e+02 2.5 0.00e+00 2.3 0.00e+00 3.00e-07R 3 71r 3.8321504e+00 2.03e-01 1.54e+02 -3.6 2.22e+01 - 8.69e-01 8.13e-01f 1 72r 3.8538039e+00 2.25e+00 1.45e+02 0.1 4.60e+02 - 4.76e-01 8.21e-01f 1 73r 3.9522657e+00 8.04e-01 8.46e+01 0.2 1.38e+02 - 9.67e-01 7.72e-01f 1 74r 4.3321134e+00 3.07e-01 1.63e+01 -0.5 5.60e+01 -4.0 9.98e-01 9.63e-01f 1 75r 4.3944940e+00 1.68e+00 5.25e+01 -0.9 1.39e+02 - 8.08e-01 1.00e+00f 1 76r 4.3666466e+00 4.76e+00 1.93e+00 -1.3 2.36e+02 - 1.00e+00 1.00e+00f 1 77r 4.2841157e+00 1.99e-01 3.37e-01 -2.0 4.06e+01 - 9.91e-01 1.00e+00f 1 78r 4.0155033e+00 1.99e-01 3.93e-02 -2.5 9.28e+00 - 9.96e-01 1.00e+00f 1 79r 4.0031766e+00 1.01e+00 2.96e-01 -3.0 6.13e+01 - 8.92e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80r 3.9338769e+00 8.78e-01 5.42e-03 -3.9 5.95e+01 - 1.00e+00 1.00e+00h 1 81r 3.9574604e+00 1.99e-01 1.08e-03 -4.0 1.38e+01 - 1.00e+00 1.00e+00h 1 82r 3.9696209e+00 1.99e-01 1.07e-05 -4.0 1.04e+00 - 1.00e+00 1.00e+00h 1 83r 3.9696766e+00 1.99e-01 1.26e-08 -4.0 2.43e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 83 (scaled) (unscaled) Objective...............: 3.9696766811265531e+00 3.9696766811265531e+00 Dual infeasibility......: 1.8647269634689603e+00 1.8647269634689603e+00 Constraint violation....: 1.9875045035187244e-01 1.9875045035187244e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004847697e-04 1.0000000004847697e-04 Overall NLP error.......: 1.8647269634689603e+00 1.8647269634689603e+00 Number of objective function evaluations = 143 Number of objective gradient evaluations = 70 Number of equality constraint evaluations = 143 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 93 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 84 Total seconds in IPOPT = 28.755 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) 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 sub-objective 4 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (0.04s) 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 (0.17s) 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 (3.709s) optimizer initialization complete (total: 3.977s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 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 7.2693426e+00 1.84e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1809391e+00 7.50e-01 3.28e+00 -0.8 1.95e+00 0.0 8.62e-01 5.93e-01f 1 2 2.6041100e+00 4.85e-02 6.88e+00 -1.8 7.73e-01 -0.5 5.25e-01 9.58e-01h 1 3 2.4324851e+00 7.29e-02 2.58e+00 -1.1 7.88e-01 -1.0 8.97e-01 6.05e-01f 1 4 2.2486647e+00 2.78e-03 9.17e-02 -1.8 8.59e-02 -0.5 1.00e+00 1.00e+00h 1 5 2.1091805e+00 8.46e-04 1.70e-02 -3.3 4.61e-02 -1.0 9.55e-01 1.00e+00h 1 6 2.0912758e+00 7.61e-05 5.17e-03 -4.0 1.54e-02 -1.5 1.00e+00 9.55e-01h 1 7 2.0909494e+00 3.16e-07 2.47e-04 -4.0 8.85e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909491e+00 1.28e-09 4.96e-05 -4.0 1.36e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909474e+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 2.0909424e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909275e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908827e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907484e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903475e+00 6.36e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891621e+00 5.75e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857590e+00 5.24e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798604e+00 2.23e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.75e-01h 1 18 2.0809746e+00 1.09e-04 1.66e-01 -4.0 6.69e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779552e+00 5.81e-03 2.31e-02 -4.0 1.15e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0770200e+00 1.21e-03 2.88e-02 -4.0 1.81e+02 -8.2 1.00e+00 9.71e-01h 1 21 2.0766399e+00 3.07e-03 4.12e-02 -4.0 2.94e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0759140e+00 2.78e-03 2.90e-02 -4.0 5.79e+02 -9.1 1.00e+00 7.36e-01h 1 23 2.0762158e+00 3.02e-03 1.85e-02 -4.0 1.99e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760764e+00 4.50e-04 8.54e-04 -4.0 8.82e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.17e-06 1.26e-05 -4.0 1.37e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.07e-08 4.32e-07 -4.0 6.77e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.93e-10 2.21e-08 -4.0 1.75e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.38e-12 1.91e-10 -4.0 1.89e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668693001461e+00 2.0760668693001461e+00 Dual infeasibility......: 1.9098512883479989e-10 1.9098512883479989e-10 Constraint violation....: 2.3788748748643229e-12 2.3788748748643229e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000010e-04 1.0000000000000010e-04 Overall NLP error.......: 1.9098512883479989e-10 1.9098512883479989e-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 = 31.771 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.076s) 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: 0.118s) evaluator created (0.118s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.119s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9595833e+00 2.04e+00 7.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5733794e+00 7.68e-02 4.32e+00 -1.0 1.79e+00 0.0 5.27e-01 1.00e+00h 1 2 2.4294728e+00 8.43e-03 1.66e+00 -1.0 2.28e-01 0.4 9.82e-01 8.56e-01f 1 3 2.3615818e+00 1.35e-03 3.84e-01 -2.2 9.08e-02 -0.1 9.96e-01 1.00e+00h 1 4 2.1336015e+00 2.40e-03 1.17e-01 -2.9 2.08e-01 -0.5 1.00e+00 5.36e-01f 1 5 2.0941841e+00 1.15e-04 3.57e-02 -3.9 1.64e-02 -1.0 1.00e+00 9.86e-01h 1 6 2.0908417e+00 5.72e-06 5.58e-03 -4.0 5.33e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909033e+00 4.11e-08 1.25e-04 -4.0 1.14e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909024e+00 7.60e-10 6.39e-05 -4.0 1.75e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909007e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908957e+00 9.64e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908808e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908360e+00 7.81e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907018e+00 7.03e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903011e+00 6.34e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891165e+00 5.73e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857156e+00 5.23e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798485e+00 2.20e-03 1.16e-01 -4.0 9.05e+01 -6.7 1.00e+00 6.73e-01h 1 18 2.0809739e+00 1.21e-04 1.73e-01 -4.0 6.53e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779512e+00 6.20e-03 2.49e-02 -4.0 1.14e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0770239e+00 9.92e-04 2.91e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766366e+00 1.66e-03 2.73e-02 -4.0 2.77e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758878e+00 1.77e-03 3.54e-02 -4.0 5.40e+02 -9.1 1.00e+00 7.48e-01h 1 23 2.0762242e+00 2.86e-03 1.37e-02 -4.0 1.82e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757988e+00 1.44e-03 7.68e-04 -4.1 9.41e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.76e-04 7.72e-06 -4.0 1.34e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.60e-07 4.01e-07 -4.0 6.02e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.99e-10 1.89e-08 -4.0 1.73e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.21e-12 1.78e-10 -4.0 1.91e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692995323e+00 2.0760668692995323e+00 Dual infeasibility......: 1.7795144464970505e-10 1.7795144464970505e-10 Constraint violation....: 2.2052359938129484e-12 2.2052359938129484e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.7795144464970505e-10 1.7795144464970505e-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 = 29.759 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 (0.049s) integrator 1 hessian structure: 0.091s 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 (0.091s) linear index maps built (0.0s) evaluator ready (total: 0.141s) evaluator created (0.141s) 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 (0.274s) optimizer initialization complete (total: 0.415s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5589327e+00 3.76e+00 3.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7517488e+00 7.93e-01 2.11e+00 -1.0 2.58e+00 0.0 9.84e-01 7.90e-01f 1 2 2.5262419e+00 1.77e-02 5.98e-01 -1.2 6.05e-01 -0.5 9.86e-01 9.92e-01h 1 3 2.4127762e+00 7.12e-02 6.97e-01 -1.8 2.72e+00 -1.0 5.96e-01 2.67e-01h 1 4 2.2086855e+00 3.45e-02 3.46e-01 -1.8 7.18e-01 -1.4 1.00e+00 9.58e-01h 1 5 2.1222036e+00 3.51e-03 2.27e-01 -3.2 5.82e-01 -1.9 9.02e-01 9.12e-01h 1 6 2.1085480e+00 2.78e-03 1.22e+00 -4.0 3.50e-01 -1.5 1.00e+00 2.90e-01h 1 7 2.0933287e+00 9.38e-04 3.88e-01 -4.0 5.57e-01 -2.0 1.00e+00 8.13e-01h 1 8 2.0915089e+00 1.15e-04 1.06e-01 -4.0 2.73e-01 -2.4 1.00e+00 1.00e+00h 1 9 2.0908464e+00 7.03e-06 1.94e-03 -4.0 3.01e-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 2.0908812e+00 1.08e-06 1.17e-04 -4.0 5.09e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908663e+00 1.02e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908215e+00 7.86e-08 2.06e-05 -4.0 4.55e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906873e+00 7.08e-07 2.05e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902867e+00 6.39e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891024e+00 5.77e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857024e+00 5.26e-04 3.45e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798624e+00 2.19e-03 1.17e-01 -4.0 9.04e+01 -6.7 1.00e+00 6.70e-01h 1 18 2.0809832e+00 1.28e-04 1.72e-01 -4.0 6.48e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779604e+00 6.26e-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 2.0770058e+00 1.07e-03 2.91e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766537e+00 1.75e-03 2.67e-02 -4.0 2.72e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758895e+00 1.87e-03 3.50e-02 -4.0 5.36e+02 -9.1 1.00e+00 7.49e-01h 1 23 2.0762298e+00 2.83e-03 1.45e-02 -4.0 1.81e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0758009e+00 1.46e-03 7.57e-04 -4.1 9.36e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.36e-04 7.35e-06 -4.0 1.14e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.52e-07 3.63e-07 -4.0 6.16e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 3.10e-10 2.02e-08 -4.0 1.95e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.66e-12 2.43e-10 -4.0 2.21e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668918747274e+00 2.0760668918747274e+00 Dual infeasibility......: 2.4330269038624203e-10 2.4330269038624203e-10 Constraint violation....: 2.6620927684462004e-12 2.6620927684462004e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 2.4330269038624203e-10 2.4330269038624203e-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 = 29.657 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.068s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.113s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.114s) 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 5.0885989e+00 2.95e+00 6.34e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9184085e+00 1.20e-01 3.20e+00 -0.9 2.73e+00 0.0 6.25e-01 1.00e+00f 1 2 2.5728046e+00 2.01e-02 8.96e-01 -0.9 1.74e-01 0.4 7.99e-01 8.39e-01h 1 3 2.4206576e+00 3.73e-03 3.84e-01 -1.8 1.29e-01 -0.1 9.94e-01 1.00e+00h 1 4 2.2232237e+00 1.96e-03 3.02e-01 -2.1 1.34e-01 -0.5 9.84e-01 6.31e-01f 1 5 2.1108134e+00 1.05e-03 6.60e-02 -3.2 4.14e-02 -1.0 1.00e+00 7.83e-01h 1 6 2.0914001e+00 4.77e-05 2.13e-02 -4.0 1.25e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909211e+00 4.30e-07 1.04e-03 -4.0 6.84e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909280e+00 8.34e-09 3.88e-05 -4.0 1.06e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909264e+00 1.10e-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 2.0909214e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909064e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908616e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907274e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903266e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891416e+00 5.76e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857394e+00 5.25e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798594e+00 2.23e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.74e-01h 1 18 2.0809921e+00 1.24e-04 1.74e-01 -4.0 6.53e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779579e+00 6.26e-03 2.49e-02 -4.0 1.14e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769875e+00 1.07e-03 2.92e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766711e+00 1.84e-03 2.81e-02 -4.0 2.70e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758969e+00 1.96e-03 3.58e-02 -4.0 5.42e+02 -9.1 1.00e+00 7.48e-01h 1 23 2.0762323e+00 2.90e-03 1.46e-02 -4.0 1.83e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0758017e+00 1.45e-03 7.69e-04 -4.1 9.38e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.59e-04 7.71e-06 -4.0 1.27e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.39e-07 3.57e-07 -4.0 5.67e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.59e-10 1.67e-08 -4.0 1.63e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 1.92e-12 1.57e-10 -4.0 1.80e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692992104e+00 2.0760668692992104e+00 Dual infeasibility......: 1.5700230034782457e-10 1.5700230034782457e-10 Constraint violation....: 1.9207968549039833e-12 1.9207968549039833e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.5700230034782457e-10 1.5700230034782457e-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 = 29.238 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.094s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.095s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.144s) evaluator created (0.144s) 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: 0.145s) 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 1.9886242e+00 1.77e+00 1.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8194686e+00 9.29e-01 2.82e+01 -1.0 1.26e+01 -2.0 1.21e-01 6.28e-01h 1 2 1.9643015e+00 7.02e-01 2.21e+01 -1.3 8.95e+00 -2.5 5.32e-01 2.37e-01h 1 3 1.9443808e+00 6.56e-01 2.06e+01 -1.0 1.71e+01 -2.1 1.88e-01 5.40e-02h 1 4 1.8598740e+00 5.08e-01 2.61e+01 -0.3 1.51e+01 -0.7 8.63e-01 9.84e-02f 1 5 2.2114604e+00 2.10e-01 1.93e+01 -0.7 3.68e+00 -1.2 9.98e-01 6.58e-01h 1 6 2.2455000e+00 1.70e-01 1.19e+02 -0.5 1.12e+01 -1.7 7.82e-01 1.94e-01h 1 7 2.2669064e+00 1.62e-01 3.89e+03 -0.3 9.32e-01 1.5 1.00e+00 4.81e-02h 1 8 2.4795367e+00 1.39e-01 2.68e+03 1.7 7.42e+00 1.0 5.24e-02 1.40e-01f 1 9 2.5371867e+00 9.53e-02 7.91e+02 0.2 6.73e-01 1.4 1.00e+00 3.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.6274162e+00 3.93e-02 1.15e+02 -0.3 1.01e+00 0.9 1.00e+00 1.00e+00f 1 11 2.6221630e+00 4.28e-04 1.18e+01 -1.9 2.07e-01 0.5 9.77e-01 1.00e+00h 1 12 2.6211574e+00 2.04e-05 9.68e-02 -2.0 3.92e-02 -0.0 9.99e-01 1.00e+00h 1 13 2.6104866e+00 2.15e-04 3.20e-02 -2.9 1.01e-01 -0.5 1.00e+00 1.00e+00f 1 14 2.5874581e+00 1.07e-03 2.67e-02 -3.7 2.48e-01 -1.0 1.00e+00 9.18e-01h 1 15 2.5476353e+00 5.97e-03 2.00e-02 -4.0 5.60e-01 -1.5 1.00e+00 1.00e+00h 1 16 2.4821968e+00 2.25e-02 3.75e-02 -3.7 1.17e+00 -1.9 1.00e+00 1.00e+00h 1 17 2.4004954e+00 5.16e-02 6.51e-02 -4.0 2.08e+00 -2.4 1.00e+00 1.00e+00h 1 18 2.3193511e+00 8.37e-02 8.58e-02 -4.0 3.34e+00 -2.9 1.00e+00 1.00e+00h 1 19 2.2487912e+00 1.09e-01 1.00e-01 -4.0 5.07e+00 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1926341e+00 1.28e-01 1.12e-01 -4.0 7.56e+00 -3.8 1.00e+00 1.00e+00h 1 21 2.1546991e+00 1.38e-01 1.42e-01 -3.2 1.10e+01 -4.3 1.00e+00 1.00e+00h 1 22 2.1226910e+00 1.51e-01 1.05e-01 -4.0 1.62e+01 -4.8 1.00e+00 1.00e+00h 1 23 2.1046639e+00 1.54e-01 1.22e-01 -4.0 2.35e+01 -5.3 1.00e+00 1.00e+00h 1 24 2.0916253e+00 1.82e-01 1.21e-01 -3.7 3.30e+01 -5.7 1.00e+00 9.98e-01h 1 25 2.1017604e+00 3.00e-01 4.99e-01 -3.2 7.56e+01 -6.2 1.00e+00 1.00e+00H 1 26 2.0894084e+00 6.73e-02 1.02e-01 -3.9 6.61e+01 -6.7 1.00e+00 1.00e+00h 1 27 2.0796156e+00 7.34e-02 8.06e-02 -4.0 1.85e+02 -7.2 1.00e+00 1.00e+00h 1 28 2.0816464e+00 1.76e-02 8.17e-02 -3.5 4.70e+01 -7.7 1.00e+00 1.00e+00h 1 29 2.0778861e+00 4.92e-02 1.79e-02 -4.0 1.17e+02 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0772454e+00 9.58e-03 6.43e-03 -4.0 2.84e+02 -8.6 1.00e+00 1.00e+00h 1 31 2.0772724e+00 6.10e-02 2.37e-02 -3.7 5.69e+02 -9.1 1.00e+00 1.00e+00h 1 32 2.0772173e+00 2.10e-02 2.34e-02 -3.9 2.54e+02 -9.6 1.00e+00 1.00e+00h 1 33 2.0765159e+00 4.11e-03 1.82e-03 -4.0 1.45e+02 -10.0 1.00e+00 1.00e+00h 1 34 2.0765050e+00 2.31e-05 4.59e-05 -4.0 3.47e+01 -10.5 1.00e+00 1.00e+00h 1 35 2.0765048e+00 1.02e-07 1.97e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 36 2.0765047e+00 9.14e-10 4.98e-08 -4.0 2.38e+00 -11.5 1.00e+00 1.00e+00h 1 37 2.0765047e+00 2.14e-12 1.51e-10 -4.0 1.32e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 37 (scaled) (unscaled) Objective...............: 2.0765047454088843e+00 2.0765047454088843e+00 Dual infeasibility......: 1.5099339660540334e-10 1.5099339660540334e-10 Constraint violation....: 2.1429524821314772e-12 2.1429524821314772e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 1.5099339660540334e-10 1.5099339660540334e-10 Number of objective function evaluations = 41 Number of objective gradient evaluations = 38 Number of equality constraint evaluations = 41 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 37 Total seconds in IPOPT = 28.522 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.048s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.049s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.091s) 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: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.083s) optimizer initialization complete (total: 0.175s) 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 4.7270528e+00 3.19e+00 3.79e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.0991665e+00 2.34e+00 7.50e+02 -0.9 1.85e+01 0.0 6.77e-01 2.77e-01h 1 2 7.2927184e+00 2.33e+00 1.66e+03 -0.0 2.12e+02 -0.5 7.30e-01 4.11e-03h 1 3 7.2964740e+00 2.33e+00 2.59e+07 0.1 3.39e+02 0.9 1.00e+00 5.50e-05h 1 4 1.8334958e+01 2.27e+00 3.59e+07 1.5 1.42e+03 0.4 1.00e+00 2.50e-02h 1 5 3.7972458e+02 2.15e+00 3.66e+07 -4.0 3.50e+03 - 1.72e-02 5.38e-02h 1 6 2.9953823e+03 1.95e+00 6.79e+06 2.4 1.76e+03 - 5.01e-01 1.74e-01h 1 7 1.7216522e+03 5.96e+00 7.37e+06 2.4 4.68e+03 - 1.42e-02 5.67e-02f 3 8 1.2307396e+04 7.76e+00 2.56e+07 2.3 5.25e+02 - 3.76e-01 1.00e+00h 1 9 1.1891407e+04 5.55e+00 1.86e+07 2.4 2.58e+01 1.7 3.69e-01 2.88e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0751069e+04 1.03e+00 1.32e+06 2.4 1.28e+01 1.2 9.23e-01 1.00e+00f 1 11 1.0608359e+04 9.19e-02 1.70e+04 1.7 3.98e+00 0.7 1.00e+00 1.00e+00f 1 12 1.0439055e+04 1.77e-02 5.13e+02 1.0 5.56e+00 0.3 1.00e+00 1.00e+00f 1 13 9.9584869e+03 1.67e-01 5.70e+02 0.1 1.68e+01 -0.2 9.97e-01 1.00e+00f 1 14 8.7343835e+03 1.83e+00 2.07e+02 -0.2 4.82e+01 -0.7 1.00e+00 9.51e-01f 1 15 2.4372317e+03 2.73e+00 1.30e+04 -0.3 1.41e+03 - 2.96e-02 1.33e-01F 1 16 2.4946732e+03 2.47e+00 1.00e+04 1.3 5.86e+00 1.6 1.00e+00 9.57e-02h 1 17 5.4545110e+02 2.66e+00 6.76e+03 2.0 6.97e+02 - 7.72e-01 2.82e-01f 1 18 7.1592796e+02 9.41e+00 1.99e+03 1.6 5.34e+02 - 2.81e-01 5.00e-01f 2 19 4.5332263e+02 4.82e+00 7.04e+04 1.7 3.00e+01 1.1 4.94e-01 4.92e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.7665765e+02 3.56e+00 5.07e+04 -4.0 6.51e+02 - 1.30e-01 2.56e-01F 1 21 7.8508329e+02 8.71e+00 4.90e+04 2.4 5.67e+03 - 7.22e-03 3.14e-02f 2 22 7.0395705e+02 8.30e+00 4.72e+04 1.6 4.81e+01 0.6 9.34e-01 4.75e-02h 1 23 6.9634695e+02 7.53e+00 5.18e+04 1.6 1.43e+02 0.1 1.05e-01 9.79e-02h 1 24 8.1991081e+02 3.09e+00 7.76e+04 1.6 5.37e+02 - 2.54e-02 2.50e-01f 3 25 3.8573713e+02 3.06e+00 3.12e+04 2.4 1.49e+01 2.4 5.90e-02 9.04e-03h 1 26 1.2582753e+03 5.45e-01 1.62e+05 1.6 1.14e+01 1.9 1.00e+00 1.00e+00h 1 27 6.7116336e+02 1.82e-01 6.65e+04 1.3 3.77e+00 1.4 1.00e+00 7.15e-01f 1 28 4.2565062e+02 1.04e-02 7.16e+03 1.3 1.67e+00 0.9 1.00e+00 1.00e+00f 1 29 3.7605131e+02 1.08e-02 1.37e+03 0.1 1.53e+00 0.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.1262510e+02 5.46e-02 2.03e+03 0.4 3.92e+00 -0.0 1.00e+00 1.00e+00f 1 31 8.0574857e+01 2.75e+00 2.09e+03 0.7 2.18e+02 - 4.38e-01 3.39e-01f 1 32 2.3424923e+02 1.46e+00 1.04e+04 1.0 8.73e+00 0.4 9.87e-01 4.90e-01h 1 33 5.9629411e+01 9.69e-01 2.81e+03 1.1 9.37e+00 -0.1 1.00e+00 1.00e+00f 1 34 9.8084583e+01 1.08e+00 6.87e+03 1.0 1.18e+02 - 2.65e-01 5.00e-01h 2 35 8.8861495e+01 9.11e-01 3.60e+03 -0.1 3.11e+01 - 3.40e-01 5.00e-01f 2 36 8.5288544e+01 7.01e-01 2.64e+03 -0.1 1.77e+01 -0.6 1.00e+00 2.80e-01f 1 37 6.9350440e+01 2.59e+00 1.90e+03 0.6 3.59e+01 - 1.00e+00 3.42e-01f 2 38 2.7411628e+01 1.37e+00 3.58e+02 0.5 1.38e+01 - 6.64e-01 1.00e+00f 1 39 1.7311312e+01 1.15e+00 1.66e+02 0.5 6.72e+00 - 9.84e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.5608176e+01 8.29e-01 1.16e+02 0.0 5.62e+00 - 9.96e-01 1.88e-01h 1 41 1.0964641e+01 2.43e-01 2.88e+01 -0.8 2.61e+00 - 1.00e+00 1.00e+00f 1 42 9.5321086e+00 1.12e-01 1.42e+01 -0.9 1.21e+00 - 9.99e-01 1.00e+00f 1 43 9.3243089e+00 1.33e-02 1.00e+01 -1.7 1.96e-01 - 1.00e+00 1.00e+00h 1 44 9.2239370e+00 3.65e-03 2.17e+00 -2.2 1.13e-01 - 1.00e+00 1.00e+00h 1 45 9.1950540e+00 1.42e-03 7.84e-02 -3.4 6.17e-02 - 1.00e+00 1.00e+00h 1 46 9.1917995e+00 3.37e-04 1.57e-03 -4.0 2.81e-02 - 1.00e+00 1.00e+00h 1 47 9.1916858e+00 3.55e-05 1.60e-04 -4.0 8.95e-03 - 1.00e+00 1.00e+00h 1 48 9.1916686e+00 6.14e-07 2.77e-06 -4.0 1.18e-03 - 1.00e+00 1.00e+00h 1 49 9.1916683e+00 1.98e-10 8.94e-10 -4.0 2.11e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 9.1916682959784186e+00 9.1916682959784186e+00 Dual infeasibility......: 8.9357321542138379e-10 8.9357321542138379e-10 Constraint violation....: 1.9809431872630512e-10 1.9809431872630512e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000044658265866e-04 1.0000044658265866e-04 Overall NLP error.......: 8.9357321542138379e-10 8.9357321542138379e-10 Number of objective function evaluations = 74 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 74 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 = 49 Total seconds in IPOPT = 30.449 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: 0.049s 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: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.108s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3267579e+00 2.67e+00 4.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1280861e+00 7.91e-01 3.89e+00 -1.0 2.22e+00 0.0 2.05e-01 7.03e-01f 1 2 2.5576796e+00 5.61e-02 1.24e+00 -1.1 1.17e+00 -0.5 9.84e-01 1.00e+00h 1 3 2.5860067e+00 9.04e-03 2.52e-01 -1.1 1.94e-01 -1.0 9.11e-01 1.00e+00f 1 4 2.2267870e+00 3.89e-02 9.74e-02 -2.1 5.07e-01 -1.4 9.06e-01 1.00e+00f 1 5 2.1173195e+00 7.48e-03 5.34e-02 -2.4 2.34e-01 -1.9 9.03e-01 9.91e-01h 1 6 2.0924279e+00 1.16e-04 3.25e-03 -3.5 2.33e-02 -2.4 9.87e-01 1.00e+00h 1 7 2.0909026e+00 3.20e-06 7.76e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908935e+00 4.16e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908802e+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 2.0908404e+00 6.21e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907211e+00 5.59e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903647e+00 5.04e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893092e+00 4.56e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862637e+00 4.15e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798584e+00 2.43e-03 7.30e-02 -4.0 8.30e+01 -6.7 1.00e+00 8.02e-01h 1 16 2.0814775e+00 1.27e-04 1.85e-01 -4.0 6.72e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782474e+00 5.10e-03 2.71e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783325e+00 1.59e-02 2.88e-02 -3.7 1.53e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771624e+00 1.35e-02 1.94e-02 -3.8 2.69e+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 2.0760700e+00 1.44e-02 1.91e-02 -3.9 4.44e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0761920e+00 4.73e-03 1.05e-02 -4.0 1.61e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0760757e+00 3.80e-04 5.87e-04 -4.0 7.67e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760668e+00 9.96e-07 7.75e-06 -4.0 1.42e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0760669e+00 2.72e-08 5.38e-07 -4.0 7.51e+00 -11.0 1.00e+00 1.00e+00h 1 25 2.0760669e+00 4.44e-10 3.32e-08 -4.0 2.16e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.64e-12 3.64e-10 -4.0 2.65e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0760668693062398e+00 2.0760668693062398e+00 Dual infeasibility......: 3.6378269439776151e-10 3.6378269439776151e-10 Constraint violation....: 4.6354031724149536e-12 4.6354031724149536e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000053e-04 1.0000000000000053e-04 Overall NLP error.......: 3.6378269439776151e-10 3.6378269439776151e-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 = 28.754 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.109s) 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 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 (0.778s) optimizer initialization complete (total: 0.888s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1522 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.3571230e+00 3.71e+00 3.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8488123e+00 7.47e-02 2.80e+00 -1.0 2.81e+00 0.0 7.66e-01 1.00e+00f 1 2 2.9877300e+00 9.37e-02 1.87e+00 -0.7 9.24e-01 -0.5 8.16e-01 5.68e-01h 1 3 2.8447607e+00 4.92e-02 1.14e+00 -0.9 2.73e-01 -0.1 9.35e-01 4.83e-01h 1 4 2.4700677e+00 1.25e-02 2.83e-01 -1.5 1.60e-01 -0.5 9.65e-01 1.00e+00f 1 5 2.2175044e+00 6.98e-03 1.60e-01 -2.4 1.21e-01 -1.0 9.60e-01 7.09e-01h 1 6 2.0974202e+00 8.22e-04 4.61e-03 -3.1 4.83e-02 -1.5 9.95e-01 9.99e-01h 1 7 2.0909470e+00 1.48e-05 4.87e-04 -4.0 1.08e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909362e+00 1.02e-07 2.06e-05 -4.0 5.64e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909346e+00 1.74e-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 2.0909296e+00 9.73e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909147e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908698e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907356e+00 7.10e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903348e+00 6.40e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891497e+00 5.79e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857473e+00 5.28e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798763e+00 2.23e-03 1.17e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.73e-01h 1 18 2.0809397e+00 1.04e-04 1.57e-01 -4.0 6.89e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779557e+00 6.14e-03 2.14e-02 -4.0 1.15e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0772077e+00 1.41e-03 3.06e-02 -4.0 1.87e+02 -8.2 1.00e+00 7.98e-01h 1 21 2.0766215e+00 1.80e-03 3.57e-02 -4.0 3.38e+02 -8.6 1.00e+00 7.26e-01h 1 22 2.0758896e+00 4.64e-03 3.11e-02 -4.0 6.13e+02 -9.1 1.00e+00 7.93e-01h 1 23 2.0762263e+00 3.53e-03 1.95e-02 -4.0 2.03e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0760791e+00 6.08e-04 1.14e-03 -4.0 1.10e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0760668e+00 2.64e-06 1.80e-05 -4.0 1.38e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 4.97e-08 4.24e-07 -4.0 6.70e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.76e-10 2.13e-08 -4.0 1.73e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.32e-12 1.86e-10 -4.0 1.90e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668693001145e+00 2.0760668693001145e+00 Dual infeasibility......: 1.8647507103448750e-10 1.8647507103448750e-10 Constraint violation....: 2.3225865675158275e-12 2.3225865675158275e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 1.8647507103448750e-10 1.8647507103448750e-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 = 30.485 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 4 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 2 inequality constraints with only lower bounds: 1 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.2107657e+00 2.49e+00 1.26e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6661492e+00 2.64e-01 1.78e+00 -1.0 1.97e+00 0.0 5.64e-01 8.96e-01f 1 2 2.3959230e+00 1.11e-01 1.87e+00 -1.1 2.69e-01 0.4 9.61e-01 5.78e-01f 1 3 2.2728338e+00 4.97e-03 4.50e-01 -1.7 2.39e-01 -0.1 9.98e-01 1.00e+00h 1 4 2.1652918e+00 1.93e-03 2.42e-01 -2.6 1.37e-01 -0.5 1.00e+00 8.50e-01h 1 5 2.0970648e+00 2.64e-04 6.64e-02 -4.0 2.73e-02 -1.0 1.00e+00 9.14e-01h 1 6 2.0910594e+00 2.10e-05 3.15e-02 -4.0 1.67e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909491e+00 3.46e-08 2.18e-04 -4.0 1.29e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909498e+00 1.76e-09 7.16e-05 -4.0 1.96e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909481e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909431e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909282e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908834e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907491e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903482e+00 6.36e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891629e+00 5.75e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857597e+00 5.24e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798601e+00 2.23e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.75e-01h 1 18 2.0809981e+00 1.24e-04 1.74e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779601e+00 6.26e-03 2.50e-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 2.0769991e+00 1.03e-03 2.92e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766616e+00 1.73e-03 2.90e-02 -4.0 2.74e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758954e+00 1.78e-03 3.64e-02 -4.0 5.48e+02 -9.1 1.00e+00 7.47e-01h 1 23 2.0762293e+00 2.94e-03 1.40e-02 -4.0 1.85e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757988e+00 1.45e-03 7.89e-04 -4.1 9.48e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.67e-04 7.95e-06 -4.0 1.30e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.53e-07 3.77e-07 -4.0 5.84e+00 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.82e-10 1.79e-08 -4.0 1.70e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.11e-12 1.00e-09 -4.0 1.88e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0760668692995012e+00 2.0760668692995012e+00 Dual infeasibility......: 1.0000000001241655e-09 1.0000000001241655e-09 Constraint violation....: 2.1068702338311596e-12 2.1068702338311596e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000042e-04 1.0000000000000042e-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 = 29.633 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) 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: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.116s) evaluator created (0.116s) 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: 0.117s) 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.: 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 2.4843019e+00 2.19e+00 4.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9613911e+00 1.04e+00 2.51e+00 -0.8 1.94e+00 0.0 9.97e-01 5.24e-01f 1 2 2.7202124e+00 3.17e-02 1.51e+00 -1.0 1.07e+00 -0.5 8.75e-01 1.00e+00h 1 3 2.4466128e+00 1.15e-02 2.40e-01 -1.5 1.38e-01 -1.0 9.97e-01 1.00e+00h 1 4 2.1924858e+00 1.09e-02 8.42e-02 -2.4 2.56e-01 -1.4 9.52e-01 7.53e-01f 1 5 2.0976655e+00 9.62e-04 1.38e-02 -3.2 6.26e-02 -1.9 9.83e-01 9.73e-01h 1 6 2.0909005e+00 8.06e-06 8.40e-04 -4.0 2.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909031e+00 1.12e-07 9.99e-05 -4.0 7.28e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908986e+00 8.41e-10 3.98e-05 -4.0 8.70e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908853e+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 2.0908455e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907262e+00 5.57e-07 2.05e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903698e+00 5.02e-06 3.56e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893142e+00 4.54e-05 3.15e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862686e+00 4.14e-04 2.73e-03 -4.0 3.13e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0798579e+00 2.43e-03 7.29e-02 -4.0 8.30e+01 -6.7 1.00e+00 8.02e-01h 1 16 2.0814912e+00 1.23e-04 1.83e-01 -4.0 6.67e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0782505e+00 4.95e-03 2.67e-02 -4.0 1.08e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0783225e+00 1.62e-02 2.85e-02 -3.7 1.51e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0771685e+00 1.32e-02 1.90e-02 -3.8 2.64e+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 2.0760028e+00 3.36e-04 1.88e-02 -4.0 4.40e+02 -9.1 1.00e+00 9.94e-01H 1 21 2.0762028e+00 4.24e-03 1.11e-02 -4.0 1.64e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0757820e+00 1.45e-03 7.23e-04 -4.1 8.78e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0760678e+00 2.86e-04 7.62e-06 -4.0 1.31e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0757392e+00 3.42e-04 9.49e-07 -4.1 1.41e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0760681e+00 3.41e-04 6.28e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 26 2.0757393e+00 3.41e-04 6.96e-07 -4.1 1.40e+01 -11.9 1.00e+00 1.00e+00h 1 27 2.0760681e+00 3.41e-04 7.81e-07 -4.0 1.40e+01 -12.4 1.00e+00 1.00e+00h 1 28 2.0757393e+00 3.41e-04 8.07e-07 -4.1 1.40e+01 -12.9 1.00e+00 1.00e+00h 1 29 2.0760681e+00 3.41e-04 8.18e-07 -4.0 1.40e+01 -13.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757393e+00 3.41e-04 8.21e-07 -4.1 1.40e+01 -13.8 1.00e+00 1.00e+00h 1 31 2.0760681e+00 3.41e-04 8.23e-07 -4.0 1.40e+01 -14.3 1.00e+00 1.00e+00h 1 32 2.0757393e+00 3.41e-04 8.23e-07 -4.1 1.40e+01 -14.8 1.00e+00 1.00e+00h 1 33 2.0744293e+00 5.46e-03 1.84e-04 -6.1 5.65e+01 -15.3 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.45e-05 -4.0 1.59e+02 -15.7 1.00e+00 1.00e+00h 1 35 2.0757443e+00 2.48e-03 3.12e-05 -4.1 9.82e+01 -16.2 1.00e+00 1.00e+00h 1 36 2.0757426e+00 1.05e-06 6.97e-07 -4.1 1.49e+01 -16.7 1.00e+00 1.00e+00h 1 37 2.0760681e+00 3.36e-04 9.23e-07 -4.0 1.40e+01 -17.2 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.41e-04 8.33e-07 -4.1 1.40e+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 7.11e+01 -18.6 1.00e+00 1.00e+00h 1 41 2.0761101e+00 4.75e-02 4.80e-04 -4.0 3.85e+02 -19.1 1.00e+00 1.00e+00f 1 42 2.0757490e+00 5.82e-03 1.68e-04 -4.1 2.32e+02 -19.6 1.00e+00 1.00e+00h 1 43 2.0757468e+00 2.78e-06 3.89e-06 -4.1 3.57e+01 -20.0 1.00e+00 1.00e+00h 1 44 2.0744296e+00 5.51e-03 1.81e-04 -6.1 5.66e+01 -20.0 9.75e-01 1.00e+00h 1 45 2.0744091e+00 6.56e-05 1.57e-05 -6.1 7.09e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0744090e+00 2.18e-09 4.37e-08 -6.1 3.94e+00 -20.0 1.00e+00 1.00e+00h 1 47 2.0761106e+00 4.93e-02 5.13e-04 -4.0 4.00e+02 -20.0 1.00e+00 1.00e+00f 1 48 2.0757493e+00 6.04e-03 1.80e-04 -4.1 2.41e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0757470e+00 2.90e-06 4.17e-06 -4.1 3.71e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0744296e+00 5.51e-03 1.81e-04 -6.1 5.67e+01 -20.0 9.75e-01 1.00e+00h 1 51 2.0744091e+00 6.57e-05 1.57e-05 -6.1 7.09e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0744090e+00 2.18e-09 4.38e-08 -6.1 3.95e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0743968e+00 2.63e-06 5.29e-08 -9.0 2.93e+00 -20.0 9.99e-01 1.00e+00h 1 54 2.0761119e+00 5.16e-02 5.52e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0757498e+00 6.31e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0757475e+00 3.07e-06 4.53e-06 -4.1 3.86e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0744296e+00 5.51e-03 1.82e-04 -6.1 5.67e+01 -20.0 9.75e-01 1.00e+00h 1 58 2.0744091e+00 6.58e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0744091e+00 2.19e-09 4.39e-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 2.63e-06 5.31e-08 -9.0 2.93e+00 -20.0 9.99e-01 1.00e+00h 1 61 2.0743968e+00 3.88e-12 6.48e-12 -9.0 4.67e-02 -20.0 1.00e+00 1.00e+00h 1 62 2.0761119e+00 5.16e-02 5.53e-04 -4.0 4.15e+02 -20.0 1.00e+00 1.00e+00f 1 63 2.0757498e+00 6.31e-03 1.97e-04 -4.1 2.52e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0757475e+00 3.08e-06 4.54e-06 -4.1 3.86e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0744296e+00 5.51e-03 1.82e-04 -6.1 5.67e+01 -20.0 9.75e-01 1.00e+00h 1 66 2.0744091e+00 6.58e-05 1.58e-05 -6.1 7.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0744091e+00 2.19e-09 4.39e-08 -6.1 3.96e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0743968e+00 2.63e-06 5.31e-08 -9.0 2.93e+00 -20.0 9.99e-01 1.00e+00h 1 69 2.0743968e+00 3.88e-12 6.48e-12 -9.0 4.67e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0743968e+00 4.77e-16 9.09e-15 -9.0 1.53e-06 -20.0 1.00e+00 1.00e+00h 1 71 2.0743968e+00 1.78e-15 9.09e-15 -9.0 2.35e-13 -20.0 1.00e+00 1.00e+00h 1 72 2.0743968e+00 4.77e-16 9.09e-15 -9.0 7.94e-14 -20.0 1.00e+00 1.00e+00h 1 73 2.0743968e+00 1.78e-15 9.09e-15 -9.0 9.83e-14 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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 4.77e-16 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......: 9.0909090908930799e-15 9.0909090908930799e-15 Constraint violation....: 4.7748263676261615e-16 4.7748263676261615e-16 Variable bound violation: 9.0908814694840023e-09 9.0908814694840023e-09 Complementarity.........: 9.0909090978039930e-10 9.0909090978039930e-10 Overall NLP error.......: 9.9999090909091482e-05 9.9999090909091482e-05 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 103 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.844 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: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.11s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 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 3.6130563e+00 3.04e+00 6.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6036386e+00 5.76e-02 2.23e+00 -0.9 2.22e+00 0.0 1.00e+00 1.00e+00f 1 2 2.5306672e+00 7.78e-03 7.42e-01 -1.2 1.54e-01 0.4 9.80e-01 1.00e+00h 1 3 2.3112198e+00 3.18e-03 1.60e-01 -2.0 8.77e-02 -0.1 9.92e-01 1.00e+00h 1 4 2.1179129e+00 2.12e-03 8.42e-02 -2.9 9.42e-02 -0.5 9.97e-01 7.72e-01f 1 5 2.0922065e+00 1.57e-04 1.73e-02 -4.0 1.47e-02 -1.0 9.98e-01 9.26e-01h 1 6 2.0909335e+00 1.78e-06 2.32e-03 -4.0 7.97e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909413e+00 4.05e-09 2.40e-04 -4.0 2.19e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909408e+00 1.70e-11 1.95e-04 -4.0 5.34e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909391e+00 1.08e-10 1.36e-04 -4.0 1.12e-01 -2.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909341e+00 9.68e-10 8.59e-05 -4.0 2.11e-01 -3.4 1.00e+00 1.00e+00f 1 11 2.0909192e+00 8.71e-09 5.18e-05 -4.0 3.83e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908743e+00 7.84e-08 3.05e-05 -4.0 6.76e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907401e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903393e+00 6.37e-06 4.50e-05 -4.0 4.08e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891541e+00 5.76e-05 3.97e-04 -4.0 1.21e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0857515e+00 5.25e-04 3.44e-03 -4.0 3.50e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0798669e+00 2.23e-03 1.16e-01 -4.0 9.06e+01 -6.7 1.00e+00 6.74e-01h 1 18 2.0809935e+00 1.25e-04 1.75e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0779638e+00 6.32e-03 2.51e-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 2.0769984e+00 1.01e-03 2.92e-02 -4.0 1.78e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0766628e+00 1.79e-03 3.07e-02 -4.0 2.78e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0758982e+00 1.72e-03 3.73e-02 -4.0 5.54e+02 -9.1 1.00e+00 7.45e-01h 1 23 2.0762282e+00 2.98e-03 1.43e-02 -4.0 3.03e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0757934e+00 1.47e-03 8.07e-04 -4.1 4.09e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0760677e+00 2.78e-04 8.08e-06 -4.0 1.01e+03 -10.5 1.00e+00 1.00e+00h 1 26 2.0760669e+00 2.70e-07 3.94e-07 -4.0 1.34e+03 -11.0 1.00e+00 1.00e+00h 1 27 2.0760669e+00 2.96e-10 1.87e-08 -4.0 2.68e+03 -11.5 1.00e+00 1.00e+00h 1 28 2.0760669e+00 2.18e-12 5.24e-09 -4.0 4.04e+03 -12.0 1.00e+00 1.00e+00f 1 29 2.0760669e+00 2.66e-15 3.48e-09 -4.0 7.09e+03 -12.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0757345e+00 3.47e-04 7.63e-07 -4.1 8.54e+03 -12.9 1.00e+00 1.00e+00f 1 31 2.0760682e+00 3.51e-04 8.58e-07 -4.0 1.96e+04 -13.4 1.00e+00 1.00e+00h 1 32 2.0757386e+00 3.43e-04 8.29e-07 -4.1 1.45e+04 -13.9 1.00e+00 1.00e+00h 1 33 2.0744292e+00 5.45e-03 1.84e-04 -6.1 1.96e+02 -14.4 9.74e-01 1.00e+00h 1 34 2.0761004e+00 1.94e-02 9.46e-05 -4.0 2.42e+05 -14.8 1.00e+00 1.00e+00h 1 35 2.0758346e+00 1.85e-03 3.17e-05 -4.1 9.96e+04 -15.3 1.00e+00 1.00e+00h 1 36 2.0758336e+00 4.27e-07 3.44e-07 -4.1 1.05e+05 -15.8 1.00e+00 1.00e+00h 1 37 2.0760675e+00 1.73e-04 4.42e-07 -4.0 3.37e+03 -16.3 1.00e+00 1.00e+00h 1 38 2.0757393e+00 3.39e-04 7.85e-07 -4.1 4.29e+02 -16.8 1.00e+00 1.00e+00h 1 39 2.0744293e+00 5.46e-03 1.83e-04 -6.1 5.65e+01 -17.2 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 6.51e-05 1.58e-05 -6.1 7.10e+01 -17.7 1.00e+00 1.00e+00h 1 41 2.0761101e+00 4.75e-02 4.80e-04 -4.0 1.10e+04 -18.2 1.00e+00 1.00e+00f 1 42 2.0757491e+00 5.81e-03 1.68e-04 -4.1 8.81e+03 -18.7 1.00e+00 1.00e+00h 1 43 2.0757469e+00 2.77e-06 3.89e-06 -4.1 2.13e+03 -19.1 1.00e+00 1.00e+00h 1 44 2.0760681e+00 3.27e-04 8.62e-07 -4.0 1.38e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0757393e+00 3.41e-04 8.27e-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 6.63e-12 -20.0 1.00e+00 1.00e+00h 1 74 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 75 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 76 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 77 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 78 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 79 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -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 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 81 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 82 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 83 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 84 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 85 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 86 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 87 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 88 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 89 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -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 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 91 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 92 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 93 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 94 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 95 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 96 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 97 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 98 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -20.0 1.00e+00 1.00e+00h 1 99 2.0743968e+00 1.78e-15 9.09e-15 -9.0 6.62e-12 -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 6.62e-12 -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 = 30.325 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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: 0.114s) 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 2.8437691e+00 4.16e+00 5.07e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8619887e+00 1.23e-01 2.27e+00 -0.9 2.25e+00 0.0 9.95e-01 9.88e-01h 1 2 2.5549589e+00 5.92e-02 3.31e+00 -0.7 3.00e-01 0.4 9.99e-01 5.09e-01f 1 3 2.6228764e+00 2.03e-02 7.79e-01 -1.2 3.72e-01 -0.1 8.85e-01 1.00e+00f 1 4 2.4435639e+00 1.25e-02 3.51e-01 -1.5 1.61e-01 0.4 9.62e-01 8.00e-01h 1 5 2.2659632e+00 2.51e-03 2.12e-01 -2.0 2.16e-01 -0.1 9.62e-01 7.68e-01f 1 6 2.1585904e+00 1.96e-03 3.20e-01 -2.8 1.77e-01 -0.6 1.00e+00 5.09e-01f 1 7 2.1033041e+00 4.57e-04 1.08e-01 -4.0 2.51e-02 -1.1 1.00e+00 7.67e-01h 1 8 2.0908334e+00 1.66e-05 9.01e-03 -4.0 1.16e-02 -1.5 1.00e+00 1.00e+00h 1 9 2.0908355e+00 2.83e-08 6.39e-05 -4.0 4.53e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908349e+00 5.66e-10 2.17e-05 -4.0 6.69e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0908330e+00 1.37e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908274e+00 1.23e-09 2.06e-05 -4.0 5.69e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908106e+00 1.11e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907602e+00 1.00e-07 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906095e+00 9.01e-07 2.05e-05 -4.0 1.53e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901595e+00 8.12e-06 5.68e-05 -4.0 4.58e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888317e+00 7.35e-05 5.01e-04 -4.0 1.36e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0850421e+00 6.69e-04 4.36e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0798665e+00 1.95e-03 1.61e-01 -4.0 9.73e+01 -6.8 1.00e+00 5.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0804566e+00 1.32e-04 1.66e-01 -4.0 6.49e+01 -7.3 1.00e+00 1.00e+00H 1 21 2.0777074e+00 7.88e-03 2.33e-02 -4.0 1.20e+02 -7.7 1.00e+00 9.97e-01h 1 22 2.0773860e+00 1.70e-03 7.02e-02 -4.0 2.03e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0764565e+00 1.92e-03 1.68e-02 -4.0 3.47e+02 -8.7 1.00e+00 8.27e-01h 1 24 2.0758794e+00 1.52e-03 2.34e-02 -4.0 4.86e+02 -9.2 1.00e+00 7.54e-01h 1 25 2.0761531e+00 2.30e-03 1.05e-02 -4.0 1.48e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0760782e+00 2.55e-04 3.77e-04 -4.0 6.91e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0760669e+00 5.28e-06 4.23e-06 -4.0 1.30e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0760669e+00 1.14e-08 3.28e-07 -4.0 5.92e+00 -11.1 1.00e+00 1.00e+00h 1 29 2.0760669e+00 1.89e-10 1.40e-08 -4.0 1.44e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0760669e+00 1.24e-12 1.01e-10 -4.0 1.42e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0760668692961404e+00 2.0760668692961404e+00 Dual infeasibility......: 1.0107076129804368e-10 1.0107076129804368e-10 Constraint violation....: 1.2391199177841372e-12 1.2391199177841372e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.0107076129804368e-10 1.0107076129804368e-10 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 28.620 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: 0.098s integrator 2 jacobian structure: 0.094s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.192s) integrator 1 hessian structure: 0.088s integrator 2 hessian structure: 0.091s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.403s sub-objective 2 (QuadraticRegularizer): 0.149s sub-objective 3 (LinearRegularizer): 0.118s sub-objective 4 (MinimumTimeObjective): 0.056s objective hessian structure: 0.844s hessian structure: 2431 nonzeros (1.024s) linear index maps built (0.0s) evaluator ready (total: 1.217s) evaluator created (1.552s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.238s) 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 (2.332s) optimizer initialization complete (total: 4.124s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8922310e+00 2.12e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2126141e+00 1.67e+00 1.24e+00 -1.2 2.09e+01 -4.0 8.08e-01 5.32e-01f 1 2 1.3854551e+00 1.18e+00 1.26e+00 -1.0 4.57e+01 -3.6 1.87e-01 3.49e-01f 1 3 2.1613374e+00 2.53e-01 2.04e+00 -2.2 5.70e+00 -3.1 4.96e-01 8.62e-01h 1 4 2.1478589e+00 2.39e-01 1.45e+00 -2.5 6.49e+00 -3.6 6.05e-01 1.00e+00h 1 5 2.0667081e+00 6.27e-02 3.30e-01 -2.2 2.48e+00 -3.2 5.39e-01 7.38e-01h 1 6 2.0462364e+00 4.33e-02 4.09e-01 -2.5 6.88e+00 -3.7 6.79e-01 3.04e-01h 1 7 2.0253183e+00 1.43e-02 2.50e-01 -3.0 4.14e+00 -4.2 6.61e-01 4.32e-01h 1 8 2.0026461e+00 5.55e-03 4.42e-02 -4.0 2.14e+00 -4.6 9.07e-01 9.28e-01h 1 9 2.0011100e+00 5.13e-05 2.23e-02 -4.0 6.46e-01 -5.1 6.21e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0010559e+00 5.64e-07 4.24e-02 -4.0 1.61e+00 -5.6 5.75e-01 1.00e+00h 1 11 2.0010838e+00 2.19e-08 7.85e-02 -4.0 3.25e+00 -6.1 6.62e-01 1.00e+00f 1 12 2.0011519e+00 1.97e-08 1.75e-01 -4.0 7.36e+00 -6.5 6.43e-01 1.00e+00f 1 13 2.0006010e+00 2.97e-07 1.97e-01 -4.2 8.69e+00 -7.0 8.37e-01 9.70e-01f 1 14 2.0018979e+00 4.57e-08 8.22e-01 -4.0 3.75e+01 -7.5 6.31e-01 1.00e+00f 1 15 2.0010836e+00 1.49e-07 2.07e-01 -4.1 2.66e+01 -8.0 9.74e-01 3.50e-01f 1 16 2.0011455e+00 5.99e-08 1.56e+00 -4.1 7.62e+01 -8.4 8.26e-01 1.00e+00f 1 17 2.0006287e+00 1.35e-07 1.95e+00 -4.1 9.25e+01 -8.9 9.38e-01 1.00e+00f 1 18 2.0014900e+00 2.71e-09 4.29e+00 -4.1 1.99e+02 -9.4 8.41e-01 1.00e+00f 1 19 2.0008440e+00 3.85e-08 3.18e+00 -4.1 2.76e+02 -9.9 1.00e+00 5.76e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0012540e+00 1.14e-08 1.13e+01 -4.1 5.41e+02 -10.4 8.51e-01 1.00e+00f 1 21 2.0005798e+00 4.05e-08 1.31e+01 -4.1 7.48e+02 -10.8 9.72e-01 8.57e-01f 1 22 2.0029693e+00 6.40e-09 5.00e+01 -4.0 2.31e+03 -11.3 7.10e-01 1.00e+00f 1 23 2.0005077e+00 8.98e-08 7.37e+00 -4.1 8.52e+02 -11.8 1.00e+00 4.32e-01f 1 24 2.0022704e+00 6.35e-09 1.12e+02 -4.0 5.59e+03 -12.3 1.00e+00 1.00e+00f 1 25 2.0011957e+00 1.11e-08 3.09e+01 -4.3 5.42e+03 -12.7 1.00e+00 2.85e-01f 2 26 2.0006418e+00 2.65e-09 1.01e+02 -4.3 5.04e+03 -13.2 1.00e+00 1.00e+00f 1 27 2.0006762e+00 6.60e-10 2.07e+02 -4.3 1.03e+04 -13.7 1.00e+00 1.00e+00f 1 28 2.0005389e+00 1.86e-10 2.75e+02 -4.3 1.75e+04 -14.2 1.00e+00 7.87e-01f 1 29 2.0005839e+00 4.36e-10 3.77e+02 -4.3 1.89e+04 -14.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0004927e+00 2.11e-10 1.45e+02 -4.3 1.54e+04 -15.1 1.00e+00 4.72e-01f 2 31 2.0015020e+00 6.68e-10 8.09e+02 -4.0 4.04e+04 -15.6 1.00e+00 1.00e+00f 1 32 2.0007616e+00 5.08e-10 2.62e+02 -4.0 2.62e+04 -16.1 1.00e+00 5.00e-01f 2 33 2.0007175e+00 2.22e-13 9.30e+01 -4.0 4.65e+03 -16.6 1.00e+00 1.00e+00h 1 34 2.0007517e+00 4.36e-13 1.52e+01 -4.0 7.59e+02 -17.0 1.00e+00 1.00e+00h 1 35 2.0007508e+00 1.55e-13 1.35e+01 -4.0 6.73e+02 -17.5 1.00e+00 1.00e+00h 1 36 2.0007561e+00 6.66e-13 2.36e+00 -4.0 1.18e+02 -18.0 1.00e+00 1.00e+00h 1 37 2.0007560e+00 2.40e-13 2.20e+00 -4.0 1.10e+02 -18.5 1.00e+00 1.00e+00h 1 38 2.0007569e+00 1.01e-12 3.88e-01 -4.0 1.94e+01 -18.9 1.00e+00 1.00e+00h 1 39 2.0007569e+00 3.61e-13 3.66e-01 -4.0 1.83e+01 -19.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0007570e+00 1.51e-12 6.45e-02 -4.0 3.22e+00 -19.9 1.00e+00 1.00e+00h 1 41 2.0007570e+00 2.28e-13 6.09e-02 -4.0 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 42 2.0007570e+00 3.17e-13 1.07e-02 -4.0 5.37e-01 -20.0 1.00e+00 1.00e+00h 1 43 2.0007570e+00 3.80e-14 1.01e-02 -4.0 5.07e-01 -20.0 1.00e+00 1.00e+00h 1 44 2.0007570e+00 5.28e-14 1.79e-03 -4.0 1.68e-01 -20.0 1.00e+00 1.00e+00h 1 45 2.0007570e+00 6.33e-15 1.69e-03 -4.0 1.68e-01 -20.0 1.00e+00 1.00e+00h 1 46 2.0007570e+00 8.80e-15 2.98e-04 -4.0 1.68e-01 -20.0 1.00e+00 1.00e+00h 1 47 1.9998580e+00 2.37e-08 2.32e+02 -6.0 1.16e+04 -20.0 1.00e+00 1.00e+00f 1 48 2.0006289e+00 7.58e-09 1.78e+03 -4.0 1.78e+05 -20.0 1.00e+00 5.00e-01f 2 49 2.0004885e+00 1.60e-10 1.71e+03 -3.9 8.57e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0008530e+00 2.18e-09 2.80e+02 -3.9 1.40e+04 -20.0 1.00e+00 1.00e+00f 1 51 2.0009270e+00 1.78e-09 8.34e+01 -3.9 4.17e+03 -20.0 1.00e+00 1.00e+00h 1 52 2.0009457e+00 6.04e-10 2.58e+01 -3.9 1.29e+03 -20.0 1.00e+00 1.00e+00h 1 53 2.0009593e+00 3.56e-10 7.80e+00 -3.9 3.90e+02 -20.0 1.00e+00 1.00e+00h 1 54 2.0009622e+00 1.08e-10 4.49e+00 -3.9 2.24e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0009644e+00 6.09e-11 1.34e+00 -3.9 6.68e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0009649e+00 1.83e-11 7.48e-01 -3.9 3.74e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0009652e+00 1.02e-11 2.24e-01 -3.9 1.12e+01 -20.0 1.00e+00 1.00e+00h 1 58 2.0009653e+00 3.05e-12 1.25e-01 -3.9 6.23e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0009654e+00 1.70e-12 3.73e-02 -3.9 1.87e+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 2.0009654e+00 5.08e-13 2.08e-02 -3.9 1.04e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0009654e+00 2.82e-13 6.22e-03 -3.9 3.55e-01 -20.0 1.00e+00 1.00e+00h 1 62 2.0009654e+00 8.45e-14 3.46e-03 -3.9 3.55e-01 -20.0 1.00e+00 1.00e+00h 1 63 2.0009654e+00 4.70e-14 1.04e-03 -3.9 3.55e-01 -20.0 1.00e+00 1.00e+00h 1 64 1.9998626e+00 5.80e-08 2.40e+02 -5.9 1.20e+04 -20.0 1.00e+00 1.00e+00f 1 65 1.9998401e+00 2.37e-13 2.40e+02 -5.9 1.31e+04 -20.0 9.14e-01 1.00e+00h 1 66 1.9715189e+00 2.25e-13 3.25e+05 -5.5 1.30e+08 -20.0 1.00e+00 1.25e-01f 4 67 1.9857605e+00 2.21e-13 1.79e+05 -4.8 1.61e+09 -20.0 1.00e+00 5.55e-03f 1 68 1.9999767e+00 1.58e-13 1.56e+05 -3.3 3.75e+08 -20.0 1.00e+00 2.08e-02f 1 69 1.9999151e+00 5.89e-09 1.93e+03 -3.3 9.63e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0284049e+00 4.04e-04 7.53e+00 -3.3 1.51e+03 -20.0 1.00e+00 2.50e-01f 3 71 2.0007935e+00 2.54e-05 1.89e+03 -3.3 9.47e+04 -20.0 1.00e+00 1.00e+00H 1 72 2.0056374e+00 1.86e-04 9.64e+02 -3.3 4.82e+04 -20.0 1.00e+00 1.00e+00f 1 73 2.0049617e+00 9.30e-06 4.96e+02 -3.3 2.48e+04 -20.0 1.00e+00 1.00e+00h 1 74 2.0059226e+00 3.80e-06 9.69e+01 -3.3 4.84e+03 -20.0 1.00e+00 1.00e+00h 1 75 2.0052916e+00 2.33e-06 2.82e+01 -3.3 1.41e+03 -20.0 1.00e+00 1.00e+00h 1 76 2.0054955e+00 5.42e-07 3.06e+01 -3.3 1.53e+03 -20.0 1.00e+00 1.00e+00h 1 77 2.0053867e+00 4.10e-07 5.91e+00 -3.3 2.95e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0054209e+00 8.65e-08 5.16e+00 -3.3 2.58e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0054026e+00 6.85e-08 1.06e+00 -3.3 6.69e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0054083e+00 1.43e-08 8.60e-01 -3.3 6.71e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0054052e+00 1.14e-08 1.79e-01 -3.3 6.70e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0054062e+00 2.38e-09 1.43e-01 -3.3 6.70e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0054057e+00 1.90e-09 2.98e-02 -3.3 6.70e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0054058e+00 3.95e-10 2.38e-02 -3.3 6.70e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0054058e+00 3.16e-10 4.96e-03 -3.3 6.70e+01 -20.0 1.00e+00 1.00e+00h 1 86 1.9999695e+00 4.39e-05 2.65e+02 -4.9 1.32e+04 -20.0 1.00e+00 1.00e+00f 1 87 1.9999863e+00 3.21e-10 7.26e+01 -4.9 3.63e+03 -20.0 1.00e+00 1.00e+00h 1 88 1.9999761e+00 8.38e-16 5.81e+02 -4.9 2.91e+04 -20.0 1.00e+00 1.00e+00f 1 89 1.9999051e+00 1.81e-13 6.10e+00 -4.9 3.05e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.9999187e+00 9.20e-14 1.86e+02 -4.9 9.28e+03 -20.0 1.00e+00 1.00e+00h 1 91 1.9999077e+00 7.91e-14 4.53e+01 -4.9 2.26e+03 -20.0 1.00e+00 1.00e+00h 1 92 1.9999099e+00 2.13e-14 3.64e+01 -4.9 1.82e+03 -20.0 1.00e+00 1.00e+00h 1 93 1.9999082e+00 1.33e-14 9.83e+00 -4.9 4.92e+02 -20.0 1.00e+00 1.00e+00h 1 94 1.9999085e+00 3.74e-15 6.04e+00 -4.9 3.02e+02 -20.0 1.00e+00 1.00e+00h 1 95 1.9999082e+00 2.20e-15 1.71e+00 -4.9 8.57e+01 -20.0 1.00e+00 1.00e+00h 1 96 1.9999083e+00 6.28e-16 1.00e+00 -4.9 5.02e+01 -20.0 1.00e+00 1.00e+00h 1 97 1.9999083e+00 3.65e-16 2.88e-01 -4.9 1.44e+01 -20.0 1.00e+00 1.00e+00h 1 98 1.9999083e+00 1.05e-16 1.67e-01 -4.9 8.37e+00 -20.0 1.00e+00 1.00e+00h 1 99 1.9999083e+00 6.08e-17 4.80e-02 -4.9 2.40e+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 100 1.9999083e+00 1.74e-17 2.79e-02 -4.9 1.39e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.9999082632478056e+00 1.9999082632478056e+00 Dual infeasibility......: 2.7881537345820107e-02 2.7881537345820107e-02 Constraint violation....: 1.7445490581649570e-17 1.7445490581649570e-17 Variable bound violation: 4.1081642917436503e-09 4.1081642917436503e-09 Complementarity.........: 1.3158233875281575e-05 1.3158233875281575e-05 Overall NLP error.......: 2.2686365618240903e-02 2.7881537345820107e-02 Number of objective function evaluations = 120 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 120 Number of inequality constraint evaluations = 120 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 48.188 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.11s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (2.246s) optimizer initialization complete (total: 2.356s) 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 3.4907730e+00 2.35e+00 2.83e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0129641e+00 1.57e-01 2.05e+00 -1.0 1.97e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.4472977e+00 6.09e-02 3.65e-01 -1.3 4.77e-01 -0.7 9.62e-01 1.00e+00h 1 3 2.1710296e+00 2.78e-03 1.93e-01 -2.4 1.02e-01 -1.1 9.97e-01 9.71e-01h 1 4 2.1013834e+00 3.62e-03 3.01e-01 -3.7 2.95e-01 -1.6 1.00e+00 9.96e-01h 1 5 2.0950812e+00 2.05e-03 3.68e-01 -4.0 5.20e-01 -2.1 1.00e+00 5.95e-01h 1 6 2.0907895e+00 1.90e-03 1.18e-01 -4.0 6.53e-01 -2.6 1.00e+00 9.40e-01h 1 7 2.0912710e+00 3.33e-05 3.53e-02 -4.0 9.67e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909832e+00 1.54e-05 1.04e-03 -4.0 6.17e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909649e+00 1.97e-07 2.83e-04 -4.0 1.67e-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 2.0909352e+00 4.51e-08 1.72e-04 -4.0 3.76e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0909052e+00 7.63e-08 3.91e-04 -4.0 5.68e-01 -5.0 1.00e+00 1.00e+00h 1 12 2.0908919e+00 3.90e-08 2.31e-04 -4.0 8.04e-01 -5.4 1.00e+00 1.00e+00h 1 13 2.0908854e+00 5.41e-08 2.10e-04 -4.0 1.75e+00 -5.9 1.00e+00 1.00e+00h 1 14 2.0908811e+00 3.94e-08 3.48e-04 -4.0 2.25e+00 -6.4 1.00e+00 1.00e+00h 1 15 2.0908799e+00 2.43e-08 1.45e-04 -4.0 1.50e+00 -6.9 1.00e+00 1.00e+00h 1 16 2.0908798e+00 4.49e-09 1.18e-05 -4.0 4.35e-01 -7.4 1.00e+00 1.00e+00h 1 17 2.0908798e+00 4.93e-11 1.49e-07 -4.0 5.02e-02 -7.8 1.00e+00 1.00e+00h 1 18 2.0908798e+00 4.38e-14 2.53e-10 -4.0 2.37e-03 -8.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0908797984798935e+00 2.0908797984798935e+00 Dual infeasibility......: 2.5263870672125738e-10 2.5263870672125738e-10 Constraint violation....: 4.3812176109270240e-14 4.3812176109270240e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.5263870672125738e-10 2.5263870672125738e-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 = 30.033 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) 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 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.084s) optimizer initialization complete (total: 0.197s) 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 3.2501292e+00 1.86e+00 2.72e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2775861e+00 1.35e-01 2.55e+00 -1.0 4.54e+00 -2.0 2.76e-01 1.00e+00f 1 2 3.0330430e+00 2.66e-01 1.89e+00 -0.9 3.56e+00 -1.6 7.76e-01 4.55e-01h 1 3 2.6209687e+00 1.54e-01 4.79e-01 -1.0 9.48e-01 -1.1 7.37e-01 8.45e-01f 1 4 2.3309158e+00 1.90e-02 4.47e-01 -1.8 4.07e-01 -1.6 9.58e-01 8.83e-01h 1 5 2.1211118e+00 4.87e-03 2.37e-02 -2.9 1.76e-01 -2.1 9.99e-01 9.15e-01h 1 6 2.0940426e+00 2.13e-03 1.14e-01 -3.4 4.78e-01 -2.6 9.98e-01 9.97e-01h 1 7 2.0913370e+00 2.77e-04 3.70e-02 -4.0 4.23e-01 -3.1 1.00e+00 8.63e-01h 1 8 2.0910184e+00 7.37e-06 5.89e-03 -4.0 1.40e-01 -3.5 1.00e+00 1.00e+00h 1 9 2.0909616e+00 9.22e-07 3.21e-04 -4.0 4.21e-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 2.0908254e+00 1.18e-06 8.87e-03 -4.0 1.78e+00 -4.5 4.35e-01 1.00e+00h 1 11 2.0908071e+00 9.52e-07 2.20e-02 -4.0 1.23e+00 -4.1 1.00e+00 3.56e-01h 1 12 2.0908042e+00 2.58e-07 1.30e-04 -4.0 2.65e-01 -4.5 1.00e+00 1.00e+00f 1 13 2.0907946e+00 1.10e-07 1.67e-04 -4.0 5.49e-01 -5.0 1.00e+00 1.00e+00h 1 14 2.0907875e+00 2.45e-08 2.65e-04 -4.0 1.03e+00 -5.5 1.00e+00 1.00e+00h 1 15 2.0907827e+00 1.75e-08 3.61e-04 -4.0 1.33e+00 -6.0 1.00e+00 1.00e+00h 1 16 2.0907804e+00 3.88e-08 2.09e-04 -4.0 1.24e+00 -6.4 1.00e+00 1.00e+00h 1 17 2.0907799e+00 1.84e-08 4.77e-05 -4.0 9.12e-01 -6.9 1.00e+00 1.00e+00h 1 18 2.0907799e+00 1.22e-09 3.44e-06 -4.0 2.77e-01 -7.4 1.00e+00 1.00e+00h 1 19 2.0907799e+00 1.91e-11 4.66e-08 -4.0 3.17e-02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0907799e+00 2.21e-14 7.90e-11 -4.0 1.29e-03 -8.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 20 (scaled) (unscaled) Objective...............: 2.0907798543035052e+00 2.0907798543035052e+00 Dual infeasibility......: 7.8977159556105347e-11 7.8977159556105347e-11 Constraint violation....: 2.2110785424800383e-14 2.2110785424800383e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000049e-04 1.0000000000000049e-04 Overall NLP error.......: 7.8977159556105347e-11 7.8977159556105347e-11 Number of objective function evaluations = 21 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 21 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 21 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 20 Total seconds in IPOPT = 29.746 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.094s jacobian structure: 180 nonzeros (0.205s) integrator 1 hessian structure: 0.092s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.358s sub-objective 2 (QuadraticRegularizer): 0.123s sub-objective 3 (MinimumTimeObjective): 0.058s objective hessian structure: 0.664s hessian structure: 375 nonzeros (0.756s) linear index maps built (0.0s) evaluator ready (total: 1.17s) evaluator created (1.724s) NL constraint bounds extracted (0.082s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.232s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.806s) optimizer initialization complete (total: 4.845s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2450527e+00 7.04e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6624500e+00 2.45e-01 1.60e+00 -0.8 7.93e-01 0.0 9.95e-01 1.00e+00h 1 2 1.4777176e+00 8.11e-02 7.47e-01 -0.8 1.05e+00 - 5.25e-01 6.60e-01f 1 3 1.8004367e+00 3.00e-02 1.33e+00 -1.6 7.00e-01 - 9.44e-01 9.75e-01h 1 4 1.5262688e+00 1.10e-02 6.40e-01 -1.7 3.85e-01 0.4 9.96e-01 3.09e-01f 1 5 1.3422040e+00 9.75e-03 1.99e+00 -1.7 1.65e+00 - 1.00e+00 1.09e-01f 1 6 1.2214290e+00 3.08e-03 3.58e-01 -2.7 6.45e-01 - 1.00e+00 1.00e+00h 1 7 1.1192849e+00 9.39e-04 1.03e-01 -3.7 1.39e-01 - 1.00e+00 6.81e-01f 1 8 1.0911333e+00 8.64e-06 1.21e-02 -4.0 1.19e-01 - 1.00e+00 1.00e+00h 1 9 1.0908993e+00 4.18e-09 1.89e-03 -4.0 4.57e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 7.39e-15 3.65e-05 -4.0 3.66e-04 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 2.10e-26 3.63e-05 -4.0 5.09e-09 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 4.83e-27 5.05e-16 -4.0 1.39e-16 - 1.00e+00 1.00e+00 0 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 5.0512979216099652e-16 5.0512979216099652e-16 Constraint violation....: 4.8298993504447885e-27 4.8298993504447885e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 5.0512979216099652e-16 5.0512979216099652e-16 Number of objective function evaluations = 13 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 13 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 27.665 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: 0.064s hessian structure: 20 nonzeros (0.064s) linear index maps built (0.0s) evaluator ready (total: 0.065s) evaluator created (0.38s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.11s) 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 (1.86s) optimizer initialization complete (total: 2.352s) 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 1.4707274e-01 8.33e-17 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.0568797e-01 2.99e-11 4.34e+226 -4.0 9.46e-02 -2.0 9.42e-01 1.00e+00f 1 2r 1.0568797e-01 2.99e-11 4.58e-01 -3.2 0.00e+00 -1.6 0.00e+00 0.00e+00R317 3r 1.0529813e-01 2.58e-11 4.58e-03 -4.0 6.65e-03 - 9.90e-01 1.00e+00f 1 4 1.0187490e-01 2.58e-11 4.34e+226 -4.0 9.59e+225 0.7 8.71e-228 8.71e-228S322 5r 1.0187490e-01 2.58e-11 1.19e-01 -4.0 0.00e+00 0.2 0.00e+00 0.00e+00R317 6r 1.0659324e-01 1.61e-11 1.52e-04 -3.8 5.35e-02 - 9.99e-01 1.00e+00f 1 7r 1.0659324e-01 1.61e-11 1.49e-02 -3.3 0.00e+00 0.6 0.00e+00 0.00e+00R319 8r 9.8261968e-02 1.25e-11 2.98e-03 -4.0 2.24e-01 - 1.00e+00 1.00e+00f 1 9 8.0572124e-02 1.25e-11 4.34e+226 -4.0 3.64e+226 0.1 3.26e-228 3.26e-228S320 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 8.0572124e-02 1.25e-11 6.16e-02 -4.0 0.00e+00 0.6 0.00e+00 0.00e+00R320 11r 8.2342382e-02 1.09e-12 5.48e-04 -4.0 3.16e-02 - 9.91e-01 1.00e+00f 1 12 7.9785772e-02 1.09e-12 4.34e+226 -4.1 4.45e+226 0.1 5.56e-229 5.56e-229S318 Cannot call restoration phase at point that is almost feasible (violation 1.094763e-12). Abort in line search due to no other fall back. Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 7.9785772145107459e-02 7.9785772145107459e-02 Dual infeasibility......: 4.3361605863614418e+226 4.3361605863614418e+226 Constraint violation....: 1.0947631690072512e-12 1.0947631690072512e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1592230012524397e-04 1.1592230012524397e-04 Overall NLP error.......: 4.3361605863614418e+226 4.3361605863614418e+226 Number of objective function evaluations = 2571 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 2571 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 = 13 Total seconds in IPOPT = 2.173 EXIT: Error in step computation! initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.118s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.245s hessian structure: 30 nonzeros (0.245s) linear index maps built (0.0s) evaluator ready (total: 0.245s) evaluator created (0.564s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.202s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.157s) optimizer initialization complete (total: 2.924s) 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 3.1904336e+00 6.36e-01 8.09e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1599267e+00 4.42e-09 2.25e-01 -0.3 4.65e-01 -2.0 9.95e-01 1.00e+00f 1 2 5.7582760e-01 2.60e-09 6.64e-01 -1.0 1.64e+00 -1.6 9.74e-01 1.00e+00f 1 3 2.7118740e-01 7.43e-10 1.89e-01 -2.0 6.60e-01 -1.1 9.98e-01 1.00e+00f 1 4 5.3111639e-02 5.58e-11 2.11e-01 -2.8 1.04e+00 -1.6 1.00e+00 1.00e+00f 1 5 1.0418433e-02 3.70e-11 7.60e-02 -3.8 6.30e-01 -2.1 1.00e+00 1.00e+00f 1 6 2.2061424e-03 7.98e-12 2.55e-02 -4.0 3.57e-01 -2.6 1.00e+00 1.00e+00f 1 7 7.7460189e-04 1.76e-12 7.30e-03 -4.0 1.61e-01 -3.1 1.00e+00 1.00e+00f 1 8 5.9196155e-04 3.87e-13 1.37e-03 -4.0 4.11e-02 -3.5 1.00e+00 1.00e+00f 1 9 6.8103004e-04 1.71e-13 3.19e-04 -4.0 2.22e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.8631741e-04 5.22e-14 1.86e-03 -4.1 5.89e-02 -4.5 1.00e+00 1.00e+00f 1 11 9.1444253e-04 8.62e-14 3.01e-03 -4.0 9.06e-02 -5.0 1.00e+00 1.00e+00f 1 12 4.6646873e-04 2.72e-14 2.41e-03 -4.1 1.41e-01 -5.4 1.00e+00 5.00e-01f 2 13 5.2219448e-04 9.58e-14 2.68e-04 -4.1 8.63e-03 -5.9 1.00e+00 1.00e+00f 1 14 2.4417238e-05 1.05e-13 4.20e-03 -6.2 2.00e-01 -6.4 9.88e-01 9.55e-01f 1 15 9.5147933e-04 6.23e-14 7.18e-03 -4.0 5.49e-01 -6.9 1.00e+00 5.00e-01f 2 16 5.3197374e-04 1.23e-13 2.30e-03 -4.2 4.29e-01 -7.4 1.00e+00 1.45e-01f 2 17 2.9255458e-04 1.29e-13 2.21e-03 -4.2 8.31e-02 -7.8 1.00e+00 1.00e+00f 1 18 4.6713041e-04 3.41e-13 1.10e-03 -4.2 3.84e-02 -8.3 1.00e+00 1.00e+00f 1 19 3.1821644e-04 1.12e-13 1.07e-03 -4.2 3.73e-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 4.4659827e-04 4.46e-14 8.36e-04 -4.2 2.96e-02 -9.3 1.00e+00 1.00e+00f 1 21 3.8149762e-04 4.87e-14 4.23e-04 -4.2 2.92e-02 -9.7 1.00e+00 5.00e-01f 2 22 2.2316665e-05 8.81e-14 3.32e-03 -6.3 1.66e-01 -10.2 9.91e-01 1.00e+00f 1 23 1.2877102e-03 3.66e-14 8.83e-03 -4.0 6.38e-01 -10.7 1.00e+00 5.00e-01f 2 24 8.8273237e-04 8.61e-14 1.75e-03 -4.2 5.97e-01 -11.2 1.00e+00 7.08e-02f 2 25 1.7578169e-04 2.03e-13 5.19e-03 -4.2 1.67e-01 -11.6 1.00e+00 1.00e+00f 1 26 5.4627849e-04 3.65e-13 2.69e-03 -4.2 9.74e-02 -12.1 1.00e+00 1.00e+00f 1 27 3.9814704e-04 2.00e-13 1.01e-03 -4.2 6.54e-02 -12.6 1.00e+00 5.00e-01f 2 28 4.2880337e-04 7.82e-14 2.12e-04 -4.2 1.40e-02 -13.1 1.00e+00 1.00e+00f 1 29 1.8230658e-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 1.2131220e-03 4.45e-14 8.72e-03 -4.0 6.38e-01 -14.0 1.00e+00 5.00e-01f 2 31 7.7154899e-04 1.03e-13 2.19e-03 -4.2 6.63e-01 -14.5 1.00e+00 7.57e-02f 2 32 1.7397569e-04 2.13e-13 4.62e-03 -4.2 1.56e-01 -15.0 1.00e+00 1.00e+00f 1 33 5.2831382e-04 4.37e-13 2.57e-03 -4.2 9.29e-02 -15.5 1.00e+00 1.00e+00f 1 34 2.6228861e-04 6.10e-14 1.96e-03 -4.2 6.78e-02 -15.9 1.00e+00 1.00e+00f 1 35 5.0540117e-04 5.70e-14 1.62e-03 -4.2 5.71e-02 -16.4 1.00e+00 1.00e+00f 1 36 3.8015647e-04 6.97e-14 8.11e-04 -4.2 5.44e-02 -16.9 1.00e+00 5.00e-01f 2 37 3.9990914e-04 4.35e-14 8.80e-05 -4.2 6.61e-03 -17.4 1.00e+00 1.00e+00f 1 38 1.7804148e-05 8.48e-14 3.51e-03 -6.3 1.78e-01 -17.8 9.90e-01 9.86e-01f 1 39 1.3380111e-03 4.99e-14 1.12e-02 -4.0 6.61e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.2353664e-03 6.58e-13 5.65e-03 -4.2 1.76e-02 -0.5 1.00e+00 3.43e-01f 2 41 1.0635609e-03 1.00e-12 1.95e-03 -4.2 1.81e-02 -1.0 1.00e+00 1.00e+00f 1 42 8.6940440e-04 5.51e-13 1.08e-03 -4.2 2.68e-02 -1.4 1.00e+00 1.00e+00f 1 43 6.2741470e-04 5.53e-13 1.49e-03 -4.2 4.10e-02 -1.9 1.00e+00 1.00e+00f 1 44 4.4967404e-04 5.26e-13 1.39e-03 -4.2 4.65e-02 -2.4 1.00e+00 1.00e+00f 1 45 4.0402268e-04 3.50e-13 7.02e-04 -4.2 3.44e-02 -2.9 1.00e+00 1.00e+00f 1 46 4.0357802e-04 1.68e-13 3.43e-04 -4.2 2.33e-02 -3.3 1.00e+00 1.00e+00f 1 47 2.0881931e-05 6.63e-14 3.52e-03 -6.3 1.72e-01 -3.8 9.90e-01 1.00e+00f 1 48 1.1386364e-05 2.93e-14 2.34e-04 -6.3 2.19e-02 -4.3 1.00e+00 1.00e+00f 1 49 1.1131608e-03 1.20e-14 7.84e-03 -4.0 2.49e+00 -4.8 1.00e+00 1.25e-01f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.2658652e-04 4.17e-14 1.12e-03 -4.1 5.10e-01 -5.3 1.00e+00 5.60e-02f 2 51 3.0306820e-04 2.44e-13 3.61e-03 -4.1 1.12e-01 -5.7 1.00e+00 1.00e+00f 1 52 6.2567338e-04 3.15e-13 2.05e-03 -4.1 6.81e-02 -6.2 1.00e+00 1.00e+00f 1 53 4.7727566e-04 1.83e-13 9.13e-04 -4.1 5.68e-02 -6.7 1.00e+00 5.00e-01f 2 54 5.0128013e-04 6.46e-14 1.14e-04 -4.1 6.85e-03 -7.2 1.00e+00 1.00e+00f 1 55 2.2008294e-05 1.04e-13 4.09e-03 -6.2 1.92e-01 -7.6 9.89e-01 9.90e-01f 1 56 1.3212905e-05 5.25e-14 2.10e-04 -6.2 1.91e-02 -8.1 1.00e+00 1.00e+00f 1 57 3.5660825e-06 4.64e-15 3.01e-04 -6.2 3.68e-02 -8.6 1.00e+00 1.00e+00f 1 58 3.2380778e-03 2.44e-14 1.69e-02 -4.0 4.16e+00 -9.1 1.00e+00 1.25e-01f 4 59 2.8070466e-03 2.27e-14 6.33e-03 -4.0 1.78e+00 -9.5 1.00e+00 7.50e-03f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 9.6014634e-04 3.56e-13 8.13e-03 -4.0 4.27e-01 -10.0 1.00e+00 3.91e-01f 2 61 5.0247441e-04 3.30e-13 3.06e-03 -4.0 8.48e-02 -10.5 1.00e+00 1.00e+00f 1 62 7.2483923e-04 3.97e-13 1.15e-03 -4.0 3.40e-02 -11.0 1.00e+00 1.00e+00f 1 63 5.4827232e-04 1.58e-13 1.11e-03 -4.0 3.30e-02 -11.5 1.00e+00 1.00e+00f 1 64 6.9920252e-04 6.18e-14 8.27e-04 -4.0 2.48e-02 -11.9 1.00e+00 1.00e+00f 1 65 4.2125115e-05 1.22e-13 4.86e-03 -6.0 2.27e-01 -12.4 9.87e-01 8.69e-01f 1 66 2.1328641e-05 8.57e-14 4.03e-04 -6.0 3.04e-02 -12.9 1.00e+00 1.00e+00f 1 67 5.8483521e-06 7.98e-15 4.06e-04 -6.0 4.22e-02 -13.4 1.00e+00 1.00e+00f 1 68 6.3591513e-06 7.07e-15 2.42e-05 -6.0 4.42e-03 -13.8 1.00e+00 1.00e+00f 1 69 6.8633821e-06 3.78e-15 3.31e-05 -6.0 6.46e-03 -14.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 5.9421041e-06 4.42e-15 2.90e-05 -6.0 4.78e-03 -14.8 1.00e+00 1.00e+00h 1 71 6.6535765e-06 1.34e-15 1.71e-05 -6.0 2.38e-03 -15.3 1.00e+00 1.00e+00h 1 72 5.9243196e-06 8.19e-16 1.95e-05 -6.0 2.71e-03 -15.7 1.00e+00 1.00e+00h 1 73 6.5964402e-06 7.89e-17 1.72e-05 -6.0 2.39e-03 -16.2 1.00e+00 1.00e+00h 1 74 5.9298309e-06 1.30e-17 1.73e-05 -6.0 2.41e-03 -16.7 1.00e+00 1.00e+00H 1 75 6.5748267e-06 2.21e-16 1.66e-05 -6.0 2.32e-03 -17.2 1.00e+00 1.00e+00f 1 76 5.9417198e-06 1.13e-17 1.64e-05 -6.0 2.28e-03 -17.7 1.00e+00 1.00e+00H 1 77 6.5602388e-06 2.45e-16 1.60e-05 -6.0 2.22e-03 -18.1 1.00e+00 1.00e+00f 1 78 5.9543778e-06 1.13e-17 1.56e-05 -6.0 2.18e-03 -18.6 1.00e+00 1.00e+00H 1 79 6.5473267e-06 2.43e-16 1.53e-05 -6.0 2.13e-03 -19.1 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 5.9667392e-06 2.44e-16 1.50e-05 -6.0 2.09e-03 -19.6 1.00e+00 1.00e+00h 1 81 6.5351325e-06 2.31e-16 1.47e-05 -6.0 2.04e-03 -20.0 1.00e+00 1.00e+00h 1 82 5.9786299e-06 2.32e-16 1.44e-05 -6.0 2.00e-03 -20.0 1.00e+00 1.00e+00h 1 83 6.5234737e-06 2.21e-16 1.41e-05 -6.0 1.96e-03 -20.0 1.00e+00 1.00e+00h 1 84 5.9900364e-06 2.19e-16 1.38e-05 -6.0 1.92e-03 -20.0 1.00e+00 1.00e+00h 1 85 6.5123021e-06 2.15e-16 1.35e-05 -6.0 1.88e-03 -20.0 1.00e+00 1.00e+00h 1 86 6.0009726e-06 2.16e-16 1.32e-05 -6.0 1.84e-03 -20.0 1.00e+00 1.00e+00h 1 87 6.5015932e-06 2.09e-16 1.29e-05 -6.0 1.80e-03 -20.0 1.00e+00 1.00e+00h 1 88 6.0114569e-06 2.03e-16 1.26e-05 -6.0 1.76e-03 -20.0 1.00e+00 1.00e+00h 1 89 6.4913273e-06 1.97e-16 1.24e-05 -6.0 1.73e-03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 6.0215077e-06 1.93e-16 1.21e-05 -6.0 1.69e-03 -20.0 1.00e+00 1.00e+00h 1 91 6.4814862e-06 1.88e-16 1.19e-05 -6.0 1.65e-03 -20.0 1.00e+00 1.00e+00h 1 92 6.0311427e-06 1.86e-16 1.16e-05 -6.0 1.62e-03 -20.0 1.00e+00 1.00e+00h 1 93 6.4720522e-06 1.84e-16 1.14e-05 -6.0 1.59e-03 -20.0 1.00e+00 1.00e+00h 1 94 6.0403789e-06 1.80e-16 1.11e-05 -6.0 1.55e-03 -20.0 1.00e+00 1.00e+00h 1 95 6.4630086e-06 1.74e-16 1.09e-05 -6.0 1.52e-03 -20.0 1.00e+00 1.00e+00h 1 96 6.0492330e-06 1.75e-16 1.07e-05 -6.0 1.49e-03 -20.0 1.00e+00 1.00e+00h 1 97 6.4543394e-06 1.66e-16 1.04e-05 -6.0 1.46e-03 -20.0 1.00e+00 1.00e+00h 1 98 6.0577205e-06 1.63e-16 1.02e-05 -6.0 1.43e-03 -20.0 1.00e+00 1.00e+00h 1 99 6.4460291e-06 1.63e-16 1.00e-05 -6.0 1.40e-03 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 6.0658565e-06 1.59e-16 9.81e-06 -6.0 1.37e-03 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 6.0658565300091576e-06 6.0658565300091576e-06 Dual infeasibility......: 9.8052125157469623e-06 9.8052125157469623e-06 Constraint violation....: 1.5872719805187785e-16 1.5872719805187785e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.8986613415194396e-07 9.8986613415194396e-07 Overall NLP error.......: 9.9011630783632349e-05 9.9011630783632349e-05 Number of objective function evaluations = 150 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 150 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 = 2.847 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: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.069s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.057s) linear index maps built (0.0s) evaluator ready (total: 0.127s) evaluator created (0.127s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (0.38s) optimizer initialization complete (total: 0.509s) 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 4.6395699e+00 3.23e+00 6.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9197944e+00 4.38e+00 4.20e+00 -0.8 2.42e+01 -2.0 9.86e-02 4.08e-01f 1 2 2.6429626e+00 3.64e+00 2.45e+00 -0.0 4.02e+00 -0.7 2.45e-01 1.61e-01f 1 3 2.6624655e+00 2.45e+00 1.36e+01 -4.0 1.60e+01 -1.1 1.33e-01 3.69e-01h 1 4 2.2639686e+00 1.58e+00 7.96e+00 -0.1 5.37e+00 -0.7 7.23e-01 3.77e-01f 1 5 2.0565005e+00 8.81e-01 6.52e+00 -0.3 6.66e+00 -1.2 5.50e-01 4.03e-01h 1 6 2.1225304e+00 9.15e-01 8.75e+00 -0.5 5.24e+00 -0.8 6.79e-01 9.84e-01h 1 7 2.0469837e+00 4.65e-02 4.52e+00 -0.8 1.41e+00 -0.3 6.74e-01 1.00e+00f 1 8 1.8518007e+00 5.09e-01 1.86e+00 -0.9 3.01e+00 -0.8 7.75e-01 1.00e+00f 1 9 1.8214285e+00 1.77e-01 1.24e+00 -1.0 1.10e+00 -1.3 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5870552e+00 6.07e-02 6.64e-01 -2.3 7.58e-01 -1.8 5.77e-01 1.00e+00h 1 11 1.4161076e+00 3.74e-02 9.49e-02 -2.5 4.74e-01 -2.3 8.74e-01 8.48e-01h 1 12 1.2955513e+00 1.40e-01 3.01e-02 -2.7 6.41e-01 -2.7 9.74e-01 8.51e-01h 1 13 1.2751025e+00 5.46e-03 4.51e-02 -3.4 2.09e+00 -3.2 9.65e-01 1.00e+00h 1 14 1.2668089e+00 8.28e-03 1.11e-03 -4.0 1.47e-01 -3.7 1.00e+00 1.00e+00h 1 15 1.2662704e+00 3.30e-04 5.91e-05 -4.0 6.69e-02 -4.2 1.00e+00 1.00e+00h 1 16 1.2662613e+00 2.04e-05 4.40e-06 -4.0 1.49e-02 -4.6 1.00e+00 1.00e+00h 1 17 1.2662587e+00 3.20e-07 7.04e-08 -4.0 1.00e-03 -5.1 1.00e+00 1.00e+00h 1 18 1.2662587e+00 9.06e-13 1.02e-11 -4.0 4.03e-06 -5.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 1.2662587174894078e+00 1.2662587174894078e+00 Dual infeasibility......: 1.0230102215133444e-11 1.0230102215133444e-11 Constraint violation....: 9.0594198809412774e-13 9.0594198809412774e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000042977162e-04 1.0000000042977162e-04 Overall NLP error.......: 1.0230102215133444e-11 1.0230102215133444e-11 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 = 31.485 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.06s jacobian structure: 180 nonzeros (0.18s) integrator 1 hessian structure: 0.063s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.108s sub-objective 2 (QuadraticRegularizer): 0.068s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.052s objective hessian structure: 0.355s hessian structure: 375 nonzeros (0.418s) linear index maps built (0.0s) evaluator ready (total: 0.811s) evaluator created (1.193s) NL constraint bounds extracted (0.053s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (1.99s) optimizer initialization complete (total: 3.361s) 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 1.4188823e+00 1.02e+00 1.78e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0093906e+00 1.73e-01 2.35e+00 -1.1 1.23e+00 -2.0 9.07e-01 1.00e+00h 1 2 1.8383143e+00 1.13e-01 1.28e+00 -0.7 5.23e-01 0.2 6.69e-01 3.46e-01h 1 3 1.4870219e+00 4.80e-02 1.11e+00 -2.8 1.77e+00 - 6.08e-01 5.60e-01h 1 4 1.1956812e+00 2.46e-03 5.07e-02 -2.3 7.54e-02 -0.2 9.48e-01 1.00e+00h 1 5 1.1152656e+00 8.29e-05 6.59e-01 -3.4 1.15e+00 - 9.93e-01 9.68e-01f 1 6 1.1089846e+00 4.95e-05 4.35e-02 -4.0 2.22e-01 - 1.00e+00 4.03e-01h 1 7 1.1048905e+00 1.12e-08 1.35e-03 -4.0 7.09e-03 -0.7 1.00e+00 1.00e+00h 1 8 1.1048582e+00 9.85e-09 1.46e-02 -3.8 7.96e-01 - 5.08e-01 1.21e-01f 2 9 1.1044007e+00 3.92e-09 1.28e-02 -4.0 1.60e-01 - 1.00e+00 6.02e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1046645e+00 2.23e-12 3.06e-02 -4.0 2.47e-01 - 1.00e+00 1.00e+00f 1 11 1.1034616e+00 1.98e-12 1.47e-01 -4.0 5.44e-01 -1.2 1.00e+00 1.11e-01f 1 12 1.1034542e+00 8.88e-16 4.69e-03 -4.0 9.68e-02 - 1.00e+00 1.00e+00f 1 13 1.1035035e+00 1.91e-26 2.57e-04 -4.0 2.27e-02 - 1.00e+00 1.00e+00f 1 14 1.1033020e+00 1.78e-15 2.78e-05 -4.1 7.45e-03 - 1.00e+00 1.00e+00f 1 15 1.1035055e+00 1.78e-15 2.76e-05 -4.0 7.42e-03 - 1.00e+00 1.00e+00f 1 16 1.1033029e+00 6.90e-27 2.73e-05 -4.1 7.38e-03 - 1.00e+00 1.00e+00f 1 17 1.1025783e+00 8.88e-16 1.01e-03 -6.1 2.86e-02 - 1.00e+00 9.00e-01f 1 18 1.1034943e+00 8.88e-16 4.64e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 19 1.1032989e+00 7.91e-27 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1025776e+00 1.66e-26 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 21 1.1034943e+00 3.12e-24 4.65e-04 -4.0 3.05e-02 - 1.00e+00 1.00e+00f 1 22 1.1032989e+00 4.53e-27 1.16e-05 -4.1 4.82e-03 - 1.00e+00 1.00e+00f 1 23 1.1025776e+00 4.19e-26 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 24 1.1025070e+00 5.08e-25 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 25 1.1034948e+00 3.22e-29 5.06e-04 -4.0 3.18e-02 - 1.00e+00 1.00e+00f 1 26 1.1032990e+00 5.33e-27 1.28e-05 -4.1 5.05e-03 - 1.00e+00 1.00e+00f 1 27 1.1025776e+00 2.63e-26 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 28 1.1025070e+00 4.34e-25 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 29 1.1024999e+00 3.19e-31 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1034946e+00 8.88e-16 5.12e-04 -4.0 3.20e-02 - 1.00e+00 1.00e+00f 1 31 1.1032990e+00 1.78e-15 1.26e-05 -4.1 5.02e-03 - 1.00e+00 1.00e+00f 1 32 1.1025776e+00 8.88e-16 1.01e-03 -6.1 2.85e-02 - 1.00e+00 9.01e-01f 1 33 1.1025070e+00 8.88e-16 5.90e-07 -6.1 1.09e-03 - 1.00e+00 1.00e+00f 1 34 1.1024999e+00 1.00e-31 2.54e-08 -9.0 2.26e-04 - 1.00e+00 1.00e+00f 1 35 1.1024999e+00 1.07e-38 6.26e-15 -9.0 1.12e-07 - 1.00e+00 1.00e+00f 1 36 1.1024999e+00 1.78e-15 3.21e-16 -9.0 4.54e-15 - 1.00e+00 1.00e+00h 1 37 1.1024999e+00 8.88e-16 3.21e-16 -9.0 1.86e-16 - 1.00e+00 1.00e+00 0 38 1.1024999e+00 4.49e-44 3.21e-16 -9.0 9.84e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 1.1024999065909094e+00 1.1024999065909094e+00 Dual infeasibility......: 3.2123185864604446e-16 3.2123185864604446e-16 Constraint violation....: 4.4851242920601698e-44 4.4851242920601698e-44 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 = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 17.419 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! ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 35 running 1 of 1 signal (10): User defined signal 1 _ZNK4llvm11Instruction18getAllMetadataImplERNS_15SmallVectorImplISt4pairIjPNS_6MDNodeEEEE 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_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:364:9 run at /source/src/llvm-julia-licm.cpp:389:28 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 jl_apply at /source/src/julia.h:2538:12 [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: 0x761f677b520c) 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:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 110) unknown function (ip: 0x761f677af6a0) 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:2421:0 [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:2421:0 [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:2421:0 [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: 0x761f677ad752) 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:2421:0 [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:2538:12 [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:2538:12 [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:2538:12 [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: 0x761f85c45249) 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 ============================================================== [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x0000761f693fc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:695 _start() ╎ 1 @Base/client.jl:350 exec_options(opts::Base.JLOptions) ╎ 1 @Base/client.jl:106 __script_entry_eval(mod::Module, ex::Any) ╎ 1 @Base/boot.jl:618 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:336 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:335 include(mapexpr::Function, mod::Module, _path::Stri… ╎ ╎ 1 @Base/loading.jl:3353 _include(mapexpr::Function, mod::Module, _path… ╎ ╎ 1 @Base/loading.jl:3291 include_string(mapexpr::typeof(identity), mod… ╎ ╎ 1 @Base/boot.jl:618 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…r.jl:791 kwcall(::@NamedTuple{filter::var"#2#3"}… ╎ ╎ 1 @TestItemRunner/…r.jl:860 run_tests(path::String; filter::var"#2… ╎ ╎ ╎ 1 @TestItemRunner/….jl:712 with_root_testset(f::TestItemRunner.va… ╎ ╎ ╎ 1 @Test/src/Test.jl:2421 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:713 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:861 (::TestItemRunner.var"#29#30"{Bool, … ╎ ╎ ╎ 1 @TestItemRunner/…jl:745 run_node!(node::TestItemRunner.Test… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:702 with_testset(f::TestItemRunner.var"… ╎ ╎ ╎ ╎ 1 @Test/src/Test.jl:2421 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:703 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:746 (::TestItemRunner.var"#run_node!#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:745 run_node!(node::TestItemRunner.T… ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:702 with_testset(f::TestItemRunner.… ╎ ╎ ╎ ╎ ╎ 1 @Test/…c/Test.jl:2421 macro expansion ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:703 macro expansion ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:746 (::TestItemRunner.var"#run_n… ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:745 run_node!(node::TestItemRun… ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:702 with_testset(f::TestItemRu… ╎ ╎ ╎ ╎ ╎ ╎ 1 @Test/…Test.jl:2421 macro expansion ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:703 macro expansion ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:746 (::TestItemRunner.var"#… ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:736 run_node!(node::TestIt… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:702 with_testset(f::TestI… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Test/…st.jl:2421 macro expansion ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:703 macro expansion ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:737 (::TestItemRunner.… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:298 run_testitem_in_t… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:256 run_testitem(mod… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Base/…le.jl:113 cd(f::TestItemRunner… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:257 (::TestItemRun… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:7 withpath(f::Tes… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:258 (::TestItemR… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +1 1 @Base/…ng.jl:3301 include_string(m… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +2 1 @Base/…ng.jl:3291 include_string(m… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +3 1 @Base/…ot.jl:618 eval(m::Module, e… [test_integrator] Testing evaluate!... ====================================================================================== 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:2538:12 [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 0x000078185913ebf0 Total snapshots: 360. Utilization: 0% ╎360 @Base/task.jl:1528 wait_forever() 359╎ 360 @Base/task.jl:? wait() [test_integrator] Computing analytic Jacobian... [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:573:34 wait at ./task.jl:1652:0 (pc: 108) [35] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:245 ijl_object_id_ at /source/src/builtins.c:577:35 [inlined] ijl_object_id at /source/src/builtins.c:585:12 mtcache_hash_peek at /source/src/typemap.c:353:84 [inlined] mtcache_hash_lookup at /source/src/typemap.c:379:17 jl_typemap_level_assoc_exact at /source/src/typemap.c:1288:39 jl_typemap_assoc_exact at /source/src/julia_internal.h:1959:16 [inlined] jl_lookup_generic_ at /source/src/gf.c:4758:21 ijl_apply_generic at /source/src/gf.c:4834:35 wait_safe_interrupt at ./park.jl:231:0 (pc: 6) getfield_effects at ./../usr/share/julia/Compiler/src/tfuncs.jl:2873:0 (pc: 82) #wait#428 at ./condition.jl:390:0 (pc: 117) builtin_effects at ./../usr/share/julia/Compiler/src/tfuncs.jl:2969:0 (pc: 263) stmt_effect_flags at ./../usr/share/julia/Compiler/src/optimize.jl:427:0 (pc: 348) wait at ./condition.jl:325:0 [inlined] _trywait at ./asyncevent.jl:204:0 (pc: 38) recompute_effects_flags at ./../usr/share/julia/Compiler/src/optimize.jl:477:0 [inlined] add_inst_flag! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1265:0 [inlined] add_inst_flag! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1262:0 [inlined] process_simple! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1311:0 (pc: 513) #_trywait#727 at ./asyncevent.jl:175:0 [inlined] _trywait at ./asyncevent.jl:175:0 [inlined] profile_printing_listener at ./Base.jl:366:0 (pc: 23) #start_profile_listener##0 at ./Base.jl:386:0 (pc: 2) jfptr_YY.start_profile_listenerYY.YY.0_0.1 at /opt/julia/lib/julia/sys.so (unknown line) start_task at /source/src/task.c:1277:23 unknown function (ip: (nil)) at (unknown file) Allocations: 18735463 (Pool: 18734700; Big: 763); GC: 17 assemble_inline_todo! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1673:0 (pc: 55) ssa_inlining_pass! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:75:0 [inlined] run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1073:0 (pc: 8) run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1086:0 [inlined] optimize at ./../usr/share/julia/Compiler/src/optimize.jl:1059:0 [inlined] finish_nocycle at ./../usr/share/julia/Compiler/src/typeinfer.jl:306:0 (pc: 14) jfptr_finish_nocycle_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:5107:0 (pc: 262) 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:2538:12 [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 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/EaKqS/src/jacobian.jl:58:0 (pc: 2) unknown function (ip: 0x761e94a29f28) at (unknown file) _jl_invoke at /source/src/gf.c:4590:23 [inlined] ijl_apply_generic at /source/src/gf.c:4838:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/time_dependent_bilinear_integrator.jl:166:0 (pc: 131) #test_integrator#37 at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:153:0 (pc: 134) test_integrator at /home/pkgeval/.julia/packages/DirectTrajOpt/KFMSZ/src/integrators/_integrators.jl:97:0 (pc: 15) unknown function (ip: 0x761e949fcf8d) 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:2538:12 [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: 0x761f677b520c) 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:2421:0 [inlined] with_testset at /home/pkgeval/.julia/packages/TestItemRunner/uGBn3/src/TestItemRunner.jl:702:0 (pc: 110) unknown function (ip: 0x761f677af6a0) 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:2421:0 [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:2421:0 [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:2421:0 [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: 0x761f677ad752) 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:2421:0 [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:2538:12 [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:2538:12 [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:2538:12 [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: 0x761f85c45249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) Allocations: 1675964878 (Pool: 1675906880; Big: 57998); GC: 579 PkgEval terminated after 2733.01s: test duration exceeded the time limit