Package evaluation of IterativeLQR on Julia 1.11.5 (2d89891cf8*) started at 2025-06-02T13:41:51.609 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 7.3s ################################################################################ # Installation # Installing IterativeLQR... Resolving package versions... Updating `~/.julia/environments/v1.11/Project.toml` [605048dd] + IterativeLQR v0.2.3 Updating `~/.julia/environments/v1.11/Manifest.toml` ⌅ [47edcb42] + ADTypes v0.2.7 ⌅ [c3fe647b] + AbstractAlgebra v0.27.10 [1520ce14] + AbstractTrees v0.4.5 [7d9f7c33] + Accessors v0.1.42 ⌅ [79e6a3ab] + Adapt v3.7.2 [66dad0bd] + AliasTables v1.1.3 [dce04be8] + ArgCheck v2.5.0 ⌃ [4fba245c] + ArrayInterface v7.7.1 [30b0a656] + ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] + AutoHashEquals v0.2.0 [198e06fe] + BangBang v0.4.4 [9718e550] + Baselet v0.1.1 ⌅ [e2ed5e7c] + Bijections v0.1.10 [d360d2e6] + ChainRulesCore v1.25.1 [861a8166] + Combinatorics v1.0.3 [38540f10] + CommonSolve v0.2.4 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [b152e2b5] + CompositeTypes v0.1.4 [a33af91c] + CompositionsBase v0.1.2 ⌅ [187b0558] + ConstructionBase v1.5.6 [a8cc5b0e] + Crayons v4.1.1 [9a962f9c] + DataAPI v1.16.0 [864edb3b] + DataStructures v0.18.22 [e2d170a0] + DataValueInterfaces v1.0.0 [244e2a9f] + DefineSingletons v0.1.2 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [31c24e10] + Distributions v0.25.120 [ffbed154] + DocStringExtensions v0.9.4 ⌅ [5b8099bc] + DomainSets v0.5.14 ⌅ [7c1d4256] + DynamicPolynomials v0.4.6 [4e289a0a] + EnumX v1.0.5 [e2ba6199] + ExprTools v0.1.10 [5789e2e9] + FileIO v1.17.0 [1a297f60] + FillArrays v1.13.0 [59287772] + Formatting v0.4.3 ⌅ [f6369f11] + ForwardDiff v0.10.38 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 ⌅ [46192b85] + GPUArraysCore v0.1.5 ⌅ [0b43b601] + Groebner v0.2.11 ⌅ [d5909c97] + GroupsCore v0.4.2 [34004b35] + HypergeometricFunctions v0.3.28 [615f187c] + IfElse v0.1.1 [22cec73e] + InitialValues v0.3.1 [18e54dd8] + IntegerMathUtils v0.1.2 [8197267c] + IntervalSets v0.7.11 [3587e190] + InverseFunctions v0.1.17 [92d709cd] + IrrationalConstants v0.2.4 [605048dd] + IterativeLQR v0.2.3 [82899510] + IteratorInterfaceExtensions v1.0.0 ⌅ [033835bb] + JLD2 v0.4.54 [692b3bcd] + JLLWrappers v1.7.0 [b964fa9f] + LaTeXStrings v1.4.0 ⌃ [2ee39098] + LabelledArrays v1.15.1 ⌅ [984bce1d] + LambertW v0.4.6 ⌅ [23fbe1c1] + Latexify v0.15.21 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 ⌅ [e9d8d322] + Metatheory v1.3.5 [128add7d] + MicroCollections v0.2.0 [e1d29d7a] + Missings v1.2.0 ⌅ [102ac46a] + MultivariatePolynomials v0.4.7 [d8a4904e] + MutableArithmetics v1.6.4 [77ba4419] + NaNMath v1.1.3 [bac558e1] + OrderedCollections v1.8.1 [90014a1f] + PDMats v0.11.35 [d96e819e] + Parameters v0.12.3 ⌃ [d236fae5] + PreallocationTools v0.4.24 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.4.3 [27ebfcd6] + Primes v0.5.7 [43287f4e] + PtrArrays v1.3.0 [1fd47b50] + QuadGK v2.11.2 [fb686558] + RandomExtensions v0.4.4 [3cdcf5f2] + RecipesBase v1.3.4 ⌅ [731186ca] + RecursiveArrayTools v2.38.10 [189a3867] + Reexport v1.2.2 [42d2dcc6] + Referenceables v0.1.3 [ae029012] + Requires v1.3.1 [79098fc4] + Rmath v0.8.0 [7e49a35a] + RuntimeGeneratedFunctions v0.5.15 ⌅ [0bca4576] + SciMLBase v1.98.1 ⌅ [c0aeaf25] + SciMLOperators v0.3.13 [6c6a2e73] + Scratch v1.2.1 [efcf1570] + Setfield v1.1.2 [66db9d55] + SnoopPrecompile v1.0.3 [a2af1166] + SortingAlgorithms v1.2.1 [276daf66] + SpecialFunctions v2.5.1 [171d559e] + SplittablesBase v0.1.15 [90137ffa] + StaticArrays v1.9.13 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [82ae8749] + StatsAPI v1.7.1 [2913bbd2] + StatsBase v0.34.5 [4c63d2b9] + StatsFuns v1.5.0 ⌅ [2efcf032] + SymbolicIndexingInterface v0.2.2 ⌅ [d1185830] + SymbolicUtils v0.19.11 ⌅ [0c5d862f] + Symbolics v4.14.0 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.0 ⌅ [8ea1fca8] + TermInterface v0.2.3 [ac1d9e8a] + ThreadsX v0.1.12 [a759f4b9] + TimerOutputs v0.5.29 [3bb67fe8] + TranscodingStreams v0.11.3 [28d57a85] + Transducers v0.4.84 [a2a6695c] + TreeViews v0.3.0 [781d530d] + TruncatedStacktraces v1.4.0 [3a884ed6] + UnPack v1.0.2 [700de1a5] + ZygoteRules v0.2.7 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [f50d1b31] + 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LibGit2_jll v1.7.2+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.6+0 [14a3606d] + MozillaCACerts_jll v2023.12.12 [4536629a] + OpenBLAS_jll v0.3.27+1 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.7.0+0 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.59.0+0 [3f19e933] + p7zip_jll v17.4.0+2 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 5.65s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 182.65s ################################################################################ # Testing # Testing IterativeLQR Status `/tmp/jl_51t99D/Project.toml` [6e4b80f9] BenchmarkTools v1.6.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [605048dd] IterativeLQR v0.2.3 ⌅ [0c5d862f] Symbolics v4.14.0 [37e2e46d] LinearAlgebra v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_51t99D/Manifest.toml` ⌅ [47edcb42] ADTypes v0.2.7 ⌅ [c3fe647b] AbstractAlgebra v0.27.10 [1520ce14] AbstractTrees v0.4.5 [7d9f7c33] Accessors v0.1.42 ⌅ [79e6a3ab] Adapt v3.7.2 [66dad0bd] AliasTables v1.1.3 [dce04be8] ArgCheck v2.5.0 ⌃ [4fba245c] ArrayInterface v7.7.1 [30b0a656] ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] AutoHashEquals v0.2.0 [198e06fe] BangBang v0.4.4 [9718e550] Baselet v0.1.1 [6e4b80f9] BenchmarkTools v1.6.0 ⌅ [e2ed5e7c] Bijections v0.1.10 [d360d2e6] ChainRulesCore v1.25.1 [861a8166] Combinatorics v1.0.3 [38540f10] CommonSolve v0.2.4 [bbf7d656] 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v0.1.2 [8197267c] IntervalSets v0.7.11 [3587e190] InverseFunctions v0.1.17 [92d709cd] IrrationalConstants v0.2.4 [605048dd] IterativeLQR v0.2.3 [82899510] IteratorInterfaceExtensions v1.0.0 ⌅ [033835bb] JLD2 v0.4.54 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [b964fa9f] LaTeXStrings v1.4.0 ⌃ [2ee39098] LabelledArrays v1.15.1 ⌅ [984bce1d] LambertW v0.4.6 ⌅ [23fbe1c1] Latexify v0.15.21 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 ⌅ [e9d8d322] Metatheory v1.3.5 [128add7d] MicroCollections v0.2.0 [e1d29d7a] Missings v1.2.0 ⌅ [102ac46a] MultivariatePolynomials v0.4.7 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.3 [bac558e1] OrderedCollections v1.8.1 [90014a1f] PDMats v0.11.35 [d96e819e] Parameters v0.12.3 [69de0a69] Parsers v2.8.3 ⌃ [d236fae5] PreallocationTools v0.4.24 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.4.3 [27ebfcd6] Primes v0.5.7 [43287f4e] PtrArrays v1.3.0 [1fd47b50] QuadGK v2.11.2 [fb686558] RandomExtensions 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v0.4.84 [a2a6695c] TreeViews v0.3.0 [781d530d] TruncatedStacktraces v1.4.0 [3a884ed6] UnPack v1.0.2 [700de1a5] ZygoteRules v0.2.7 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [f50d1b31] Rmath_jll v0.5.1+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.6.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.11.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.11.0 [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 v1.1.1+0 [deac9b47] LibCURL_jll v8.6.0+0 [e37daf67] LibGit2_jll v1.7.2+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.6+0 [14a3606d] MozillaCACerts_jll v2023.12.12 [4536629a] OpenBLAS_jll v0.3.27+1 [05823500] OpenLibm_jll v0.8.5+0 [bea87d4a] SuiteSparse_jll v7.7.0+0 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.59.0+0 [3f19e933] p7zip_jll v17.4.0+2 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... Precompiling Symbolics... 2532.8 ms ? DomainSets 11154.8 ms ? SciMLBase Info Given Symbolics was explicitly requested, output will be shown live  WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. 4310.6 ms ? Symbolics WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. Precompiling DomainSets... Info Given DomainSets was explicitly requested, output will be shown live  WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. 2430.7 ms ? DomainSets WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. WARNING: Wrapping `Vararg` directly in UnionAll is deprecated (wrap the tuple instead). You may need to write `f(x::Vararg{T})` rather than `f(x::Vararg{<:T})` or `f(x::Vararg{T}) where T` instead of `f(x::Vararg{T} where T)`. Precompiling IntervalSetsRecipesBaseExt... 1141.2 ms ✓ IntervalSets → IntervalSetsRecipesBaseExt 1 dependency successfully precompiled in 1 seconds. 9 already precompiled. Precompiling ArrayInterfaceCore... 837.6 ms ✓ SnoopPrecompile 1617.3 ms ✓ ArrayInterfaceCore 2 dependencies successfully precompiled in 2 seconds. 9 already precompiled. Precompiling SciMLBase... Info Given SciMLBase was explicitly requested, output will be shown live  WARNING: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. 4613.3 ms ? SciMLBase WARNING: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. WARNING: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. WARNING: Method definition isconstant(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:254 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:8. Precompiling Groebner... 3418.6 ms ✓ Groebner 1 dependency successfully precompiled in 4 seconds. 28 already precompiled. WARNING: Code.get_symbolify is deprecated, use get_rewrites instead. likely near /home/pkgeval/.julia/packages/Symbolics/UrqtQ/src/build_function.jl:130 Precompiling Distributions... 1044.4 ms ✓ FillArrays → FillArraysPDMatsExt 939.1 ms ✓ SortingAlgorithms 1950.5 ms ✓ QuadGK 1913.2 ms ✓ HypergeometricFunctions 3501.0 ms ✓ StatsBase 2960.5 ms ✓ StatsFuns 7775.9 ms ✓ Distributions 7 dependencies successfully precompiled in 20 seconds. 39 already precompiled. Precompiling StatsFunsInverseFunctionsExt... 1207.0 ms ✓ StatsFuns → StatsFunsInverseFunctionsExt 1 dependency successfully precompiled in 1 seconds. 21 already precompiled. Precompiling StatsFunsChainRulesCoreExt... 3444.8 ms ✓ StatsFuns → StatsFunsChainRulesCoreExt 1 dependency successfully precompiled in 4 seconds. 24 already precompiled. Precompiling DistributionsTestExt... 2477.0 ms ✓ Distributions → DistributionsTestExt 1 dependency successfully precompiled in 3 seconds. 48 already precompiled. Precompiling DistributionsChainRulesCoreExt... 2685.9 ms ✓ Distributions → DistributionsChainRulesCoreExt 1 dependency successfully precompiled in 3 seconds. 51 already precompiled. Precompiling IterativeLQR... 2399.9 ms ? DomainSets 49088.2 ms ✓ JLD2 4934.7 ms ? SciMLBase 2942.2 ms ? Symbolics Info Given IterativeLQR was explicitly requested, output will be shown live  ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0037-468489e8987c is missing from the cache. │ This may mean Symbolics [0c5d862f-8b57-4792-8d23-62f2024744c7] does not support precompilation but is imported by a module that does. └ @ Base loading.jl:2541 1584.1 ms ? IterativeLQR 1 dependency successfully precompiled in 62 seconds. 180 already precompiled. 3 dependencies precompiled but different versions are currently loaded. Restart julia to access the new versions. Otherwise, loading dependents of these packages may trigger further precompilation to work with the unexpected versions. 4 dependencies failed but may be precompilable after restarting julia 4 dependencies had output during precompilation: ┌ DomainSets │ WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. │ ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. └ ┌ Symbolics │ ┌ Warning: Module DomainSets with build ID ffffffff-ffff-ffff-0037-468679a4226c is missing from the cache. │ │ This may mean DomainSets [5b8099bc-c8ec-5219-889f-1d9e522a28bf] does not support precompilation but is imported by a module that does. │ └ @ Base loading.jl:2541 └ ┌ IterativeLQR │ [Output was shown above] └ ┌ SciMLBase │ WARNING: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. │ ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. └ ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0037-468489e8987c is missing from the cache. │ This may mean Symbolics [0c5d862f-8b57-4792-8d23-62f2024744c7] does not support precompilation but is imported by a module that does. └ @ Base loading.jl:2541 Test Summary: | Pass Total Time Objective | 7 7 35.5s Test Summary: | Pass Total Time Dynamics | 4 4 20.2s Test Summary: | Pass Total Time Constraints | 12 12 16.5s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University al iter: 1 ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University iter: 1 cost: 9.517157800497468 gradient_norm: 4.92971739459825 max_violation: 3.1132965539449797 step_size: 1.0 iter: 2 cost: 6.0417761844910105 gradient_norm: 2.4038947100496775 max_violation: 3.110986616810599 step_size: 1.0 iter: 3 cost: 5.396910702633833 gradient_norm: 1.5876568100511608 max_violation: 3.1097029875752904 step_size: 1.0 iter: 4 cost: 5.171013114133292 gradient_norm: 1.1850115002595083 max_violation: 3.1090436304965383 step_size: 1.0 iter: 5 cost: 5.066415506072009 gradient_norm: 0.9452367083737119 max_violation: 3.108643526264552 step_size: 1.0 iter: 6 cost: 5.0095847483378035 gradient_norm: 0.7861537842369408 max_violation: 3.1083749160127647 step_size: 1.0 iter: 7 cost: 4.975312655055935 gradient_norm: 0.6729018740334193 max_violation: 3.10818208538837 step_size: 1.0 iter: 8 cost: 4.953066423254521 gradient_norm: 0.5881710262354413 max_violation: 3.108036898166283 step_size: 1.0 iter: 9 cost: 4.93781325597294 gradient_norm: 0.5223928730430605 max_violation: 3.1079236162208934 step_size: 1.0 iter: 10 cost: 4.92690205506958 gradient_norm: 0.4698483184647772 max_violation: 3.1078327484126387 step_size: 1.0 iter: 11 cost: 4.918828573442162 gradient_norm: 0.42690887971786656 max_violation: 3.1077582305255893 step_size: 1.0 iter: 12 cost: 4.912687754531164 gradient_norm: 0.39116144625343424 max_violation: 3.1076960063346197 step_size: 1.0 iter: 13 cost: 4.907908570079995 gradient_norm: 0.3609387533194121 max_violation: 3.107643259811736 step_size: 1.0 iter: 14 cost: 4.90411630648315 gradient_norm: 0.3350519023713212 max_violation: 3.1075979746403983 step_size: 1.0 iter: 15 cost: 4.901056811103089 gradient_norm: 0.3126302841984438 max_violation: 3.1075586690459533 step_size: 1.0 iter: 16 cost: 4.898552772032349 gradient_norm: 0.29302174842333684 max_violation: 3.107524229594473 step_size: 1.0 iter: 17 cost: 4.896477436166426 gradient_norm: 0.27572812812211456 max_violation: 3.107493803385616 step_size: 1.0 iter: 18 cost: 4.894738246778595 gradient_norm: 0.2603623261540972 max_violation: 3.1074667260248754 step_size: 1.0 iter: 19 cost: 4.893266341632483 gradient_norm: 0.24661899509754517 max_violation: 3.107442472245734 step_size: 1.0 iter: 20 cost: 4.892009629905562 gradient_norm: 0.23425403913446663 max_violation: 3.107420621284653 step_size: 1.0 iter: 21 cost: 4.890928119055685 gradient_norm: 0.22306998902561234 max_violation: 3.107400832109528 step_size: 1.0 iter: 22 cost: 4.8899906931634325 gradient_norm: 0.21290537646986235 max_violation: 3.1073828253777247 step_size: 1.0 al iter: 2 iter: 1 cost: 56.25386401017659 gradient_norm: 6.651855750084215 max_violation: 2.937832199265886 step_size: 1.0 iter: 2 cost: 55.78606074325462 gradient_norm: 3.14438443532015 max_violation: 2.940689205506577 step_size: 1.0 iter: 3 cost: 55.700251002356126 gradient_norm: 2.0574006245251963 max_violation: 2.941473316282819 step_size: 1.0 iter: 4 cost: 55.6702050102334 gradient_norm: 1.52858231179223 max_violation: 2.9418245510074548 step_size: 1.0 iter: 5 cost: 55.656281620604645 gradient_norm: 1.2159641488520547 max_violation: 2.942019099210687 step_size: 1.0 iter: 6 cost: 55.64870929512481 gradient_norm: 1.0094988689492155 max_violation: 2.9421407441002625 step_size: 1.0 iter: 7 cost: 55.64413842184714 gradient_norm: 0.8629772889566834 max_violation: 2.942223049946152 step_size: 1.0 iter: 8 cost: 55.64116880505141 gradient_norm: 0.7536073020732434 max_violation: 2.942281924591809 step_size: 1.0 iter: 9 cost: 55.63913101109903 gradient_norm: 0.6688501848253834 max_violation: 2.9423258184933827 step_size: 1.0 iter: 10 cost: 55.63767218962767 gradient_norm: 0.6012383856679584 max_violation: 2.94235960885692 step_size: 1.0 iter: 11 cost: 55.636592010184636 gradient_norm: 0.5460474770419381 max_violation: 2.9423862943115777 step_size: 1.0 iter: 12 cost: 55.6357698701361 gradient_norm: 0.5001426435181768 max_violation: 2.9424078128034807 step_size: 1.0 al iter: 3 iter: 1 cost: 477.74327555146243 gradient_norm: 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0.7749567618124007 step_size: 1.0 iter: 19 cost: 224.2359652482507 gradient_norm: 86.68040685939388 max_violation: 0.7650049942342076 step_size: 1.0 iter: 20 cost: 223.37419235358126 gradient_norm: 89.81853812535407 max_violation: 0.7561338530148012 step_size: 1.0 iter: 21 cost: 222.61466365851535 gradient_norm: 91.70801712575246 max_violation: 0.7481665792510785 step_size: 1.0 iter: 22 cost: 221.93969584386798 gradient_norm: 92.67239358726934 max_violation: 0.7409637836900131 step_size: 1.0 iter: 23 cost: 221.33542503109587 gradient_norm: 92.95041261452303 max_violation: 0.7344140392172878 step_size: 1.0 iter: 24 cost: 220.7909289584863 gradient_norm: 92.71929792829847 max_violation: 0.7284272176354416 step_size: 1.0 iter: 25 cost: 220.29753253418377 gradient_norm: 92.11149981307759 max_violation: 0.7229296463346166 step_size: 1.0 iter: 26 cost: 219.84826768173755 gradient_norm: 91.2266477652441 max_violation: 0.717860508998339 step_size: 1.0 iter: 27 cost: 219.43746174806472 gradient_norm: 90.14010146536175 max_violation: 0.7131691267740745 step_size: 1.0 iter: 28 cost: 219.0604303002537 gradient_norm: 88.90911649860583 max_violation: 0.7088128828680089 step_size: 1.0 iter: 29 cost: 218.71325144781483 gradient_norm: 87.57733607663315 max_violation: 0.7047556278842735 step_size: 1.0 iter: 30 cost: 218.39260123433405 gradient_norm: 86.17809796321568 max_violation: 0.7009664482129474 step_size: 1.0 iter: 31 cost: 218.0956331845246 gradient_norm: 84.73689258702522 max_violation: 0.69741870933054 step_size: 1.0 iter: 32 cost: 217.8198890325297 gradient_norm: 83.27320523981929 max_violation: 0.6940893072368364 step_size: 1.0 iter: 33 cost: 217.5632312589557 gradient_norm: 81.8019062082638 max_violation: 0.6909580775876236 step_size: 1.0 iter: 34 cost: 217.32379094327172 gradient_norm: 80.33430594119787 max_violation: 0.6880073247195231 step_size: 1.0 iter: 35 cost: 217.09992653874733 gradient_norm: 78.87896011437256 max_violation: 0.6852214424112635 step_size: 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max_violation: 0.6657078244658119 step_size: 1.0 iter: 45 cost: 215.46702003116798 gradient_norm: 65.816681968733 max_violation: 0.6640064822849436 step_size: 1.0 iter: 46 cost: 215.3467764714747 gradient_norm: 64.68528277415784 max_violation: 0.6623762691092505 step_size: 1.0 iter: 47 cost: 215.2321248300978 gradient_norm: 63.58524226725698 max_violation: 0.6608126760923869 step_size: 1.0 iter: 48 cost: 215.1226718022901 gradient_norm: 62.515870373971666 max_violation: 0.659311571118125 step_size: 1.0 iter: 49 cost: 215.0180595792445 gradient_norm: 61.47641120298965 max_violation: 0.6578691600665558 step_size: 1.0 iter: 50 cost: 214.91796203931585 gradient_norm: 60.46606380648349 max_violation: 0.6564819527875438 step_size: 1.0 iter: 51 cost: 214.82208140436822 gradient_norm: 59.48399858528532 max_violation: 0.6551467331223724 step_size: 1.0 iter: 52 cost: 214.73014529832798 gradient_norm: 58.52937021691694 max_violation: 0.6538605324191011 step_size: 1.0 iter: 53 cost: 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0.6440970614550396 step_size: 1.0 iter: 62 cost: 213.9815713247717 gradient_norm: 50.309810352589814 max_violation: 0.643178328500674 step_size: 1.0 iter: 63 cost: 213.9202224969455 gradient_norm: 49.60346888954367 max_violation: 0.6422871009073567 step_size: 1.0 iter: 64 cost: 213.86082572708955 gradient_norm: 48.9153297472859 max_violation: 0.6414221115311953 step_size: 1.0 iter: 65 cost: 213.80328276233988 gradient_norm: 48.244764917033436 max_violation: 0.6405821708727397 step_size: 1.0 iter: 66 cost: 213.74750190987479 gradient_norm: 47.591169707652575 max_violation: 0.6397661611923233 step_size: 1.0 iter: 67 cost: 213.69339749991175 gradient_norm: 46.95396224920979 max_violation: 0.6389730311536805 step_size: 1.0 iter: 68 cost: 213.64088939996668 gradient_norm: 46.332582917431644 max_violation: 0.6382017909412459 step_size: 1.0 iter: 69 cost: 213.58990257484618 gradient_norm: 45.72649370076397 max_violation: 0.6374515078028695 step_size: 1.0 iter: 70 cost: 213.54036668751564 gradient_norm: 45.13517752791806 max_violation: 0.6367213019753089 step_size: 1.0 iter: 71 cost: 213.49221573654506 gradient_norm: 44.55813756990806 max_violation: 0.6360103429545805 step_size: 1.0 iter: 72 cost: 213.4453877263402 gradient_norm: 43.99489652805096 max_violation: 0.6353178460775823 step_size: 1.0 iter: 73 cost: 213.39982436680583 gradient_norm: 43.44499591702172 max_violation: 0.6346430693850409 step_size: 1.0 iter: 74 cost: 213.3554707994548 gradient_norm: 42.90799534973181 max_violation: 0.6339853107390869 step_size: 1.0 iter: 75 cost: 213.31227534733227 gradient_norm: 42.38347183027799 max_violation: 0.6333439051716745 step_size: 1.0 iter: 76 cost: 213.27018928639302 gradient_norm: 41.87101905857636 max_violation: 0.6327182224424996 step_size: 1.0 iter: 77 cost: 213.22916663624832 gradient_norm: 41.370246750535756 max_violation: 0.6321076647873518 step_size: 1.0 iter: 78 cost: 213.1891639684128 gradient_norm: 40.88077997596418 max_violation: 0.6315116648397856 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785.0617235349516 max_violation: 0.006260673530588123 step_size: 1.0 iter: 67 cost: 266.40651807867977 gradient_norm: 773.2690954075699 max_violation: 0.00616623839298025 step_size: 1.0 iter: 68 cost: 266.3839663443821 gradient_norm: 761.8260501181062 max_violation: 0.006074594692076163 step_size: 1.0 iter: 69 cost: 266.36213925464403 gradient_norm: 750.7172673519658 max_violation: 0.005985620711361106 step_size: 1.0 iter: 70 cost: 266.3410010580207 gradient_norm: 739.9283090059121 max_violation: 0.005899201702602053 step_size: 1.0 iter: 71 cost: 266.3205183140881 gradient_norm: 729.4455565911193 max_violation: 0.005815229394416477 step_size: 1.0 iter: 72 cost: 266.3006597113199 gradient_norm: 719.2561539024066 max_violation: 0.005733601541953459 step_size: 1.0 iter: 73 cost: 266.2813959017443 gradient_norm: 709.3479544308353 max_violation: 0.005654221513583191 step_size: 1.0 iter: 74 cost: 266.2626993506271 gradient_norm: 699.7094730663808 max_violation: 0.005576997911121762 step_size: 1.0 iter: 75 cost: 266.24454419962643 gradient_norm: 690.3298416919733 max_violation: 0.005501844220461516 step_size: 1.0 iter: 76 cost: 266.22690614204487 gradient_norm: 681.1987683106181 max_violation: 0.0054286784898401885 step_size: 1.0 iter: 77 cost: 266.2097623089558 gradient_norm: 672.3064993707119 max_violation: 0.005357423033140241 step_size: 1.0 iter: 78 cost: 266.19309116513216 gradient_norm: 663.6437850213612 max_violation: 0.005288004156136394 step_size: 1.0 iter: 79 cost: 266.1768724138026 gradient_norm: 655.2018470099691 max_violation: 0.005220351903439946 step_size: 1.0 iter: 80 cost: 266.16108690939353 gradient_norm: 646.972349012084 max_violation: 0.005154399824509159 step_size: 1.0 iter: 81 cost: 266.1457165774852 gradient_norm: 638.9473691705866 max_violation: 0.005090084756998348 step_size: 1.0 iter: 82 cost: 266.13074434130345 gradient_norm: 631.1193746555743 max_violation: 0.005027346625955276 step_size: 1.0 iter: 83 cost: 266.1161540541402 gradient_norm: 623.4811980820876 max_violation: 0.004966128257610114 step_size: 1.0 iter: 84 cost: 266.1019304371502 gradient_norm: 616.0260156091779 max_violation: 0.004906375206367719 step_size: 1.0 iter: 85 cost: 266.088059022041 gradient_norm: 608.7473266080791 max_violation: 0.004848035594135047 step_size: 1.0 iter: 86 cost: 266.0745260982144 gradient_norm: 601.638934748356 max_violation: 0.004791059960799315 step_size: 1.0 iter: 87 cost: 266.06131866396635 gradient_norm: 594.6949304061059 max_violation: 0.00473540112509796 step_size: 1.0 iter: 88 cost: 266.04842438138235 gradient_norm: 587.9096742696968 max_violation: 0.004681014054922161 step_size: 1.0 iter: 89 cost: 266.03583153461125 gradient_norm: 581.2777820522714 max_violation: 0.0046278557463255154 step_size: 1.0 iter: 90 cost: 266.0235289912397 gradient_norm: 574.7941102566361 max_violation: 0.0045758851108319565 step_size: 1.0 iter: 91 cost: 266.01150616647715 gradient_norm: 568.453742845179 max_violation: 0.00452506286986043 step_size: 1.0 iter: 92 cost: 265.99975298994667 gradient_norm: 562.2519788186132 max_violation: 0.004475351456326493 step_size: 1.0 iter: 93 cost: 265.9882598748431 gradient_norm: 556.1843205778969 max_violation: 0.004426714922415753 step_size: 1.0 iter: 94 cost: 265.97701768927453 gradient_norm: 550.2464630479942 max_violation: 0.00437911885336395 step_size: 1.0 iter: 95 cost: 265.9660177296101 gradient_norm: 544.4342834820518 max_violation: 0.0043325302866068505 step_size: 1.0 iter: 96 cost: 265.95525169566633 gradient_norm: 538.7438319107785 max_violation: 0.0042869176360319505 step_size: 1.0 iter: 97 cost: 265.944711667601 gradient_norm: 533.1713221925165 max_violation: 0.004242250620966614 step_size: 1.0 iter: 98 cost: 265.93439008435706 gradient_norm: 527.7131235933938 max_violation: 0.0041985001993481985 step_size: 1.0 iter: 99 cost: 265.92427972356364 gradient_norm: 522.3657529112062 max_violation: 0.004155638505209058 step_size: 1.0 iter: 100 cost: 265.91437368275854 gradient_norm: 517.125867046149 max_violation: 0.0041136387896720805 step_size: 1.0 Test Summary: | Pass Total Time Solve: acrobot | 1 1 5m02.3s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University al iter: 1 ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University iter: 1 cost: 261.2537798738653 gradient_norm: 885.6763002794513 max_violation: 1.1807656674637883 step_size: 1.0 iter: 2 cost: 69.99469960068207 gradient_norm: 376.08357134305186 max_violation: 0.766429330514935 step_size: 1.0 iter: 3 cost: 34.54977364243712 gradient_norm: 193.82532155965612 max_violation: 0.5197983639867401 step_size: 1.0 iter: 4 cost: 22.539037764763805 gradient_norm: 111.7024513072441 max_violation: 0.4196158004810382 step_size: 1.0 iter: 5 cost: 17.035664625358486 gradient_norm: 69.14467761180012 max_violation: 0.37323467952446965 step_size: 1.0 iter: 6 cost: 14.062954292496705 gradient_norm: 45.607762506571646 max_violation: 0.34188493819304266 step_size: 1.0 iter: 7 cost: 12.272616098482587 gradient_norm: 31.744197515746393 max_violation: 0.3195794259745215 step_size: 1.0 iter: 8 cost: 11.110324366994146 gradient_norm: 28.481409161315987 max_violation: 0.30283107541267995 step_size: 1.0 iter: 9 cost: 10.312569004061332 gradient_norm: 25.725116998667954 max_violation: 0.28976177042682494 step_size: 1.0 iter: 10 cost: 9.740976036112503 gradient_norm: 24.387263942641127 max_violation: 0.27926490324135944 step_size: 1.0 iter: 11 cost: 9.317182750501477 gradient_norm: 23.27948171916522 max_violation: 0.270642534988605 step_size: 1.0 iter: 12 cost: 8.99409364960746 gradient_norm: 22.133658624582665 max_violation: 0.2634309744732146 step_size: 1.0 iter: 13 cost: 8.742010825607291 gradient_norm: 21.003710960323513 max_violation: 0.25730926409585564 step_size: 1.0 iter: 14 cost: 8.541448500865746 gradient_norm: 19.918615937273927 max_violation: 0.2520477436399142 step_size: 1.0 iter: 15 cost: 8.379187541400649 gradient_norm: 18.892634093629162 max_violation: 0.24747750308208794 step_size: 1.0 iter: 16 cost: 8.246001295724474 gradient_norm: 17.931443843477687 max_violation: 0.243471404916475 step_size: 1.0 iter: 17 cost: 8.135289721002943 gradient_norm: 17.035806102872616 max_violation: 0.2399318426078958 step_size: 1.0 iter: 18 cost: 8.042229513640368 gradient_norm: 16.203750801407285 max_violation: 0.23678258854916034 step_size: 1.0 iter: 19 cost: 7.963228813262942 gradient_norm: 15.431879152844623 max_violation: 0.23396321467267356 step_size: 1.0 iter: 20 cost: 7.895567773780683 gradient_norm: 14.71613518888006 max_violation: 0.2314251818556059 step_size: 1.0 iter: 21 cost: 7.837155934003607 gradient_norm: 14.05225742418412 max_violation: 0.2291290411089797 step_size: 1.0 iter: 22 cost: 7.786364917793634 gradient_norm: 13.436037151680694 max_violation: 0.22704239307714413 step_size: 1.0 iter: 23 cost: 7.741910858273423 gradient_norm: 12.86345977297741 max_violation: 0.22513837563732508 step_size: 1.0 iter: 24 cost: 7.702770335780684 gradient_norm: 12.330775619639935 max_violation: 0.223394526194177 step_size: 1.0 iter: 25 cost: 7.668119333509148 gradient_norm: 11.834528666306948 max_violation: 0.22179191431193956 step_size: 1.0 iter: 26 cost: 7.637288274827675 gradient_norm: 11.37156056170258 max_violation: 0.2203144723692816 step_size: 1.0 iter: 27 cost: 7.609728473089355 gradient_norm: 10.939000679422454 max_violation: 0.21894847327438605 step_size: 1.0 iter: 28 cost: 7.5849867970528555 gradient_norm: 10.534248743252592 max_violation: 0.21768211877573584 step_size: 1.0 iter: 29 cost: 7.562686328832223 gradient_norm: 10.154954010172425 max_violation: 0.21650521190799044 step_size: 1.0 iter: 30 cost: 7.542511446200534 gradient_norm: 9.798993394781991 max_violation: 0.2154088941268837 step_size: 1.0 iter: 31 cost: 7.5241962083383624 gradient_norm: 9.464449922833648 max_violation: 0.21438543266983068 step_size: 1.0 iter: 32 cost: 7.507515233952561 gradient_norm: 9.149592283243631 max_violation: 0.21342804726960818 step_size: 1.0 iter: 33 cost: 7.492276478169418 gradient_norm: 8.852855866270925 max_violation: 0.21253076796176984 step_size: 1.0 iter: 34 cost: 7.478315469141725 gradient_norm: 8.572825443102449 max_violation: 0.2116883176538611 step_size: 1.0 iter: 35 cost: 7.465490676384057 gradient_norm: 8.308219503864 max_violation: 0.21089601456018237 step_size: 1.0 iter: 36 cost: 7.453679763543525 gradient_norm: 8.057876191788143 max_violation: 0.21014969068297518 step_size: 1.0 iter: 37 cost: 7.442776537525081 gradient_norm: 7.820740728824099 max_violation: 0.20944562333843297 step_size: 1.0 iter: 38 cost: 7.432688449752018 gradient_norm: 7.595854208610376 max_violation: 0.2087804773531028 step_size: 1.0 iter: 39 cost: 7.423334538118871 gradient_norm: 7.382343627146472 max_violation: 0.2081512560379437 step_size: 1.0 iter: 40 cost: 7.414643722894794 gradient_norm: 7.179413023837764 max_violation: 0.20755525942109987 step_size: 1.0 iter: 41 cost: 7.406553388595878 gradient_norm: 6.986335612818852 max_violation: 0.20699004851539815 step_size: 1.0 iter: 42 cost: 7.399008198200706 gradient_norm: 6.802446793745567 max_violation: 0.20645341462638545 step_size: 1.0 iter: 43 cost: 7.391959097146254 gradient_norm: 6.627137941422962 max_violation: 0.2059433528896557 step_size: 1.0 iter: 44 cost: 7.385362473123337 gradient_norm: 6.45985088395812 max_violation: 0.20545803937275675 step_size: 1.0 iter: 45 cost: 7.379179444392276 gradient_norm: 6.300072989008616 max_violation: 0.2049958111936343 step_size: 1.0 iter: 46 cost: 7.373375254601611 gradient_norm: 6.147332786703153 max_violation: 0.2045551492013793 step_size: 1.0 iter: 47 cost: 7.367918756251549 gradient_norm: 6.001196066353447 max_violation: 0.2041346628427032 step_size: 1.0 iter: 48 cost: 7.362781968245788 gradient_norm: 5.861262391436014 max_violation: 0.20373307689846154 step_size: 1.0 iter: 49 cost: 7.357939695613454 gradient_norm: 5.727161984084324 max_violation: 0.20334921982621523 step_size: 1.0 iter: 50 cost: 7.353369201599009 gradient_norm: 5.598552936261505 max_violation: 0.2029820134865652 step_size: 1.0 iter: 51 cost: 7.349049924024784 gradient_norm: 5.475118710010506 max_violation: 0.20263046406533292 step_size: 1.0 iter: 52 cost: 7.34496322921335 gradient_norm: 5.35656589373689 max_violation: 0.20229365403219823 step_size: 1.0 iter: 53 cost: 7.341092197882067 gradient_norm: 5.242622185541038 max_violation: 0.2019707350005815 step_size: 1.0 iter: 54 cost: 7.337421438340977 gradient_norm: 5.133034578164165 max_violation: 0.20166092137318348 step_size: 1.0 iter: 55 cost: 7.333936923079356 gradient_norm: 5.0275677230832505 max_violation: 0.2013634846738297 step_size: 1.0 iter: 56 cost: 7.330625845447401 gradient_norm: 4.926002454107622 max_violation: 0.20107774848119497 step_size: 1.0 iter: 57 cost: 7.327476493652688 gradient_norm: 4.828134453115053 max_violation: 0.20080308389097912 step_size: 1.0 iter: 58 cost: 7.324478139716949 gradient_norm: 4.733773042605958 max_violation: 0.2005389054433122 step_size: 1.0 iter: 59 cost: 7.321620941393538 gradient_norm: 4.64274009160189 max_violation: 0.20028466746088736 step_size: 1.0 iter: 60 cost: 7.318895855341548 gradient_norm: 4.554869022929657 max_violation: 0.20003986075024294 step_size: 1.0 iter: 61 cost: 7.316294560101643 gradient_norm: 4.47000391137999 max_violation: 0.19980400962503886 step_size: 1.0 iter: 62 cost: 7.313809387626099 gradient_norm: 4.387998663338512 max_violation: 0.1995766692150367 step_size: 1.0 iter: 63 cost: 7.3114332622926375 gradient_norm: 4.318891416810995 max_violation: 0.19935742302960957 step_size: 1.0 iter: 64 cost: 7.309159646479266 gradient_norm: 4.2614430161156545 max_violation: 0.19914588074805462 step_size: 1.0 iter: 65 cost: 7.306982491904377 gradient_norm: 4.205440961225905 max_violation: 0.19894167621241277 step_size: 1.0 iter: 66 cost: 7.304896196042877 gradient_norm: 4.150833848380019 max_violation: 0.1987444656016777 step_size: 1.0 iter: 67 cost: 7.302895563020863 gradient_norm: 4.09757253229489 max_violation: 0.19855392576839925 step_size: 1.0 iter: 68 cost: 7.300975768469271 gradient_norm: 4.0456100154202375 max_violation: 0.19836975272122537 step_size: 1.0 iter: 69 cost: 7.299132327884227 gradient_norm: 3.994901342440709 max_violation: 0.19819166023870682 step_size: 1.0 iter: 70 cost: 7.297361068098634 gradient_norm: 3.945403499836873 max_violation: 0.1980193786011526 step_size: 1.0 iter: 71 cost: 7.295658101519613 gradient_norm: 3.8970753204244346 max_violation: 0.1978526534292424 step_size: 1.0 iter: 72 cost: 7.294019802828746 gradient_norm: 3.8498773926640872 max_violation: 0.19769124461888232 step_size: 1.0 iter: 73 cost: 7.292442787879104 gradient_norm: 3.803771974568054 max_violation: 0.19753492536320216 step_size: 1.0 iter: 74 cost: 7.290923894554755 gradient_norm: 3.7587229120288264 max_violation: 0.19738348125356087 step_size: 1.0 iter: 75 cost: 7.289460165386733 gradient_norm: 3.714695561357109 max_violation: 0.1972367094521399 step_size: 1.0 iter: 76 cost: 7.28804883174277 gradient_norm: 3.671656715862188 max_violation: 0.19709441792968274 step_size: 1.0 iter: 77 cost: 7.286687299430009 gradient_norm: 3.62957453626189 max_violation: 0.1969564247623623 step_size: 1.0 iter: 78 cost: 7.285373135567649 gradient_norm: 3.588418484737847 max_violation: 0.19682255748258193 step_size: 1.0 iter: 79 cost: 7.284104056602718 gradient_norm: 3.548159262458899 max_violation: 0.19669265247897094 step_size: 1.0 iter: 80 cost: 7.282877917356494 gradient_norm: 3.508768750404913 max_violation: 0.19656655444127047 step_size: 1.0 iter: 81 cost: 7.281692701001064 gradient_norm: 3.470219953278031 max_violation: 0.19644411584615984 step_size: 1.0 iter: 82 cost: 7.28054650987663 gradient_norm: 3.432486946391343 max_violation: 0.19632519648074798 step_size: 1.0 iter: 83 cost: 7.2794375570698175 gradient_norm: 3.3955448253297504 max_violation: 0.19620966300036713 step_size: 1.0 iter: 84 cost: 7.2783641586813435 gradient_norm: 3.3593696582735255 max_violation: 0.19609738851796976 step_size: 1.0 iter: 85 cost: 7.277324726719402 gradient_norm: 3.323938440791899 max_violation: 0.1959882522223797 step_size: 1.0 iter: 86 cost: 7.276317762561029 gradient_norm: 3.2892290530176655 max_violation: 0.19588213902326235 step_size: 1.0 iter: 87 cost: 7.275341850930356 gradient_norm: 3.25522021904111 max_violation: 0.19577893922049228 step_size: 1.0 al iter: 2 iter: 1 cost: 7.269944849743791 gradient_norm: 0.48354130657668726 max_violation: 0.0481756108564424 step_size: 1.0 iter: 2 cost: 7.253994869618226 gradient_norm: 0.13733625988558718 max_violation: 0.0017963190921093108 step_size: 1.0 iter: 3 cost: 7.252163371769252 gradient_norm: 0.12093728810343407 max_violation: 0.001811038634711104 step_size: 1.0 iter: 4 cost: 7.251086984969248 gradient_norm: 0.114766263279237 max_violation: 0.0018202529338060547 step_size: 1.0 iter: 5 cost: 7.250360358028719 gradient_norm: 0.1096676429055452 max_violation: 0.0018264790512261264 step_size: 1.0 Test Summary: | Pass Total Time Solve: car | 3 3 33.1s Testing IterativeLQR tests passed Testing completed after 634.79s PkgEval succeeded after 846.75s