Package evaluation to test DirectTrajOpt on Julia 1.12.7-DEV.42 (6f510b6086*) started at 2026-06-20T02:14:37.706 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.12` Set-up completed after 8.31s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.12/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.6 Updating `~/.julia/environments/v1.12/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.6.1 [4fba245c] + ArrayInterface v7.25.0 [4c555306] + ArrayLayouts v1.12.2 [70df07ce] + BracketingNonlinearSolve v1.12.1 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.7 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.4 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.5 [2b5f629d] + DiffEqBase v7.5.5 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.18 [c823fa1f] + DirectTrajOpt v0.9.6 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [7034ab61] + FastBroadcast v1.3.2 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [f6369f11] + ForwardDiff v1.4.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.9.1 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.8.0 [682c06a0] + JSON v1.6.1 [5078a376] + LazyArrays v2.9.10 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.1 [bb5d69b7] + MaybeInplace v0.1.4 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.0 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] + Parsers v2.8.6 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.19 [0bca4576] + SciMLBase v3.21.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v2.0.0 [c0aeaf25] + SciMLOperators v1.22.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.8.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.2 [2efcf032] + SymbolicIndexingInterface v0.3.48 [f8b46487] + TestItemRunner v1.1.5 [1c621080] + TestItems v1.0.0 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.14.0+0 ⌅ [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.33+1 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.19.0+0 [3161d3a3] + Zstd_jll v1.5.7+1 [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 v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.12.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.12.1 [de0858da] + Printf 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 v1.12.0 [f489334b] + StyledStrings v1.11.0 [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 v1.3.0+1 [deac9b47] + LibCURL_jll v8.15.0+0 [e37daf67] + LibGit2_jll v1.9.0+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.11.4 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.6+0 [bea87d4a] + SuiteSparse_jll v7.8.3+2 [83775a58] + Zlib_jll v1.3.1+2 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.64.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 6.8s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 466540.7 ms ✓ DirectTrajOpt 29800.2 ms ✓ DirectTrajOpt → MadNLPSolverExt 2 dependencies successfully precompiled in 504 seconds. 227 already precompiled. 24 dependencies precompiled but different versions are currently loaded (ArgTools, Base64, Dates, Downloads, JuliaSyntaxHighlighting, LibCURL, LibCURL_jll, LibGit2, LibGit2_jll, LibSSH2_jll, Logging, Markdown, MozillaCACerts_jll, NetworkOptions, OpenSSL_jll, Pkg, Printf, StyledStrings, TOML, Tar, UUIDs, Zlib_jll, nghttp2_jll and p7zip_jll). Restart julia to access the new versions. Otherwise, 130 dependents of these packages may trigger further precompilation to work with the unexpected versions. Precompilation completed after 521.8s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_Tx8Epy/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.4.1 [b6b21f68] Ipopt v1.14.3 [c3a54625] JET v0.11.4 [5078a376] LazyArrays v2.9.10 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [538bc3a1] NamedTrajectories v0.9.1 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.21.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.12.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_Tx8Epy/Manifest.toml` [47edcb42] ADTypes v1.22.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.6.1 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.25.0 [4c555306] ArrayLayouts v1.12.2 [70df07ce] BracketingNonlinearSolve v1.12.1 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.7 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.4 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.5 [2b5f629d] DiffEqBase v7.5.5 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.18 [c823fa1f] DirectTrajOpt v0.9.6 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [7034ab61] FastBroadcast v1.3.2 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.4.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.9.1 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.3 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [c3a54625] JET v0.11.4 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.6.1 [aa1ae85d] JuliaInterpreter v0.10.12 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.9.10 [5c8ed15e] LinearOperators v2.14.1 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 ⌅ [6f1432cf] LoweredCodeUtils v3.5.3 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [bb5d69b7] MaybeInplace v0.1.4 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.0 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.3.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] Parsers v2.8.6 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [295af30f] Revise v3.15.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.19 [0bca4576] SciMLBase v3.21.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v2.0.0 [c0aeaf25] SciMLOperators v1.22.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.8.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.2 [2efcf032] SymbolicIndexingInterface v0.3.48 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.14.0+0 ⌅ [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.33+1 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.19.0+0 [3161d3a3] Zstd_jll v1.5.7+1 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [8bf52ea8] CRC32c v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.12.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.12.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.12.1 [de0858da] Printf v1.11.0 [3fa0cd96] REPL 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 v1.12.0 [f489334b] StyledStrings 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 v1.3.0+1 [deac9b47] LibCURL_jll v8.15.0+0 [e37daf67] LibGit2_jll v1.9.0+0 [29816b5a] LibSSH2_jll v1.11.3+1 [14a3606d] MozillaCACerts_jll v2025.11.4 [4536629a] OpenBLAS_jll v0.3.29+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.6+0 [bea87d4a] SuiteSparse_jll v7.8.3+2 [83775a58] Zlib_jll v1.3.1+2 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.64.0+1 [3f19e933] p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! Precompiling packages... 18643.1 ms ✓ MadNLP → MadNLPMOI 1 dependency successfully precompiled in 20 seconds. 73 already precompiled. 72 dependencies precompiled but different versions are currently loaded (AMD, ArgTools, Base64, Bzip2_jll, CodecBzip2, CodecZlib, CommonSubexpressions, CompilerSupportLibraries_jll, Dates, DiffResults, DiffRules, DocStringExtensions, Downloads, ExprTools, FastClosures, ForwardDiff, InteractiveUtils, IrrationalConstants, JLLWrappers, JSON, JuliaSyntaxHighlighting, LDLFactorizations, LibCURL, LibCURL_jll, LibGit2, LibGit2_jll, LibSSH2_jll, LinearOperators, LinearOperators → LinearOperatorsLDLFactorizationsExt, LogExpFunctions, Logging, METIS_jll, MUMPS_seq_jll, MacroTools, MadNLP, Markdown, MathOptInterface, MozillaCACerts_jll, MutableArithmetics, NLPModels, NaNMath, NetworkOptions, OpenBLAS32_jll, OpenLibm_jll, OpenSSL_jll, OpenSpecFun_jll, OrderedCollections, Parsers, Pkg, PrecompileTools, Preferences, Printf, Serialization, SolverCore, SolverCore → SolverCoreNLPModelsExt, SparseArrays, SpecialFunctions, StaticArraysCore, StructUtils, StructUtils → StructUtilsStaticArraysCoreExt, StyledStrings, SuiteSparse, SuiteSparse_jll, TOML, Tar, Test, TimerOutputs, TranscodingStreams, UUIDs, Zlib_jll, nghttp2_jll and p7zip_jll). Restart julia to access the new versions. Otherwise, 1 dependent of these packages may trigger further precompilation to work with the unexpected versions. ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##286"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:122 ****************************************************************************** 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 ****************************************************************************** initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.654s jacobian structure: 1600 nonzeros (2.813s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.963s 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 (4.021s) linear index maps built (0.001s) evaluator ready (total: 6.836s) evaluator created (6.866s) 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 (0.014s) optimizer initialization complete (total: 6.88s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5866264e+00 2.90e+00 3.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2104628e+00 5.04e-01 1.51e+00 -0.7 1.81e+00 0.0 9.82e-01 8.26e-01h 1 2 2.4290735e+00 1.45e-01 4.21e+00 -1.4 4.29e-01 -0.5 3.90e-01 7.11e-01h 1 3 2.5308605e+00 3.46e-03 5.95e-01 -1.2 2.49e-01 -1.0 9.90e-01 1.00e+00f 1 4 2.2659575e+00 1.05e-02 5.19e-02 -1.8 2.67e-01 -1.4 9.82e-01 1.00e+00h 1 5 2.1312268e+00 2.59e-03 1.19e-01 -2.9 2.02e-01 -1.9 9.98e-01 7.43e-01h 1 6 2.0926442e+00 1.03e-04 1.85e-03 -3.7 1.67e-02 -2.4 9.97e-01 1.00e+00h 1 7 2.0909593e+00 4.19e-06 2.33e-05 -4.0 1.70e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909489e+00 4.25e-08 2.27e-05 -4.0 4.96e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909319e+00 1.01e-08 2.17e-05 -4.0 1.42e-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 2.0908919e+00 6.53e-08 1.14e-04 -4.0 3.77e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908187e+00 2.52e-07 6.08e-04 -4.0 8.98e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906373e+00 2.18e-06 1.11e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900903e+00 2.09e-05 8.86e-04 -4.0 7.77e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898601e+00 3.67e-06 1.51e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0897451e+00 8.62e-07 2.32e-04 -4.0 1.23e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0894039e+00 5.42e-06 4.86e-04 -4.0 3.76e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0884389e+00 4.41e-05 1.88e-03 -4.0 1.09e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0864967e+00 2.65e-04 1.17e-02 -4.0 2.71e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0852898e+00 2.83e-04 1.29e-01 -4.0 5.99e+01 -6.8 1.00e+00 2.39e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827693e+00 7.04e-04 6.09e-02 -4.0 5.97e+01 -7.3 1.00e+00 7.64e-01h 1 21 2.0827164e+00 2.24e-03 4.83e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0824195e+00 8.83e-04 1.49e-02 -4.0 8.38e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820959e+00 3.69e-04 3.68e-02 -4.0 9.34e+01 -7.8 7.15e-01 1.00e+00h 1 24 2.0819164e+00 1.32e-04 3.69e-01 -4.0 9.12e+00 -5.6 1.00e+00 6.74e-01H 1 25 2.0820677e+00 1.85e-04 3.54e-01 -4.0 3.58e+00 -6.0 7.03e-01 1.00e+00h 1 26 2.0819592e+00 1.84e-04 1.81e-01 -4.1 1.89e+01 -2.9 8.10e-03 6.83e-03h 2 27 2.0818045e+00 1.76e-05 9.32e-02 -4.1 4.30e-02 -1.6 1.00e+00 9.04e-01h 1 28 2.0820996e+00 1.06e-06 5.63e-04 -4.0 3.66e-02 -2.0 1.00e+00 1.00e+00f 1 29 2.0820449e+00 1.42e-07 3.32e-05 -4.0 1.52e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820359e+00 1.20e-07 1.11e-05 -4.0 1.11e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0820351e+00 1.03e-08 1.13e-05 -4.0 3.39e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0820308e+00 7.26e-08 1.16e-05 -4.0 1.04e-01 -4.0 1.00e+00 1.00e+00h 1 33 2.0820155e+00 7.04e-07 4.74e-05 -4.0 3.38e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0819580e+00 5.01e-06 9.13e-04 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 35 2.0819278e+00 1.68e-05 9.32e-04 -4.0 8.92e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0817937e+00 1.66e-05 2.05e-04 -4.1 8.61e-01 -5.9 1.00e+00 1.00e+00h 1 37 2.0819923e+00 5.78e-05 2.47e-04 -4.0 2.52e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0817884e+00 1.02e-04 9.91e-04 -4.1 6.47e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0819769e+00 2.94e-04 8.95e-04 -4.0 1.32e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0816731e+00 7.10e-04 5.62e-04 -4.1 3.03e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0818676e+00 1.12e-03 2.77e-03 -4.0 4.73e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0815875e+00 9.58e-04 1.31e-03 -4.1 4.27e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818447e+00 3.86e-04 1.97e-04 -4.0 1.65e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0815838e+00 2.35e-04 9.52e-06 -4.1 1.06e+01 -9.7 1.00e+00 1.00e+00h 1 45 2.0818445e+00 2.10e-04 1.54e-05 -4.0 9.58e+00 -10.2 1.00e+00 1.00e+00h 1 46 2.0815837e+00 2.15e-04 1.11e-05 -4.1 9.80e+00 -10.6 1.00e+00 1.00e+00h 1 47 2.0818446e+00 2.16e-04 1.01e-05 -4.0 9.85e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0815837e+00 2.16e-04 9.53e-06 -4.1 9.86e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0818446e+00 2.16e-04 9.57e-06 -4.0 9.87e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815837e+00 2.16e-04 9.35e-06 -4.1 9.87e+00 -12.5 1.00e+00 1.00e+00h 1 51 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -13.0 1.00e+00 1.00e+00h 1 52 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.5 1.00e+00 1.00e+00h 1 53 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -14.0 9.77e-01 9.64e-01h 1 54 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.5 1.00e+00 1.00e+00f 1 55 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.9 1.00e+00 1.00e+00h 1 56 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.4 9.76e-01 9.58e-01h 1 57 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.9 1.00e+00 1.00e+00h 1 58 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.4 1.00e+00 1.00e+00f 1 59 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.3 1.00e+00 1.00e+00h 1 61 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.8 1.00e+00 1.00e+00h 1 62 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.3 1.00e+00 1.00e+00h 1 63 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.7 9.77e-01 9.64e-01h 1 64 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.2 1.00e+00 1.00e+00h 1 65 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.7 1.00e+00 1.00e+00f 1 66 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 69 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+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 70 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 72 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 75 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 79 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+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 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 82 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 86 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 87 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 2.22e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 97 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 97 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 98 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 101 Number of equality constraint Jacobian evaluations = 98 Number of inequality constraint Jacobian evaluations = 98 Number of Lagrangian Hessian evaluations = 98 Total seconds in IPOPT = 29.577 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.057s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.546s jacobian structure: 1680 nonzeros (5.668s) integrator 1 hessian structure: 0.054s integrator 2 hessian structure: 0.055s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 9.852s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.332s sub-objective 2 (QuadraticRegularizer): 0.099s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.019s sub-objective 5 (GlobalObjective): 0.973s objective hessian structure: 1.526s hessian structure: 1964 nonzeros (11.489s) linear index maps built (0.001s) evaluator ready (total: 17.159s) evaluator created (17.221s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.114s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.21s) optimizer initialization complete (total: 21.546s) 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.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 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 lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8269514e+01 3.54e+00 4.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1667724e+00 5.56e-02 6.42e+00 -1.1 2.18e+00 0.0 7.42e-01 9.88e-01f 1 2 3.5970759e+00 3.03e-02 6.42e+00 -0.7 4.31e-01 0.4 5.17e-01 1.00e+00f 1 3 2.8520101e+00 3.05e-02 2.02e+00 -1.0 3.61e-01 -0.1 1.00e+00 7.20e-01h 1 4 2.4787945e+00 2.35e-02 6.67e-01 -1.5 2.96e-01 -0.5 9.93e-01 7.46e-01f 1 5 2.3568883e+00 7.80e-03 3.65e-01 -1.5 1.62e-01 -1.0 8.87e-01 9.22e-01f 1 6 2.1385267e+00 5.35e-03 9.63e-02 -2.2 1.79e-01 -1.5 9.93e-01 7.90e-01h 1 7 2.0963011e+00 1.89e-04 1.64e-02 -3.1 2.89e-02 -2.0 9.88e-01 1.00e+00h 1 8 2.0909233e+00 6.55e-06 4.57e-04 -4.0 9.39e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908618e+00 1.04e-07 7.30e-05 -4.0 4.75e-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 2.0908563e+00 5.41e-10 1.57e-05 -4.0 3.86e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908467e+00 4.16e-09 1.55e-05 -4.0 1.14e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908200e+00 3.38e-08 2.13e-05 -4.0 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907436e+00 2.83e-07 5.88e-05 -4.0 9.71e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0904576e+00 2.95e-06 8.75e-04 -4.0 3.12e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896351e+00 3.04e-05 2.75e-03 -4.0 9.62e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0888087e+00 4.89e-05 7.04e-02 -4.0 3.01e+01 -6.3 1.00e+00 2.89e-01h 1 17 2.0850002e+00 1.33e-03 5.01e-02 -4.0 5.87e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0840034e+00 7.16e-04 2.72e-02 -4.0 2.01e+01 -6.3 1.00e+00 4.80e-01h 1 19 2.0828715e+00 1.25e-04 2.03e-02 -4.0 2.32e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0828664e+00 4.18e-04 1.51e-02 -4.0 5.44e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823195e+00 6.91e-04 8.44e-03 -4.0 1.29e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0823407e+00 1.10e-03 3.45e-02 -4.0 9.14e+01 -7.3 7.66e-01 1.00e+00h 1 23 2.0821273e+00 1.56e-03 2.22e+00 -4.0 6.30e+01 -6.0 1.00e+00 1.43e-01h 2 24 2.0821337e+00 1.08e-04 3.52e-01 -4.0 7.71e+00 -6.5 8.62e-01 1.00e+00h 1 25 2.0821488e+00 1.68e-05 2.96e-03 -4.0 4.15e-01 -4.2 1.00e+00 1.00e+00h 1 26 2.0820934e+00 9.90e-06 6.51e-04 -4.0 3.69e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0821062e+00 8.40e-06 1.98e-04 -4.0 4.97e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0821222e+00 1.37e-06 1.31e-04 -4.0 8.34e-01 -5.7 1.00e+00 1.00e+00h 1 29 2.0821440e+00 5.28e-06 1.23e-04 -4.0 1.61e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819326e+00 1.12e-04 8.36e-04 -4.1 6.55e+00 -6.6 1.00e+00 1.00e+00h 1 31 2.0820963e+00 2.31e-04 1.35e-03 -4.0 1.11e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0817656e+00 7.66e-04 8.23e-04 -4.1 3.21e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0819032e+00 1.14e-03 4.94e-03 -4.0 4.88e+01 -8.0 1.00e+00 1.00e+00h 1 34 2.0815944e+00 1.27e-03 3.29e-03 -4.1 5.70e+01 -8.5 1.00e+00 1.00e+00h 1 35 2.0818430e+00 7.87e-04 6.48e-04 -4.0 3.35e+01 -9.0 1.00e+00 1.00e+00h 1 36 2.0818408e+00 2.72e-06 4.62e-05 -4.0 7.44e+00 -9.5 1.00e+00 1.00e+00h 1 37 2.0818407e+00 6.67e-09 4.62e-05 -4.0 6.78e-01 -10.0 1.00e+00 1.00e+00h 1 38 2.0818407e+00 5.74e-12 4.62e-05 -4.0 2.18e-02 -10.4 1.00e+00 1.00e+00h 1 39 2.0818407e+00 4.44e-16 4.62e-05 -4.0 2.42e-04 -10.9 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818407e+00 8.88e-16 4.62e-05 -4.0 2.31e-05 -11.4 1.00e+00 1.00e+00h 1 41 2.0815814e+00 2.08e-04 3.76e-05 -4.1 9.47e+00 -11.9 1.00e+00 1.00e+00h 1 42 2.0818419e+00 2.15e-04 4.63e-05 -4.0 9.79e+00 -12.3 1.00e+00 1.00e+00h 1 43 2.0815819e+00 2.14e-04 3.76e-05 -4.1 9.75e+00 -12.8 1.00e+00 1.00e+00h 1 44 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.3 9.77e-01 9.68e-01h 1 45 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.8 1.00e+00 1.00e+00f 1 46 2.0816124e+00 4.95e-04 3.84e-05 -4.1 2.07e+01 -14.2 1.00e+00 1.00e+00h 1 47 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.7 9.76e-01 9.61e-01h 1 48 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.2 1.00e+00 1.00e+00h 1 49 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 51 2.0816420e+00 4.58e-07 3.96e-05 -4.1 8.54e+00 -16.6 1.00e+00 1.00e+00h 1 52 2.0818414e+00 1.26e-04 4.62e-05 -4.0 7.46e+00 -17.1 1.00e+00 1.00e+00h 1 53 2.0815817e+00 2.11e-04 3.76e-05 -4.1 9.63e+00 -17.6 1.00e+00 1.00e+00h 1 54 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 55 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.5 1.00e+00 1.00e+00h 1 56 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.0 1.00e+00 1.00e+00f 1 57 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.5 1.00e+00 1.00e+00h 1 58 2.0816444e+00 5.44e-07 3.97e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805468e+00 5.07e-08 3.96e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 63 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0816573e+00 1.18e-06 4.01e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 66 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805469e+00 5.37e-08 4.02e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 69 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+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 70 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816639e+00 1.62e-06 4.03e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 73 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805470e+00 5.53e-08 4.06e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 76 2.0805365e+00 8.67e-11 4.61e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 77 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 78 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816640e+00 1.63e-06 4.03e-05 -4.1 1.19e+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 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 81 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805470e+00 5.54e-08 4.06e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0805365e+00 8.67e-11 4.61e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 2.22e-16 4.61e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -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 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -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 2.0805365e+00 6.66e-16 4.61e-10 -9.0 2.30e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 4.6091009411474420e-10 4.6091009411474420e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 52.314 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 2.941s jacobian structure: 1594 nonzeros (3.006s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 6.445s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1804 nonzeros (6.502s) linear index maps built (0.001s) evaluator ready (total: 9.51s) evaluator created (9.537s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 9.54s) 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.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 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: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1026807e+02 3.04e+00 3.33e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8593736e+01 1.42e+00 1.56e+01 -0.5 2.90e+00 0.0 1.00e+00 5.31e-01f 1 2 2.8821830e+00 7.65e-02 6.19e+00 -0.7 1.76e+00 -0.5 6.18e-01 9.54e-01f 1 3 2.9104869e+00 5.23e-02 1.76e+00 -0.7 5.95e-01 -1.0 8.03e-01 1.00e+00f 1 4 2.6583289e+00 3.37e-02 4.21e-01 -1.1 2.64e-01 -0.5 9.66e-01 1.00e+00h 1 5 2.3238726e+00 4.95e-03 5.60e-02 -1.9 1.40e-01 -1.0 9.28e-01 1.00e+00h 1 6 2.1882071e+00 8.73e-03 3.39e-01 -2.5 4.75e-01 -1.5 9.19e-01 4.76e-01h 1 7 2.1016087e+00 1.14e-03 1.90e-02 -3.2 9.64e-02 -2.0 9.97e-01 1.00e+00h 1 8 2.0909534e+00 1.17e-05 6.12e-04 -4.0 7.80e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908627e+00 3.25e-07 2.40e-04 -4.0 1.47e-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 2.0908568e+00 7.72e-09 2.40e-04 -4.0 4.38e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908460e+00 6.67e-09 2.40e-04 -4.0 1.27e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908181e+00 4.66e-08 2.40e-04 -4.0 3.52e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907454e+00 2.93e-07 3.12e-04 -4.0 9.61e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905358e+00 2.88e-06 3.80e-04 -4.0 2.90e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904486e+00 4.02e-07 3.23e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901045e+00 6.58e-07 2.62e-03 -4.0 3.95e+00 -5.4 1.00e+00 8.57e-01H 1 17 2.0895426e+00 5.17e-05 1.28e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0891497e+00 6.06e-05 6.45e-01 -3.6 1.19e+02 -5.4 9.13e-01 2.66e-02h 2 19 2.0882617e+00 5.38e-05 1.43e-02 -4.0 1.04e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0867544e+00 8.99e-05 5.60e-02 -4.0 3.39e+01 -6.4 1.00e+00 4.70e-01h 1 21 2.0835641e+00 1.15e-03 4.42e-02 -4.0 5.46e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826737e+00 3.88e-04 1.19e-02 -4.0 6.36e+01 -7.3 1.00e+00 6.04e-01h 1 23 2.0824245e+00 4.76e-04 2.20e-02 -4.0 1.44e+02 -7.8 9.74e-01 1.00e+00h 1 24 2.0826869e+00 3.43e-04 9.03e-03 -4.0 1.90e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824220e+00 3.03e-04 1.82e-03 -4.0 5.05e+01 -6.9 7.61e-01 1.00e+00h 1 26 2.0830003e+00 5.90e-07 9.99e-03 -4.0 6.64e+00 -5.6 1.00e+00 1.00e+00H 1 27 2.0824814e+00 2.04e-06 2.45e-01 -4.0 1.18e-01 -1.6 9.83e-01 6.15e-01h 1 28 2.0827136e+00 1.01e-06 8.31e-04 -4.0 7.19e-02 -2.0 1.00e+00 1.00e+00f 1 29 2.0824340e+00 5.67e-07 5.48e-04 -4.1 1.10e-01 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825865e+00 4.57e-07 2.40e-04 -4.0 1.47e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0824243e+00 1.16e-06 1.92e-04 -4.1 4.22e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0825707e+00 3.49e-06 2.40e-04 -4.0 1.35e-01 -4.0 1.00e+00 1.00e+00h 1 33 2.0823830e+00 1.03e-05 1.92e-04 -4.1 3.87e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0824760e+00 2.15e-05 2.11e-03 -4.0 9.28e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0822431e+00 2.96e-05 1.20e-03 -4.1 8.32e-01 -5.4 1.00e+00 1.00e+00h 1 36 2.0823691e+00 7.32e-05 3.03e-04 -4.0 2.26e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0820910e+00 1.80e-04 1.91e-04 -4.1 6.48e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0822193e+00 1.66e-04 2.19e-03 -4.0 8.83e+00 -6.8 1.00e+00 1.00e+00h 1 39 2.0818887e+00 6.40e-04 5.16e-04 -4.1 2.59e+01 -7.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819817e+00 8.75e-04 5.53e-03 -4.0 3.99e+01 -7.8 1.00e+00 1.00e+00h 1 41 2.0816226e+00 1.58e-03 5.57e-03 -4.1 5.92e+01 -8.2 1.00e+00 1.00e+00h 1 42 2.0818447e+00 1.30e-03 2.46e-03 -4.0 5.48e+01 -8.7 1.00e+00 1.00e+00h 1 43 2.0818387e+00 2.04e-05 2.70e-04 -4.0 2.10e+01 -9.2 1.00e+00 1.00e+00h 1 44 2.0818383e+00 2.02e-07 2.40e-04 -4.0 3.35e+00 -9.7 1.00e+00 1.00e+00h 1 45 2.0818383e+00 5.34e-10 2.40e-04 -4.0 1.94e-01 -10.2 1.00e+00 1.00e+00h 1 46 2.0818383e+00 1.80e-13 2.40e-04 -4.0 3.94e-03 -10.6 1.00e+00 1.00e+00h 1 47 2.0815798e+00 2.05e-04 1.92e-04 -4.1 9.35e+00 -11.1 1.00e+00 1.00e+00h 1 48 2.0818395e+00 2.12e-04 2.40e-04 -4.0 9.66e+00 -11.6 1.00e+00 1.00e+00h 1 49 2.0815804e+00 2.11e-04 1.92e-04 -4.1 9.62e+00 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -12.5 9.78e-01 9.71e-01h 1 51 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -13.0 1.00e+00 1.00e+00f 1 52 2.0816136e+00 4.88e-04 1.97e-04 -4.1 2.07e+01 -13.5 1.00e+00 1.00e+00h 1 53 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -14.0 9.76e-01 9.65e-01h 1 54 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -14.5 1.00e+00 1.00e+00h 1 55 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -14.9 1.00e+00 1.00e+00f 1 56 2.0816837e+00 9.34e-04 2.04e-04 -4.1 4.57e+01 -15.4 1.00e+00 1.00e+00h 1 57 2.0816477e+00 4.73e-07 2.04e-04 -4.1 8.52e+00 -15.9 1.00e+00 1.00e+00h 1 58 2.0818389e+00 1.15e-04 2.40e-04 -4.0 7.07e+00 -16.4 1.00e+00 1.00e+00h 1 59 2.0815801e+00 2.08e-04 1.92e-04 -4.1 9.50e+00 -16.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -17.3 9.78e-01 9.71e-01h 1 61 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -17.8 1.00e+00 1.00e+00h 1 62 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -18.3 1.00e+00 1.00e+00f 1 63 2.0816887e+00 9.54e-04 2.05e-04 -4.1 4.72e+01 -18.7 1.00e+00 1.00e+00h 1 64 2.0816504e+00 5.63e-07 2.05e-04 -4.1 8.93e+00 -19.2 1.00e+00 1.00e+00h 1 65 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -19.7 9.77e-01 9.75e-01h 1 66 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805469e+00 4.72e-08 1.89e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0817159e+00 1.04e-03 2.07e-04 -4.1 5.46e+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 70 2.0816648e+00 1.22e-06 2.07e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 72 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805471e+00 4.99e-08 1.93e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 75 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 76 2.0817306e+00 1.08e-03 2.09e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816723e+00 1.67e-06 2.09e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 79 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+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 2.0805472e+00 5.15e-08 1.95e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0805365e+00 9.27e-11 2.18e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 83 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 84 2.0817309e+00 1.08e-03 2.09e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816725e+00 1.68e-06 2.09e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 87 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805472e+00 5.16e-08 1.95e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 9.28e-11 2.18e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 8.88e-16 2.18e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 2.22e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -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 2.0805365e+00 4.44e-16 2.18e-09 -9.0 1.09e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.1783671729408378e-09 2.1783671729408378e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 35.444 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.062s) integrator 1 hessian structure: 0.057s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.058s) linear index maps built (0.001s) evaluator ready (total: 0.122s) evaluator created (0.134s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.136s) 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 5.7268019e+00 2.61e+00 6.45e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9354782e+00 5.82e-01 1.52e+00 -1.0 1.97e+00 0.0 9.30e-01 7.77e-01f 1 2 2.4323366e+00 1.76e-01 2.40e+00 -0.8 4.63e-01 0.4 8.19e-01 6.99e-01h 1 3 2.4253409e+00 3.85e-03 5.21e-01 -1.4 3.42e-01 -0.1 9.96e-01 1.00e+00h 1 4 2.2209815e+00 4.63e-03 2.52e-01 -2.1 8.76e-02 0.4 9.84e-01 1.00e+00h 1 5 2.1279536e+00 1.96e-03 1.67e-01 -2.8 7.23e-02 -0.1 1.00e+00 6.12e-01h 1 6 2.0938456e+00 3.66e-04 6.42e-02 -4.0 2.29e-02 -0.6 1.00e+00 8.13e-01h 1 7 2.0909647e+00 4.82e-06 5.07e-03 -4.0 6.48e-03 -1.1 1.00e+00 1.00e+00h 1 8 2.0909497e+00 5.18e-09 8.50e-05 -4.0 2.91e-03 -1.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909497457346546e+00 2.0909497457346546e+00 Dual infeasibility......: 8.5041769040011903e-05 8.5041769040011903e-05 Constraint violation....: 5.1828062904747674e-09 5.1828062904747674e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0002723514498077e-04 1.0002723514498077e-04 Overall NLP error.......: 8.5041769040011903e-05 8.5041769040011903e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 28.491 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.001s) 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: 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: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8836519e+00 3.18e+00 3.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3900738e+00 2.63e-01 3.22e+00 -0.8 1.88e+00 0.0 8.07e-01 9.19e-01h 1 2 2.8930891e+00 1.16e-01 1.80e+00 -0.9 8.16e-01 -0.5 6.11e-01 1.00e+00f 1 3 2.6486079e+00 8.86e-02 8.95e-01 -0.9 5.86e-01 -1.0 5.19e-01 4.61e-01h 1 4 2.3751059e+00 5.68e-02 6.45e-01 -2.0 9.08e-01 -1.4 7.50e-01 1.00e+00h 1 5 2.2548358e+00 5.69e-03 1.58e-01 -1.7 2.06e-01 -1.9 9.75e-01 1.00e+00h 1 6 2.1090707e+00 4.44e-03 3.30e-02 -3.0 2.33e-01 -2.4 9.93e-01 9.25e-01h 1 7 2.0912090e+00 4.27e-05 8.48e-04 -4.0 2.14e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909023e+00 2.16e-06 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908888e+00 7.31e-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 2.0908490e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907295e+00 5.59e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903720e+00 5.06e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893064e+00 4.62e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861743e+00 4.34e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796265e+00 2.52e-03 8.63e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.59e-01h 1 16 2.0812668e+00 1.49e-04 1.95e-01 -4.0 6.81e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778365e+00 5.78e-03 2.76e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781773e+00 1.57e-02 4.33e-02 -3.7 1.52e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767300e+00 1.28e-02 1.90e-02 -3.8 2.89e+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 2.0758420e+00 1.11e-02 2.13e-02 -3.9 4.19e+02 -9.1 1.00e+00 9.90e-01h 1 21 2.0757711e+00 5.97e-03 8.55e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756772e+00 3.65e-04 3.99e-04 -4.0 6.15e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.06e-06 6.48e-06 -4.0 2.29e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.57e-08 1.47e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.41e-09 1.46e-07 -4.0 5.09e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.36e-11 2.91e-09 -4.0 8.91e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122072689e+00 2.0756712122072689e+00 Dual infeasibility......: 2.9050216418069312e-09 2.9050216418069312e-09 Constraint violation....: 7.3648309673046697e-11 7.3648309673046697e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000017e-04 1.0000000000000017e-04 Overall NLP error.......: 2.9050216418069312e-09 2.9050216418069312e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 26.387 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.06s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.001s) 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: 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: 0.113s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8910342e+00 3.82e+00 5.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6557058e+00 1.02e-01 2.11e+00 -1.0 2.06e+00 0.0 9.85e-01 1.00e+00h 1 2 2.5251495e+00 2.49e-02 4.33e-01 -1.1 2.60e-01 -0.5 8.37e-01 1.00e+00h 1 3 2.2701611e+00 3.84e-03 3.44e-02 -2.0 8.29e-02 -1.0 9.70e-01 1.00e+00h 1 4 2.0992645e+00 1.33e-03 8.55e-03 -3.6 6.78e-02 -1.4 9.68e-01 9.73e-01h 1 5 2.0909729e+00 2.29e-05 4.57e-03 -4.0 1.88e-02 -1.9 1.00e+00 1.00e+00h 1 6 2.0909263e+00 4.89e-08 7.64e-05 -4.0 8.88e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909249e+00 5.59e-10 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909205e+00 7.60e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909072e+00 6.85e-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 2.0908674e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908673514554827e+00 2.0908673514554827e+00 Dual infeasibility......: 2.0581165041123087e-05 2.0581165041123087e-05 Constraint violation....: 6.1650791015679940e-08 6.1650791015679940e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994679e-05 9.9999999999994679e-05 Overall NLP error.......: 2.0581165041123087e-05 2.0581165041123087e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 25.847 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: 0.047s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.048s) 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 (0.001s) evaluator ready (total: 0.088s) evaluator created (0.088s) 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: 0.088s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9853239e+00 3.03e+00 5.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7209153e+00 5.30e-02 2.23e+00 -0.9 2.23e+00 - 9.99e-01 1.00e+00h 1 2 2.4865624e+00 1.35e-02 1.59e-01 -1.3 2.03e-01 - 9.93e-01 1.00e+00h 1 3 2.1917211e+00 3.80e-03 1.12e-01 -2.5 8.01e-02 - 9.23e-01 1.00e+00h 1 4 2.1008396e+00 9.01e-04 3.35e-02 -3.1 5.51e-02 - 9.91e-01 9.10e-01h 1 5 2.0906580e+00 4.49e-05 1.17e-02 -4.0 2.41e-02 - 1.00e+00 1.00e+00h 1 6 2.0908464e+00 1.08e-07 2.29e-03 -4.0 2.28e-03 - 1.00e+00 1.00e+00h 1 7 2.0908475e+00 1.07e-11 1.42e-04 -4.0 1.42e-04 - 1.00e+00 1.00e+00h 1 8 2.0908476e+00 6.84e-14 1.41e-04 -4.0 1.41e-04 - 1.00e+00 1.00e+00h 1 9 2.0906677e+00 9.28e-10 1.13e-04 -4.1 1.13e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908475e+00 9.43e-10 1.40e-04 -4.0 1.40e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908475082691673e+00 2.0908475082691673e+00 Dual infeasibility......: 1.4038302341699117e-04 1.4038302341699117e-04 Constraint violation....: 9.4274451748832880e-10 9.4274451748832880e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0001373731289735e-04 1.0001373731289735e-04 Overall NLP error.......: 1.4038302341699117e-04 1.4038302341699117e-04 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.269 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: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) 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 (0.001s) evaluator ready (total: 0.121s) evaluator created (0.122s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.124s) 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 1.4516939e+00 3.78e+00 6.27e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7243945e+00 9.58e-02 3.98e+00 -1.0 1.99e+00 0.0 3.73e-01 1.00e+00h 1 2 2.6290077e+00 3.81e-03 4.43e-01 -1.0 1.43e-01 0.4 1.00e+00 1.00e+00h 1 3 2.4726296e+00 9.00e-04 2.80e-01 -1.7 5.52e-02 -0.1 1.00e+00 1.00e+00h 1 4 2.2418364e+00 4.29e-03 5.35e-02 -1.7 1.84e-01 -0.5 1.00e+00 9.15e-01f 1 5 2.1158220e+00 5.99e-04 2.31e-02 -2.5 5.84e-02 -1.0 1.00e+00 9.68e-01h 1 6 2.0912156e+00 3.01e-05 3.88e-03 -3.8 9.32e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0912769e+00 1.18e-07 1.14e-04 -3.8 4.80e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908232e+00 2.85e-07 2.06e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908215e+00 8.39e-11 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 2.0908165e+00 9.76e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908165021686314e+00 2.0908165021686314e+00 Dual infeasibility......: 2.0575206197800112e-05 2.0575206197800112e-05 Constraint violation....: 9.7585736019700775e-10 9.7585736019700775e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999923e-05 9.9999999999999923e-05 Overall NLP error.......: 2.0575206197800112e-05 2.0575206197800112e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 29.119 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: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.053s) linear index maps built (0.001s) evaluator ready (total: 0.118s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.064s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.889s jacobian structure: 1600 nonzeros (2.954s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.194s 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 (4.246s) linear index maps built (0.001s) evaluator ready (total: 7.201s) evaluator created (7.231s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.251s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4093011e+00 2.89e+00 6.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2030858e+00 6.19e-01 1.98e+00 -0.9 2.07e+00 0.0 9.81e-01 7.86e-01f 1 Hello, world! 2 2.0901370e+00 2.58e-01 4.08e+00 -0.7 5.78e-01 0.4 1.00e+00 5.82e-01h 1 Hello, world! 3 7.3028669e+00 1.16e+00 2.34e+02 0.5 6.89e+00 -0.1 3.03e-01 4.30e-01f 1 Hello, world! 4 3.4113669e+00 3.17e-01 5.65e+01 -0.1 1.33e+00 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 5 2.5869491e+00 9.44e-02 1.75e+01 -0.2 8.54e-01 -0.1 9.95e-01 1.00e+00h 1 Hello, world! 6 2.5264678e+00 2.59e-02 1.16e+01 -0.3 7.09e-01 -0.6 9.75e-01 1.00e+00f 1 Hello, world! 7 2.6019070e+00 1.16e-03 5.92e-01 -0.8 2.24e-01 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 8 2.3318067e+00 1.04e-02 1.93e-01 -1.8 2.93e-01 -1.5 9.62e-01 1.00e+00f 1 Hello, world! 9 2.1358870e+00 1.01e-02 9.66e-02 -2.9 4.72e-01 -2.0 9.92e-01 8.73e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0925025e+00 1.61e-03 2.03e-02 -4.0 2.13e-01 -2.5 1.00e+00 9.60e-01h 1 Hello, world! 11 2.0909163e+00 6.88e-06 4.95e-04 -4.0 1.94e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0909225e+00 1.31e-07 2.01e-05 -4.0 5.56e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0909081e+00 1.04e-08 1.85e-04 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908749e+00 6.50e-08 4.50e-04 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907937e+00 3.51e-07 5.52e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905651e+00 3.77e-06 6.65e-04 -4.0 3.38e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0903048e+00 3.78e-06 7.92e-03 -4.0 1.23e+01 -5.8 4.10e-01 1.99e-01h 1 Hello, world! 18 2.0895829e+00 3.20e-04 6.01e-02 -4.0 3.16e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0873726e+00 1.75e-04 6.82e-02 -4.0 6.69e+00 -5.0 1.00e+00 5.67e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0873183e+00 3.84e-05 1.00e-02 -4.0 3.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861987e+00 6.10e-05 7.52e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0845966e+00 2.20e-04 1.16e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827789e+00 2.27e-04 2.47e-02 -4.0 3.51e+01 -6.9 1.00e+00 9.21e-01h 1 Hello, world! 24 2.0830922e+00 1.29e-03 3.79e-02 -4.0 6.20e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821297e+00 1.29e-03 9.17e-03 -4.1 1.48e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0831384e+00 9.25e-06 1.13e-01 -4.0 1.33e+02 -7.4 3.06e-01 1.00e+00H 1 Hello, world! 27 2.0837218e+00 5.73e-04 3.02e-01 -3.4 5.70e+00 -5.2 1.00e+00 5.21e-01f 1 Hello, world! 28 2.0833933e+00 6.99e-04 1.42e-01 -3.5 7.26e+00 -5.7 2.46e-01 5.15e-02h 1 Hello, world! 29 2.0845887e+00 7.76e-02 3.05e-01 -3.5 6.28e+01 -6.1 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0843589e+00 9.02e-04 3.65e-02 -3.5 8.02e+00 -6.6 9.87e-01 1.00e+00h 1 Hello, world! 31 2.0845719e+00 1.97e-03 3.25e-03 -3.5 1.80e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0845278e+00 7.17e-04 6.58e-04 -3.5 1.71e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0808832e+00 2.58e-02 8.93e-03 -5.3 8.14e+01 -8.0 9.37e-01 1.00e+00h 1 Hello, world! 34 2.0818776e+00 5.76e-03 4.83e-03 -4.0 5.76e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818446e+00 9.88e-05 5.32e-04 -4.0 2.88e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 8.68e-07 2.95e-05 -4.0 7.07e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 6.40e-09 2.57e-07 -4.0 6.39e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 5.12e-12 1.00e-09 -4.0 2.05e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105436099e+00 2.0818434105436099e+00 Dual infeasibility......: 1.0000000104240861e-09 1.0000000104240861e-09 Constraint violation....: 5.1176840543121216e-12 5.1176840543121216e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.0000000104240861e-09 1.0000000104240861e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 28.999 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.001s) evaluator ready (total: 0.005s) evaluator created (0.005s) 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: 0.006s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4093011e+00 2.89e+00 6.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.2030858e+00 6.19e-01 1.98e+00 -0.9 2.07e+00 0.0 9.81e-01 7.86e-01f 1 Hello, world! 2 2.0901370e+00 2.58e-01 4.08e+00 -0.7 5.78e-01 0.4 1.00e+00 5.82e-01h 1 Hello, world! 3 7.3028669e+00 1.16e+00 2.34e+02 0.5 6.89e+00 -0.1 3.03e-01 4.30e-01f 1 Hello, world! 4 3.4113669e+00 3.17e-01 5.65e+01 -0.1 1.33e+00 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 5 2.5869491e+00 9.44e-02 1.75e+01 -0.2 8.54e-01 -0.1 9.95e-01 1.00e+00h 1 Hello, world! 6 2.5264678e+00 2.59e-02 1.16e+01 -0.3 7.09e-01 -0.6 9.75e-01 1.00e+00f 1 Hello, world! 7 2.6019070e+00 1.16e-03 5.92e-01 -0.8 2.24e-01 -1.1 1.00e+00 1.00e+00h 1 Hello, world! 8 2.3318067e+00 1.04e-02 1.93e-01 -1.8 2.93e-01 -1.5 9.62e-01 1.00e+00f 1 Hello, world! 9 2.1358870e+00 1.01e-02 9.66e-02 -2.9 4.72e-01 -2.0 9.92e-01 8.73e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0925025e+00 1.61e-03 2.03e-02 -4.0 2.13e-01 -2.5 1.00e+00 9.60e-01h 1 Hello, world! 11 2.0909163e+00 6.88e-06 4.95e-04 -4.0 1.94e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0909225e+00 1.31e-07 2.01e-05 -4.0 5.56e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0909081e+00 1.04e-08 1.85e-04 -4.0 1.57e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908749e+00 6.50e-08 4.50e-04 -4.0 4.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0907937e+00 3.51e-07 5.52e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0905651e+00 3.77e-06 6.65e-04 -4.0 3.38e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0903048e+00 3.78e-06 7.92e-03 -4.0 1.23e+01 -5.8 4.10e-01 1.99e-01h 1 Hello, world! 18 2.0895829e+00 3.20e-04 6.01e-02 -4.0 3.16e+01 -6.3 1.00e+00 1.00e+00f 1 Hello, world! 19 2.0873726e+00 1.75e-04 6.82e-02 -4.0 6.69e+00 -5.0 1.00e+00 5.67e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0873183e+00 3.84e-05 1.00e-02 -4.0 3.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0861987e+00 6.10e-05 7.52e-03 -4.0 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0845966e+00 2.20e-04 1.16e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0827789e+00 2.27e-04 2.47e-02 -4.0 3.51e+01 -6.9 1.00e+00 9.21e-01h 1 Hello, world! 24 2.0830922e+00 1.29e-03 3.79e-02 -4.0 6.20e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0821297e+00 1.29e-03 9.17e-03 -4.1 1.48e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0831384e+00 9.25e-06 1.13e-01 -4.0 1.33e+02 -7.4 3.06e-01 1.00e+00H 1 Hello, world! 27 2.0837218e+00 5.73e-04 3.02e-01 -3.4 5.70e+00 -5.2 1.00e+00 5.21e-01f 1 Hello, world! 28 2.0833933e+00 6.99e-04 1.42e-01 -3.5 7.26e+00 -5.7 2.46e-01 5.15e-02h 1 Hello, world! 29 2.0845887e+00 7.76e-02 3.05e-01 -3.5 6.28e+01 -6.1 1.00e+00 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0843589e+00 9.02e-04 3.65e-02 -3.5 8.02e+00 -6.6 9.87e-01 1.00e+00h 1 Hello, world! 31 2.0845719e+00 1.97e-03 3.25e-03 -3.5 1.80e+01 -7.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0845278e+00 7.17e-04 6.58e-04 -3.5 1.71e+01 -7.6 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0808832e+00 2.58e-02 8.93e-03 -5.3 8.14e+01 -8.0 9.37e-01 1.00e+00h 1 Hello, world! 34 2.0818776e+00 5.76e-03 4.83e-03 -4.0 5.76e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818446e+00 9.88e-05 5.32e-04 -4.0 2.88e+01 -9.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818435e+00 8.68e-07 2.95e-05 -4.0 7.07e+00 -9.5 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818434e+00 6.40e-09 2.57e-07 -4.0 6.39e-01 -10.0 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0818434e+00 5.12e-12 1.00e-09 -4.0 2.05e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105436099e+00 2.0818434105436099e+00 Dual infeasibility......: 1.0000000104240861e-09 1.0000000104240861e-09 Constraint violation....: 5.1176840543121216e-12 5.1176840543121216e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.0000000104240861e-09 1.0000000104240861e-09 Number of objective function evaluations = 40 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 40 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 0.751 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.396s jacobian structure: 1600 nonzeros (2.456s) integrator 1 hessian structure: 0.04s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.912s 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 (3.954s) linear index maps built (0.001s) evaluator ready (total: 6.411s) evaluator created (6.438s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.44s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0771400e+00 2.28e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7242843e+00 1.13e-01 4.78e+00 -0.8 1.76e+00 0.0 6.74e-01 1.00e+00f 1 2 2.7255209e+00 5.20e-02 4.71e+00 -0.4 5.06e-01 0.4 9.87e-01 5.53e-01f 1 3 2.9032370e+00 1.91e-02 1.79e+00 -0.6 3.56e-01 -0.1 9.51e-01 1.00e+00f 1 4 2.5735978e+00 3.39e-02 5.87e-01 -1.0 3.01e-01 -0.5 9.80e-01 1.00e+00h 1 5 2.3370073e+00 4.11e-02 3.90e-01 -2.1 6.44e-01 -1.0 8.08e-01 8.84e-01h 1 6 2.2506755e+00 3.21e-02 8.50e-01 -1.8 1.56e+00 -1.5 9.87e-01 3.52e-01h 1 7 2.1247372e+00 1.16e-02 1.54e-01 -2.8 5.29e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0925960e+00 7.03e-05 1.46e-03 -3.9 2.29e-02 -2.4 9.98e-01 1.00e+00h 1 9 2.0908545e+00 6.12e-06 3.25e-05 -4.0 1.65e-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 2.0908500e+00 9.47e-09 1.94e-05 -4.0 4.77e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908381e+00 6.27e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908091e+00 4.14e-08 1.14e-04 -4.0 3.67e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907368e+00 3.54e-07 4.57e-04 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905340e+00 3.09e-06 6.40e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0901356e+00 3.85e-06 1.47e-02 -4.0 8.94e+00 -5.8 9.67e-01 4.85e-01H 1 16 2.0894441e+00 2.63e-04 5.11e-02 -4.0 2.84e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874997e+00 1.33e-04 6.58e-02 -4.0 5.37e+00 -4.9 1.00e+00 5.96e-01h 1 18 2.0874685e+00 3.14e-05 8.54e-03 -4.0 3.59e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0864151e+00 4.92e-05 7.10e-03 -4.0 1.07e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848615e+00 2.01e-04 1.03e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827677e+00 3.27e-04 2.70e-02 -4.0 3.67e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831849e+00 1.41e-03 4.07e-02 -4.0 5.47e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822130e+00 8.92e-04 7.06e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1135537e+00 4.79e-07 1.16e+00 -4.0 5.34e+02 -8.3 9.57e-02 1.00e+00H 1 25 2.0938535e+00 3.15e-04 7.42e+00 -4.1 9.11e+01 -3.3 1.30e-03 1.33e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0938535399341842e+00 2.0938535399341842e+00 Dual infeasibility......: 7.4207147987435746e+00 7.4207147987435746e+00 Constraint violation....: 3.1474257381702841e-04 3.1474257381702841e-04 Variable bound violation: 1.3783144296036776e-09 1.3783144296036776e-09 Complementarity.........: 1.5596305808263827e-04 1.5596305808263827e-04 Overall NLP error.......: 7.4207147987435746e+00 7.4207147987435746e+00 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.404 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.001s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0771400e+00 2.28e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7242843e+00 1.13e-01 4.78e+00 -0.8 1.76e+00 0.0 6.74e-01 1.00e+00f 1 2 2.7255209e+00 5.20e-02 4.71e+00 -0.4 5.06e-01 0.4 9.87e-01 5.53e-01f 1 3 2.9032370e+00 1.91e-02 1.79e+00 -0.6 3.56e-01 -0.1 9.51e-01 1.00e+00f 1 4 2.5735978e+00 3.39e-02 5.87e-01 -1.0 3.01e-01 -0.5 9.80e-01 1.00e+00h 1 5 2.3370073e+00 4.11e-02 3.90e-01 -2.1 6.44e-01 -1.0 8.08e-01 8.84e-01h 1 6 2.2506755e+00 3.21e-02 8.50e-01 -1.8 1.56e+00 -1.5 9.87e-01 3.52e-01h 1 7 2.1247372e+00 1.16e-02 1.54e-01 -2.8 5.29e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0925960e+00 7.03e-05 1.46e-03 -3.9 2.29e-02 -2.4 9.98e-01 1.00e+00h 1 9 2.0908545e+00 6.12e-06 3.25e-05 -4.0 1.65e-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 2.0908500e+00 9.47e-09 1.94e-05 -4.0 4.77e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908381e+00 6.27e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908091e+00 4.14e-08 1.14e-04 -4.0 3.67e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907368e+00 3.54e-07 4.57e-04 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905340e+00 3.09e-06 6.40e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0901356e+00 3.85e-06 1.47e-02 -4.0 8.94e+00 -5.8 9.67e-01 4.85e-01H 1 16 2.0894441e+00 2.63e-04 5.11e-02 -4.0 2.84e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874997e+00 1.33e-04 6.58e-02 -4.0 5.37e+00 -4.9 1.00e+00 5.96e-01h 1 18 2.0874685e+00 3.14e-05 8.54e-03 -4.0 3.59e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0864151e+00 4.92e-05 7.10e-03 -4.0 1.07e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848615e+00 2.01e-04 1.03e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827677e+00 3.27e-04 2.70e-02 -4.0 3.67e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831849e+00 1.41e-03 4.07e-02 -4.0 5.47e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822130e+00 8.92e-04 7.06e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1135537e+00 4.79e-07 1.16e+00 -4.0 5.34e+02 -8.3 9.57e-02 1.00e+00H 1 25 2.0938535e+00 3.15e-04 7.42e+00 -4.1 9.11e+01 -3.3 1.30e-03 1.33e-02f 1 26 2.0850834e+00 1.43e-04 3.39e+00 -4.1 3.15e-01 -2.0 1.00e+00 5.46e-01f 1 27 2.0858847e+00 1.25e-04 3.00e+00 -4.0 1.14e+00 -2.5 1.00e+00 1.25e-01f 4 28 2.0836073e+00 1.21e-04 3.05e-02 -4.0 1.34e+00 -2.9 1.00e+00 9.91e-01h 1 29 2.0838013e+00 8.44e-06 5.49e-03 -4.0 4.03e-01 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0833976e+00 1.47e-05 1.83e-04 -4.0 3.20e-01 -3.9 1.00e+00 1.00e+00h 1 31 2.0833321e+00 6.77e-06 6.80e-06 -4.0 1.63e-01 -4.4 1.00e+00 1.00e+00h 1 32 2.0833050e+00 4.03e-07 1.35e-05 -4.0 4.82e-01 -4.9 1.00e+00 1.00e+00h 1 33 2.0832330e+00 1.96e-06 9.35e-05 -4.0 1.38e+00 -5.3 1.00e+00 1.00e+00h 1 34 2.0830986e+00 8.98e-06 3.98e-04 -4.0 3.75e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0829265e+00 1.64e-05 8.70e-04 -4.0 9.84e+00 -6.3 1.00e+00 1.00e+00h 1 36 2.0826573e+00 6.19e-05 2.34e-03 -4.0 2.47e+01 -6.8 1.00e+00 1.00e+00h 1 37 2.0822428e+00 3.31e-04 9.56e-03 -4.0 5.78e+01 -7.2 1.00e+00 1.00e+00h 1 38 2.0818615e+00 9.37e-04 1.03e-02 -4.0 1.11e+02 -7.7 8.53e-01 1.00e+00h 1 39 2.0819263e+00 8.63e-04 1.78e-02 -4.0 2.12e+01 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0845493e+00 1.18e-02 8.62e-03 -3.4 6.51e+01 -6.9 8.66e-01 1.00e+00h 1 41 2.1116335e+00 8.25e-03 1.18e-01 -3.6 1.26e+02 -7.3 8.31e-02 2.90e-01h 1 42 2.0901369e+00 2.71e-03 5.45e-01 -3.6 3.62e+01 -7.8 1.04e-02 1.00e+00f 1 43 2.0875746e+00 2.73e-08 4.67e-02 -3.6 4.38e-02 0.0 1.00e+00 1.00e+00h 1 44 2.0846625e+00 4.13e-07 2.47e-02 -4.0 7.01e-02 -0.5 1.00e+00 1.00e+00f 1 45 2.0832156e+00 1.99e-06 5.87e-03 -4.1 6.17e-02 -0.9 1.00e+00 1.00e+00f 1 46 2.0828828e+00 4.17e-06 1.24e-03 -4.0 3.19e-02 -1.4 1.00e+00 1.00e+00h 1 47 2.0827467e+00 5.10e-07 3.55e-04 -4.0 2.73e-02 -1.9 1.00e+00 1.00e+00h 1 48 2.0827505e+00 3.39e-08 3.78e-05 -4.0 8.73e-03 -2.4 1.00e+00 1.00e+00h 1 49 2.0827532e+00 1.56e-08 6.81e-06 -4.0 4.71e-03 -2.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0827527e+00 4.73e-09 6.78e-06 -4.0 1.41e-02 -3.3 1.00e+00 1.00e+00h 1 51 2.0827507e+00 4.38e-10 6.77e-06 -4.0 4.22e-02 -3.8 1.00e+00 1.00e+00h 1 52 2.0827448e+00 6.34e-09 6.74e-06 -4.0 1.26e-01 -4.3 1.00e+00 1.00e+00h 1 53 2.0827274e+00 5.59e-08 6.67e-06 -4.0 3.74e-01 -4.7 1.00e+00 1.00e+00h 1 54 2.0826772e+00 4.73e-07 2.91e-05 -4.0 1.08e+00 -5.2 1.00e+00 1.00e+00h 1 55 2.0825449e+00 3.55e-06 2.22e-04 -4.0 2.90e+00 -5.7 1.00e+00 1.00e+00h 1 56 2.0822820e+00 1.94e-05 1.16e-03 -4.0 6.18e+00 -6.2 1.00e+00 1.00e+00h 1 57 2.0820479e+00 3.83e-05 1.88e-03 -4.0 1.45e+01 -6.7 1.00e+00 1.00e+00h 1 58 2.1086183e+00 3.90e-06 4.46e-01 -4.0 1.36e+02 -7.1 1.63e-01 1.00e+00H 1 59 2.0831100e+00 3.81e-05 2.17e+00 -4.1 1.25e+00 -1.3 1.03e-01 4.06e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0836150e+00 3.77e-05 3.30e+00 -4.1 1.64e+00 -1.8 1.00e+00 1.19e-02f 6 61 2.0831807e+00 1.62e-05 3.27e-03 -4.1 3.06e-01 -2.2 1.00e+00 1.00e+00h 1 62 2.0825066e+00 1.59e-05 1.05e-01 -4.1 5.47e-01 -2.7 1.00e+00 5.68e-01h 1 63 2.0826411e+00 1.19e-06 2.74e-03 -4.0 1.60e-01 -3.2 1.00e+00 1.00e+00f 1 64 2.0825567e+00 2.15e-06 5.82e-04 -4.0 1.06e-01 -3.7 1.00e+00 1.00e+00h 1 65 2.0825465e+00 2.57e-07 6.67e-06 -4.0 9.47e-02 -4.2 1.00e+00 1.00e+00h 1 66 2.0825291e+00 4.72e-08 6.55e-06 -4.0 2.79e-01 -4.6 1.00e+00 1.00e+00h 1 67 2.0824800e+00 4.08e-07 3.67e-05 -4.0 7.89e-01 -5.1 1.00e+00 1.00e+00h 1 68 2.0823606e+00 2.99e-06 2.27e-04 -4.0 1.99e+00 -5.6 1.00e+00 1.00e+00h 1 69 2.0821692e+00 1.41e-05 8.23e-04 -4.0 4.14e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820324e+00 2.46e-05 1.13e-03 -4.0 9.72e+00 -6.5 1.00e+00 1.00e+00h 1 71 2.0818937e+00 5.37e-06 1.60e-03 -4.0 2.58e+01 -7.0 1.00e+00 1.00e+00h 1 72 2.0827143e+00 2.79e-07 4.94e-02 -4.0 1.16e+02 -7.5 3.02e-01 1.00e+00H 1 73 2.0816872e+00 1.73e-04 4.74e-01 -4.1 4.93e+00 -5.3 1.00e+00 5.67e-01f 1 74 2.0821803e+00 1.43e-04 6.54e-01 -4.0 5.63e+00 -5.7 1.00e+00 5.00e-01f 2 75 2.0821134e+00 1.30e-03 4.69e-03 -4.0 8.73e+00 -6.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0821133974276984e+00 2.0821133974276984e+00 Dual infeasibility......: 4.6884955893520168e-03 4.6884955893520168e-03 Constraint violation....: 1.2982558150183010e-03 1.2982558150183010e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.0581117886078024e-04 2.0581117886078024e-04 Overall NLP error.......: 4.6884955893520168e-03 4.6884955893520168e-03 Number of objective function evaluations = 96 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 96 Number of inequality constraint evaluations = 96 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.008 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.0s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.001s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0771400e+00 2.28e+00 3.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7242843e+00 1.13e-01 4.78e+00 -0.8 1.76e+00 0.0 6.74e-01 1.00e+00f 1 2 2.7255209e+00 5.20e-02 4.71e+00 -0.4 5.06e-01 0.4 9.87e-01 5.53e-01f 1 3 2.9032370e+00 1.91e-02 1.79e+00 -0.6 3.56e-01 -0.1 9.51e-01 1.00e+00f 1 4 2.5735978e+00 3.39e-02 5.87e-01 -1.0 3.01e-01 -0.5 9.80e-01 1.00e+00h 1 5 2.3370073e+00 4.11e-02 3.90e-01 -2.1 6.44e-01 -1.0 8.08e-01 8.84e-01h 1 6 2.2506755e+00 3.21e-02 8.50e-01 -1.8 1.56e+00 -1.5 9.87e-01 3.52e-01h 1 7 2.1247372e+00 1.16e-02 1.54e-01 -2.8 5.29e-01 -2.0 1.00e+00 1.00e+00h 1 8 2.0925960e+00 7.03e-05 1.46e-03 -3.9 2.29e-02 -2.4 9.98e-01 1.00e+00h 1 9 2.0908545e+00 6.12e-06 3.25e-05 -4.0 1.65e-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 2.0908500e+00 9.47e-09 1.94e-05 -4.0 4.77e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908381e+00 6.27e-09 1.84e-05 -4.0 1.36e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908091e+00 4.14e-08 1.14e-04 -4.0 3.67e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907368e+00 3.54e-07 4.57e-04 -4.0 9.66e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905340e+00 3.09e-06 6.40e-04 -4.0 2.97e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0901356e+00 3.85e-06 1.47e-02 -4.0 8.94e+00 -5.8 9.67e-01 4.85e-01H 1 16 2.0894441e+00 2.63e-04 5.11e-02 -4.0 2.84e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0874997e+00 1.33e-04 6.58e-02 -4.0 5.37e+00 -4.9 1.00e+00 5.96e-01h 1 18 2.0874685e+00 3.14e-05 8.54e-03 -4.0 3.59e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0864151e+00 4.92e-05 7.10e-03 -4.0 1.07e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0848615e+00 2.01e-04 1.03e-02 -4.0 2.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0827677e+00 3.27e-04 2.70e-02 -4.0 3.67e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0831849e+00 1.41e-03 4.07e-02 -4.0 5.47e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0822130e+00 8.92e-04 7.06e-03 -4.1 1.35e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.1135537e+00 4.79e-07 1.16e+00 -4.0 5.34e+02 -8.3 9.57e-02 1.00e+00H 1 25 2.0938535e+00 3.15e-04 7.42e+00 -4.1 9.11e+01 -3.3 1.30e-03 1.33e-02f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0938535399341842e+00 2.0938535399341842e+00 Dual infeasibility......: 7.4207147987435746e+00 7.4207147987435746e+00 Constraint violation....: 3.1474257381702841e-04 3.1474257381702841e-04 Variable bound violation: 1.3783144296036776e-09 1.3783144296036776e-09 Complementarity.........: 1.5596305808263827e-04 1.5596305808263827e-04 Overall NLP error.......: 7.4207147987435746e+00 7.4207147987435746e+00 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.337 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.552s jacobian structure: 1600 nonzeros (2.621s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.15s 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 (4.202s) linear index maps built (0.001s) evaluator ready (total: 6.824s) evaluator created (6.847s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.848s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5043078e+00 2.74e+00 7.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4357266e+00 6.89e-01 1.68e+00 -0.9 2.26e+00 0.0 9.11e-01 7.51e-01f 1 Hello, world! 2 2.3880505e+00 3.79e-01 4.80e+00 -0.6 7.41e-01 0.4 9.07e-01 4.50e-01h 1 Hello, world! 3 2.2280382e+00 7.14e-02 5.02e+00 -4.0 5.28e-01 -0.1 4.42e-01 8.08e-01h 1 Hello, world! 4 2.5070375e+00 9.62e-02 4.16e+00 -4.0 5.64e-01 -0.5 3.01e-01 1.00e+00h 1 Hello, world! 5 2.8343988e+00 1.60e-01 2.62e+00 -0.8 1.17e+00 -1.0 5.73e-01 9.93e-01f 1 Hello, world! 6 3.0137172e+00 1.20e-01 2.86e+00 -1.0 6.97e-01 -0.6 4.87e-01 1.00e+00f 1 Hello, world! 7 2.7405589e+00 4.34e-02 3.81e-01 -1.0 2.38e-01 -0.2 1.00e+00 1.00e+00h 1 Hello, world! 8 2.4582074e+00 1.18e-02 1.74e-01 -1.9 1.82e-01 -0.6 7.89e-01 7.70e-01h 1 Hello, world! 9 2.2445767e+00 8.30e-03 2.03e-01 -2.3 2.81e-01 -1.1 7.89e-01 6.69e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1210647e+00 3.62e-03 1.54e-01 -2.9 1.72e-01 -1.6 9.95e-01 7.24e-01h 1 Hello, world! 11 2.0913265e+00 1.05e-04 2.84e-03 -4.0 1.89e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908650e+00 7.66e-07 8.45e-05 -4.0 2.62e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908603e+00 7.49e-09 2.41e-05 -4.0 2.51e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908508e+00 2.72e-09 2.36e-05 -4.0 7.34e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908261e+00 1.94e-08 4.20e-05 -4.0 2.06e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0907753e+00 9.12e-08 2.22e-04 -4.0 5.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0906819e+00 5.47e-07 1.11e-03 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0904325e+00 5.16e-06 9.75e-04 -4.0 3.88e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0897498e+00 2.70e-05 7.90e-03 -4.0 1.00e+01 -5.9 1.00e+00 8.32e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0886724e+00 9.81e-05 5.36e-02 -4.0 3.32e+01 -6.4 1.00e+00 5.00e-01f 2 Hello, world! 21 2.0881273e+00 2.54e-05 7.67e-03 -4.0 2.48e+00 -5.0 1.00e+00 8.26e-01h 1 Hello, world! 22 2.0878786e+00 4.44e-06 3.06e-03 -4.0 4.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0867801e+00 5.61e-05 8.50e-03 -4.0 1.44e+01 -6.0 1.00e+00 8.20e-01h 1 Hello, world! 24 2.0848962e+00 3.27e-04 1.75e-02 -4.0 3.10e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0833154e+00 2.90e-04 4.21e-02 -4.0 4.21e+01 -6.9 1.00e+00 5.44e-01h 1 Hello, world! 26 2.0824797e+00 2.23e-04 1.07e-02 -4.0 7.28e+01 -7.4 1.00e+00 8.46e-01h 1 Hello, world! 27 2.0822618e+00 2.64e-04 1.19e-02 -4.0 1.53e+02 -7.9 9.12e-01 1.00e+00h 1 Hello, world! 28 2.0824740e+00 1.50e-03 2.44e-02 -4.0 3.70e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820834e+00 1.47e-03 2.33e-02 -4.0 2.68e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825853e+00 2.79e-04 9.47e-02 -4.0 2.62e+00 -4.8 5.73e-01 6.50e-01h 1 Hello, world! 31 2.0822237e+00 4.97e-04 4.58e-03 -4.0 2.40e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821847e+00 3.58e-04 2.46e-01 -4.0 1.04e+00 -4.0 1.46e-01 2.35e-01h 1 Hello, world! 33 2.0827854e+00 1.88e-04 6.66e-01 -3.8 1.67e-01 -4.4 1.00e+00 5.00e-01h 2 Hello, world! 34 2.0822757e+00 6.99e-04 1.56e-01 -4.0 4.17e+00 -4.9 3.18e-01 4.57e-01h 1 Hello, world! 35 2.0822368e+00 2.42e-04 4.72e-02 -4.0 1.17e+00 -4.5 7.61e-01 7.16e-01h 1 Hello, world! 36 2.0823603e+00 5.42e-04 7.26e-03 -4.0 2.23e+00 -5.0 1.00e+00 1.00e+00f 1 Hello, world! 37 2.0821537e+00 1.80e-04 2.25e-01 -4.1 1.82e+00 -5.4 1.00e+00 7.97e-01h 1 Hello, world! 38 2.0821664e+00 2.48e-04 2.67e-03 -4.0 2.34e+00 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0819708e+00 6.62e-06 3.85e-04 -4.1 8.82e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820022e+00 6.92e-06 1.00e-01 -4.0 2.06e+00 -3.3 7.16e-02 3.77e-02h 3 Hello, world! 41 2.0818860e+00 5.08e-06 6.01e-04 -4.2 1.11e-01 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820584e+00 1.92e-05 9.15e-02 -4.0 4.67e-01 -4.2 5.86e-01 3.72e-01h 2 Hello, world! 43 2.0819060e+00 1.04e-04 3.27e-04 -4.2 7.56e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0814066e+00 2.27e-04 1.68e-02 -6.3 1.94e+00 -5.2 8.62e-01 9.85e-01h 1 Hello, world! 45 2.0815956e+00 1.77e-04 2.31e-01 -4.0 9.55e-01 -3.8 9.26e-01 2.11e-01f 1 Hello, world! 46 2.0821497e+00 3.84e-05 9.70e-04 -4.0 3.09e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0819930e+00 8.62e-06 2.12e-04 -4.1 1.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0813885e+00 1.42e-04 3.16e-02 -6.1 1.58e+00 -5.3 8.94e-01 1.00e+00h 1 Hello, world! 49 2.0814308e+00 1.16e-04 8.63e-01 -4.2 1.45e+00 -4.8 1.00e+00 1.69e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815990e+00 3.44e-05 8.20e-04 -4.4 8.83e-01 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815989554896244e+00 2.0815989554896244e+00 Dual infeasibility......: 8.2026214192085440e-04 8.2026214192085440e-04 Constraint violation....: 3.4367642329780068e-05 3.4367642329780068e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.5570194270711923e-05 4.5570194270711923e-05 Overall NLP error.......: 8.2026214192085440e-04 8.2026214192085440e-04 Number of objective function evaluations = 64 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 64 Number of inequality constraint evaluations = 64 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 30.467 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.001s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5043078e+00 2.74e+00 7.46e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.4357266e+00 6.89e-01 1.68e+00 -0.9 2.26e+00 0.0 9.11e-01 7.51e-01f 1 Hello, world! 2 2.3880505e+00 3.79e-01 4.80e+00 -0.6 7.41e-01 0.4 9.07e-01 4.50e-01h 1 Hello, world! 3 2.2280382e+00 7.14e-02 5.02e+00 -4.0 5.28e-01 -0.1 4.42e-01 8.08e-01h 1 Hello, world! 4 2.5070375e+00 9.62e-02 4.16e+00 -4.0 5.64e-01 -0.5 3.01e-01 1.00e+00h 1 Hello, world! 5 2.8343988e+00 1.60e-01 2.62e+00 -0.8 1.17e+00 -1.0 5.73e-01 9.93e-01f 1 Hello, world! 6 3.0137172e+00 1.20e-01 2.86e+00 -1.0 6.97e-01 -0.6 4.87e-01 1.00e+00f 1 Hello, world! 7 2.7405589e+00 4.34e-02 3.81e-01 -1.0 2.38e-01 -0.2 1.00e+00 1.00e+00h 1 Hello, world! 8 2.4582074e+00 1.18e-02 1.74e-01 -1.9 1.82e-01 -0.6 7.89e-01 7.70e-01h 1 Hello, world! 9 2.2445767e+00 8.30e-03 2.03e-01 -2.3 2.81e-01 -1.1 7.89e-01 6.69e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.1210647e+00 3.62e-03 1.54e-01 -2.9 1.72e-01 -1.6 9.95e-01 7.24e-01h 1 Hello, world! 11 2.0913265e+00 1.05e-04 2.84e-03 -4.0 1.89e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908650e+00 7.66e-07 8.45e-05 -4.0 2.62e-02 -2.5 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0908603e+00 7.49e-09 2.41e-05 -4.0 2.51e-02 -3.0 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0908508e+00 2.72e-09 2.36e-05 -4.0 7.34e-02 -3.5 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908261e+00 1.94e-08 4.20e-05 -4.0 2.06e-01 -4.0 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0907753e+00 9.12e-08 2.22e-04 -4.0 5.15e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0906819e+00 5.47e-07 1.11e-03 -4.0 1.21e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0904325e+00 5.16e-06 9.75e-04 -4.0 3.88e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0897498e+00 2.70e-05 7.90e-03 -4.0 1.00e+01 -5.9 1.00e+00 8.32e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0886724e+00 9.81e-05 5.36e-02 -4.0 3.32e+01 -6.4 1.00e+00 5.00e-01f 2 Hello, world! 21 2.0881273e+00 2.54e-05 7.67e-03 -4.0 2.48e+00 -5.0 1.00e+00 8.26e-01h 1 Hello, world! 22 2.0878786e+00 4.44e-06 3.06e-03 -4.0 4.96e+00 -5.5 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0867801e+00 5.61e-05 8.50e-03 -4.0 1.44e+01 -6.0 1.00e+00 8.20e-01h 1 Hello, world! 24 2.0848962e+00 3.27e-04 1.75e-02 -4.0 3.10e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0833154e+00 2.90e-04 4.21e-02 -4.0 4.21e+01 -6.9 1.00e+00 5.44e-01h 1 Hello, world! 26 2.0824797e+00 2.23e-04 1.07e-02 -4.0 7.28e+01 -7.4 1.00e+00 8.46e-01h 1 Hello, world! 27 2.0822618e+00 2.64e-04 1.19e-02 -4.0 1.53e+02 -7.9 9.12e-01 1.00e+00h 1 Hello, world! 28 2.0824740e+00 1.50e-03 2.44e-02 -4.0 3.70e+01 -6.6 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0820834e+00 1.47e-03 2.33e-02 -4.0 2.68e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0825853e+00 2.79e-04 9.47e-02 -4.0 2.62e+00 -4.8 5.73e-01 6.50e-01h 1 Hello, world! 31 2.0822237e+00 4.97e-04 4.58e-03 -4.0 2.40e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0821847e+00 3.58e-04 2.46e-01 -4.0 1.04e+00 -4.0 1.46e-01 2.35e-01h 1 Hello, world! 33 2.0827854e+00 1.88e-04 6.66e-01 -3.8 1.67e-01 -4.4 1.00e+00 5.00e-01h 2 Hello, world! 34 2.0822757e+00 6.99e-04 1.56e-01 -4.0 4.17e+00 -4.9 3.18e-01 4.57e-01h 1 Hello, world! 35 2.0822368e+00 2.42e-04 4.72e-02 -4.0 1.17e+00 -4.5 7.61e-01 7.16e-01h 1 Hello, world! 36 2.0823603e+00 5.42e-04 7.26e-03 -4.0 2.23e+00 -5.0 1.00e+00 1.00e+00f 1 Hello, world! 37 2.0821537e+00 1.80e-04 2.25e-01 -4.1 1.82e+00 -5.4 1.00e+00 7.97e-01h 1 Hello, world! 38 2.0821664e+00 2.48e-04 2.67e-03 -4.0 2.34e+00 -5.9 1.00e+00 1.00e+00f 1 Hello, world! 39 2.0819708e+00 6.62e-06 3.85e-04 -4.1 8.82e-02 -3.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820022e+00 6.92e-06 1.00e-01 -4.0 2.06e+00 -3.3 7.16e-02 3.77e-02h 3 Hello, world! 41 2.0818860e+00 5.08e-06 6.01e-04 -4.2 1.11e-01 -3.7 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0820584e+00 1.92e-05 9.15e-02 -4.0 4.67e-01 -4.2 5.86e-01 3.72e-01h 2 Hello, world! 43 2.0819060e+00 1.04e-04 3.27e-04 -4.2 7.56e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0814066e+00 2.27e-04 1.68e-02 -6.3 1.94e+00 -5.2 8.62e-01 9.85e-01h 1 Hello, world! 45 2.0815956e+00 1.77e-04 2.31e-01 -4.0 9.55e-01 -3.8 9.26e-01 2.11e-01f 1 Hello, world! 46 2.0821497e+00 3.84e-05 9.70e-04 -4.0 3.09e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0819930e+00 8.62e-06 2.12e-04 -4.1 1.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0813885e+00 1.42e-04 3.16e-02 -6.1 1.58e+00 -5.3 8.94e-01 1.00e+00h 1 Hello, world! 49 2.0814308e+00 1.16e-04 8.63e-01 -4.2 1.45e+00 -4.8 1.00e+00 1.69e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0815990e+00 3.44e-05 8.20e-04 -4.4 8.83e-01 -5.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0815989554896244e+00 2.0815989554896244e+00 Dual infeasibility......: 8.2026214192085440e-04 8.2026214192085440e-04 Constraint violation....: 3.4367642329780068e-05 3.4367642329780068e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.5570194270711923e-05 4.5570194270711923e-05 Overall NLP error.......: 8.2026214192085440e-04 8.2026214192085440e-04 Number of objective function evaluations = 64 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 64 Number of inequality constraint evaluations = 64 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.662 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.15s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.596s jacobian structure: 1600 nonzeros (2.748s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.194s 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 (4.245s) linear index maps built (0.001s) evaluator ready (total: 6.994s) evaluator created (7.023s) 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: 7.024s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0522836e+00 2.42e+00 5.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5837015e+00 1.27e-01 2.58e+00 -0.9 1.95e+00 0.0 9.79e-01 9.50e-01f 1 2 2.3637262e+00 6.31e-02 1.19e+00 -1.1 6.71e-01 -0.5 9.94e-01 7.65e-01h 1 3 2.2990930e+00 2.30e-02 4.82e-01 -1.6 5.59e-01 -1.0 9.90e-01 8.11e-01h 1 4 2.1400568e+00 3.76e-03 4.41e-02 -2.4 1.03e-01 -1.4 9.93e-01 1.00e+00h 1 5 2.0932709e+00 2.59e-04 5.61e-03 -3.6 2.80e-02 -1.9 9.81e-01 9.52e-01h 1 6 2.0908358e+00 5.71e-06 3.56e-04 -4.0 1.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908250e+00 1.24e-08 2.47e-05 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908210e+00 5.39e-10 1.63e-05 -4.0 3.57e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908118e+00 3.40e-09 1.60e-05 -4.0 1.05e-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 2.0907870e+00 3.03e-08 3.12e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907208e+00 2.64e-07 1.36e-04 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905173e+00 2.09e-06 3.53e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904406e+00 3.71e-07 2.38e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900721e+00 9.94e-10 1.40e-03 -4.0 3.57e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895262e+00 4.10e-05 1.02e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888209e+00 3.75e-05 5.38e-02 -4.0 1.14e+01 -5.4 1.00e+00 3.42e-01h 1 17 2.0880295e+00 4.04e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867123e+00 9.73e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.44e-01h 1 19 2.0838193e+00 8.66e-04 4.22e-02 -4.0 5.04e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827470e+00 3.09e-04 9.29e-03 -4.0 5.49e+01 -7.3 1.00e+00 6.05e-01h 1 21 2.0825224e+00 8.99e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0837488e+00 2.41e-05 1.87e-01 -4.0 1.62e+02 -7.3 3.48e-01 1.00e+00H 1 23 2.0851002e+00 1.10e-03 4.30e-01 -3.2 6.51e+00 -5.1 1.00e+00 5.29e-01f 1 24 2.0846354e+00 1.18e-03 1.83e-01 -3.3 7.18e+00 -5.6 4.65e-01 7.93e-02h 1 25 2.0882766e+00 4.91e-02 2.84e-01 -3.3 5.18e+01 -6.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0882766186403532e+00 2.0882766186403532e+00 Dual infeasibility......: 2.8389385894621083e-01 2.8389385894621083e-01 Constraint violation....: 4.9060814775747641e-02 4.9060814775747641e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.9818190604887158e-02 3.9818190604887158e-02 Overall NLP error.......: 2.8389385894621083e-01 2.8389385894621083e-01 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.351 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.001s) evaluator ready (total: 0.003s) evaluator created (0.004s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.006s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0522836e+00 2.42e+00 5.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5837015e+00 1.27e-01 2.58e+00 -0.9 1.95e+00 0.0 9.79e-01 9.50e-01f 1 2 2.3637262e+00 6.31e-02 1.19e+00 -1.1 6.71e-01 -0.5 9.94e-01 7.65e-01h 1 3 2.2990930e+00 2.30e-02 4.82e-01 -1.6 5.59e-01 -1.0 9.90e-01 8.11e-01h 1 4 2.1400568e+00 3.76e-03 4.41e-02 -2.4 1.03e-01 -1.4 9.93e-01 1.00e+00h 1 5 2.0932709e+00 2.59e-04 5.61e-03 -3.6 2.80e-02 -1.9 9.81e-01 9.52e-01h 1 6 2.0908358e+00 5.71e-06 3.56e-04 -4.0 1.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908250e+00 1.24e-08 2.47e-05 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908210e+00 5.39e-10 1.63e-05 -4.0 3.57e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908118e+00 3.40e-09 1.60e-05 -4.0 1.05e-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 2.0907870e+00 3.03e-08 3.12e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907208e+00 2.64e-07 1.36e-04 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905173e+00 2.09e-06 3.53e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904406e+00 3.71e-07 2.38e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900721e+00 9.94e-10 1.40e-03 -4.0 3.57e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895262e+00 4.10e-05 1.02e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888209e+00 3.75e-05 5.38e-02 -4.0 1.14e+01 -5.4 1.00e+00 3.42e-01h 1 17 2.0880295e+00 4.04e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867123e+00 9.73e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.44e-01h 1 19 2.0838193e+00 8.66e-04 4.22e-02 -4.0 5.04e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827470e+00 3.09e-04 9.29e-03 -4.0 5.49e+01 -7.3 1.00e+00 6.05e-01h 1 21 2.0825224e+00 8.99e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0837488e+00 2.41e-05 1.87e-01 -4.0 1.62e+02 -7.3 3.48e-01 1.00e+00H 1 23 2.0851002e+00 1.10e-03 4.30e-01 -3.2 6.51e+00 -5.1 1.00e+00 5.29e-01f 1 24 2.0846354e+00 1.18e-03 1.83e-01 -3.3 7.18e+00 -5.6 4.65e-01 7.93e-02h 1 25 2.0882766e+00 4.91e-02 2.84e-01 -3.3 5.18e+01 -6.0 1.00e+00 1.00e+00f 1 26 2.0864022e+00 5.16e-03 2.22e-01 -3.3 2.73e+01 -6.5 8.35e-01 1.00e+00h 1 27 2.0858468e+00 3.50e-06 1.56e-03 -3.3 6.79e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0842806e+00 1.48e-05 4.61e-02 -4.0 7.66e-02 -2.0 8.86e-01 1.00e+00h 1 29 2.0833002e+00 8.90e-06 1.16e-03 -3.9 6.12e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832640e+00 5.00e-07 5.50e-04 -4.0 5.01e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0832170e+00 2.04e-07 5.78e-04 -4.0 2.33e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0829320e+00 9.63e-09 1.10e-03 -4.0 9.95e-02 -2.1 1.00e+00 1.00e+00H 1 33 2.0831012e+00 1.82e-07 6.48e-04 -4.0 4.30e-02 -2.6 1.00e+00 1.00e+00f 1 34 2.0829167e+00 3.01e-07 4.10e-05 -4.1 9.22e-03 -3.1 1.00e+00 1.00e+00h 1 35 2.0830800e+00 6.22e-07 3.10e-05 -4.0 2.35e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0828992e+00 2.15e-06 2.38e-05 -4.1 8.00e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0830664e+00 7.62e-06 5.96e-05 -4.0 2.09e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0828515e+00 1.85e-05 9.84e-05 -4.1 7.12e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0829503e+00 6.05e-05 3.12e-04 -4.0 1.72e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823890e+00 5.62e-07 2.71e-03 -4.1 5.94e+00 -6.0 1.00e+00 9.98e-01H 1 41 2.0823287e+00 2.27e-04 3.38e-03 -4.0 6.29e+00 -6.4 1.00e+00 1.00e+00f 1 42 2.0822760e+00 1.64e-05 6.46e-04 -4.0 3.80e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0822918e+00 1.72e-04 1.64e-03 -4.0 1.57e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.0821114e+00 1.18e-04 7.41e-04 -4.1 7.38e+00 -6.1 1.00e+00 1.00e+00h 1 45 2.0918424e+00 1.34e-06 5.45e-02 -4.0 2.37e+01 -6.5 2.73e-01 1.00e+00H 1 46 2.0871392e+00 6.02e-07 2.30e-01 -4.2 8.59e-02 -0.7 1.00e+00 6.82e-01f 1 47 2.0825767e+00 1.06e-06 1.53e+00 -4.2 2.36e-01 -1.2 4.64e-01 1.00e+00f 1 48 2.0824744e+00 2.92e-06 1.63e+00 -4.2 8.43e+00 -1.7 9.52e-02 1.07e-02f 2 49 2.0823382e+00 3.29e-06 1.63e+00 -4.2 2.82e-01 -2.1 1.00e+00 2.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824096e+00 9.60e-07 9.71e-04 -4.0 3.40e-02 -2.6 1.00e+00 1.00e+00h 1 51 2.0822679e+00 2.77e-07 1.02e-04 -4.1 2.00e-02 -3.1 1.00e+00 1.00e+00h 1 52 2.0824372e+00 5.81e-07 5.20e-05 -4.0 2.48e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0822751e+00 2.00e-06 3.16e-05 -4.1 8.14e-02 -4.0 1.00e+00 1.00e+00h 1 54 2.0816193e+00 4.01e-05 2.24e-02 -6.1 4.05e-01 -4.5 8.54e-01 1.00e+00h 1 55 2.0824691e+00 1.00e-04 1.56e-03 -4.0 7.54e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0820815e+00 7.71e-05 2.74e-04 -4.1 2.12e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0811898e+00 7.62e-04 3.40e-02 -6.1 8.65e+00 -5.9 3.96e-01 9.50e-01h 1 58 2.0819330e+00 3.68e-04 3.39e-02 -4.0 3.30e+00 -4.6 1.00e+00 1.00e+00f 1 59 2.0822129e+00 2.09e-04 3.76e-01 -4.0 1.36e+00 -5.1 6.78e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818828e+00 1.29e-06 5.85e-03 -4.0 1.09e-01 -2.0 1.00e+00 1.00e+00h 1 61 2.0819272e+00 6.57e-07 2.05e-03 -4.0 6.77e-02 -2.4 1.00e+00 1.00e+00h 1 62 2.0818658e+00 9.39e-08 1.31e-04 -4.0 6.08e-02 -2.9 1.00e+00 1.00e+00h 1 63 2.0818658e+00 1.63e-08 3.38e-05 -4.0 8.31e-02 -3.4 1.00e+00 1.00e+00h 1 64 2.0818726e+00 6.50e-08 1.20e-05 -4.0 8.88e-02 -3.9 1.00e+00 1.00e+00h 1 65 2.0817940e+00 1.57e-06 1.37e-04 -4.1 1.00e-01 -4.3 1.00e+00 1.00e+00h 1 66 2.0819200e+00 1.11e-05 2.43e-04 -4.0 5.68e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0818362e+00 7.74e-06 3.09e-04 -4.1 5.18e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0811850e+00 2.63e-04 7.02e-03 -6.1 3.49e+00 -5.8 9.91e-01 1.00e+00h 1 69 2.0818300e+00 4.48e-05 5.17e-02 -4.0 5.84e-02 -3.5 1.00e+00 8.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815338e+00 1.34e-05 1.38e-03 -4.1 3.41e-01 -4.0 1.00e+00 1.00e+00h 1 71 2.0817396e+00 2.13e-05 8.41e-04 -4.0 7.11e-01 -4.5 1.00e+00 1.00e+00h 1 72 2.0817350e+00 3.55e-06 1.13e-03 -4.1 5.83e-01 -5.0 1.00e+00 1.00e+00h 1 73 2.0819263e+00 4.52e-05 3.23e-04 -4.0 2.08e+00 -5.5 1.00e+00 1.00e+00h 1 74 2.0818512e+00 1.98e-05 7.14e-04 -4.1 1.44e+00 -5.9 1.00e+00 1.00e+00h 1 75 2.0810545e+00 6.60e-04 5.53e-03 -6.1 9.45e+00 -6.4 9.98e-01 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0810545462061469e+00 2.0810545462061469e+00 Dual infeasibility......: 5.5295859409333859e-03 5.5295859409333859e-03 Constraint violation....: 6.5988151835583153e-04 6.5988151835583153e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.8089195820569347e-05 1.8089195820569347e-05 Overall NLP error.......: 5.5295859409333859e-03 5.5295859409333859e-03 Number of objective function evaluations = 87 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 87 Number of inequality constraint evaluations = 87 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 0.996 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.001s) evaluator ready (total: 0.004s) evaluator created (0.005s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 0.006s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0522836e+00 2.42e+00 5.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5837015e+00 1.27e-01 2.58e+00 -0.9 1.95e+00 0.0 9.79e-01 9.50e-01f 1 2 2.3637262e+00 6.31e-02 1.19e+00 -1.1 6.71e-01 -0.5 9.94e-01 7.65e-01h 1 3 2.2990930e+00 2.30e-02 4.82e-01 -1.6 5.59e-01 -1.0 9.90e-01 8.11e-01h 1 4 2.1400568e+00 3.76e-03 4.41e-02 -2.4 1.03e-01 -1.4 9.93e-01 1.00e+00h 1 5 2.0932709e+00 2.59e-04 5.61e-03 -3.6 2.80e-02 -1.9 9.81e-01 9.52e-01h 1 6 2.0908358e+00 5.71e-06 3.56e-04 -4.0 1.02e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0908250e+00 1.24e-08 2.47e-05 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908210e+00 5.39e-10 1.63e-05 -4.0 3.57e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908118e+00 3.40e-09 1.60e-05 -4.0 1.05e-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 2.0907870e+00 3.03e-08 3.12e-05 -4.0 3.02e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907208e+00 2.64e-07 1.36e-04 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905173e+00 2.09e-06 3.53e-04 -4.0 2.52e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904406e+00 3.71e-07 2.38e-04 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900721e+00 9.94e-10 1.40e-03 -4.0 3.57e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895262e+00 4.10e-05 1.02e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888209e+00 3.75e-05 5.38e-02 -4.0 1.14e+01 -5.4 1.00e+00 3.42e-01h 1 17 2.0880295e+00 4.04e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867123e+00 9.73e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.44e-01h 1 19 2.0838193e+00 8.66e-04 4.22e-02 -4.0 5.04e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827470e+00 3.09e-04 9.29e-03 -4.0 5.49e+01 -7.3 1.00e+00 6.05e-01h 1 21 2.0825224e+00 8.99e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0837488e+00 2.41e-05 1.87e-01 -4.0 1.62e+02 -7.3 3.48e-01 1.00e+00H 1 23 2.0851002e+00 1.10e-03 4.30e-01 -3.2 6.51e+00 -5.1 1.00e+00 5.29e-01f 1 24 2.0846354e+00 1.18e-03 1.83e-01 -3.3 7.18e+00 -5.6 4.65e-01 7.93e-02h 1 25 2.0882766e+00 4.91e-02 2.84e-01 -3.3 5.18e+01 -6.0 1.00e+00 1.00e+00f 1 26 2.0864022e+00 5.16e-03 2.22e-01 -3.3 2.73e+01 -6.5 8.35e-01 1.00e+00h 1 27 2.0858468e+00 3.50e-06 1.56e-03 -3.3 6.79e-02 -1.6 1.00e+00 1.00e+00h 1 28 2.0842806e+00 1.48e-05 4.61e-02 -4.0 7.66e-02 -2.0 8.86e-01 1.00e+00h 1 29 2.0833002e+00 8.90e-06 1.16e-03 -3.9 6.12e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832640e+00 5.00e-07 5.50e-04 -4.0 5.01e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0832170e+00 2.04e-07 5.78e-04 -4.0 2.33e-02 -1.7 1.00e+00 1.00e+00h 1 32 2.0829320e+00 9.63e-09 1.10e-03 -4.0 9.95e-02 -2.1 1.00e+00 1.00e+00H 1 33 2.0831012e+00 1.82e-07 6.48e-04 -4.0 4.30e-02 -2.6 1.00e+00 1.00e+00f 1 34 2.0829167e+00 3.01e-07 4.10e-05 -4.1 9.22e-03 -3.1 1.00e+00 1.00e+00h 1 35 2.0830800e+00 6.22e-07 3.10e-05 -4.0 2.35e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0828992e+00 2.15e-06 2.38e-05 -4.1 8.00e-02 -4.1 1.00e+00 1.00e+00h 1 37 2.0830664e+00 7.62e-06 5.96e-05 -4.0 2.09e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0828515e+00 1.85e-05 9.84e-05 -4.1 7.12e-01 -5.0 1.00e+00 1.00e+00h 1 39 2.0829503e+00 6.05e-05 3.12e-04 -4.0 1.72e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0823890e+00 5.62e-07 2.71e-03 -4.1 5.94e+00 -6.0 1.00e+00 9.98e-01H 1 41 2.0823287e+00 2.27e-04 3.38e-03 -4.0 6.29e+00 -6.4 1.00e+00 1.00e+00f 1 42 2.0822760e+00 1.64e-05 6.46e-04 -4.0 3.80e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0822918e+00 1.72e-04 1.64e-03 -4.0 1.57e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.0821114e+00 1.18e-04 7.41e-04 -4.1 7.38e+00 -6.1 1.00e+00 1.00e+00h 1 45 2.0918424e+00 1.34e-06 5.45e-02 -4.0 2.37e+01 -6.5 2.73e-01 1.00e+00H 1 46 2.0871392e+00 6.02e-07 2.30e-01 -4.2 8.59e-02 -0.7 1.00e+00 6.82e-01f 1 47 2.0825767e+00 1.06e-06 1.53e+00 -4.2 2.36e-01 -1.2 4.64e-01 1.00e+00f 1 48 2.0824744e+00 2.92e-06 1.63e+00 -4.2 8.43e+00 -1.7 9.52e-02 1.07e-02f 2 49 2.0823382e+00 3.29e-06 1.63e+00 -4.2 2.82e-01 -2.1 1.00e+00 2.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0824096e+00 9.60e-07 9.71e-04 -4.0 3.40e-02 -2.6 1.00e+00 1.00e+00h 1 51 2.0822679e+00 2.77e-07 1.02e-04 -4.1 2.00e-02 -3.1 1.00e+00 1.00e+00h 1 52 2.0824372e+00 5.81e-07 5.20e-05 -4.0 2.48e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0822751e+00 2.00e-06 3.16e-05 -4.1 8.14e-02 -4.0 1.00e+00 1.00e+00h 1 54 2.0816193e+00 4.01e-05 2.24e-02 -6.1 4.05e-01 -4.5 8.54e-01 1.00e+00h 1 55 2.0824691e+00 1.00e-04 1.56e-03 -4.0 7.54e-01 -5.0 1.00e+00 1.00e+00h 1 56 2.0820815e+00 7.71e-05 2.74e-04 -4.1 2.12e+00 -5.5 1.00e+00 1.00e+00h 1 57 2.0811898e+00 7.62e-04 3.40e-02 -6.1 8.65e+00 -5.9 3.96e-01 9.50e-01h 1 58 2.0819330e+00 3.68e-04 3.39e-02 -4.0 3.30e+00 -4.6 1.00e+00 1.00e+00f 1 59 2.0822129e+00 2.09e-04 3.76e-01 -4.0 1.36e+00 -5.1 6.78e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818828e+00 1.29e-06 5.85e-03 -4.0 1.09e-01 -2.0 1.00e+00 1.00e+00h 1 61 2.0819272e+00 6.57e-07 2.05e-03 -4.0 6.77e-02 -2.4 1.00e+00 1.00e+00h 1 62 2.0818658e+00 9.39e-08 1.31e-04 -4.0 6.08e-02 -2.9 1.00e+00 1.00e+00h 1 63 2.0818658e+00 1.63e-08 3.38e-05 -4.0 8.31e-02 -3.4 1.00e+00 1.00e+00h 1 64 2.0818726e+00 6.50e-08 1.20e-05 -4.0 8.88e-02 -3.9 1.00e+00 1.00e+00h 1 65 2.0817940e+00 1.57e-06 1.37e-04 -4.1 1.00e-01 -4.3 1.00e+00 1.00e+00h 1 66 2.0819200e+00 1.11e-05 2.43e-04 -4.0 5.68e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0818362e+00 7.74e-06 3.09e-04 -4.1 5.18e-01 -5.3 1.00e+00 1.00e+00h 1 68 2.0811850e+00 2.63e-04 7.02e-03 -6.1 3.49e+00 -5.8 9.91e-01 1.00e+00h 1 69 2.0818300e+00 4.48e-05 5.17e-02 -4.0 5.84e-02 -3.5 1.00e+00 8.49e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815338e+00 1.34e-05 1.38e-03 -4.1 3.41e-01 -4.0 1.00e+00 1.00e+00h 1 71 2.0817396e+00 2.13e-05 8.41e-04 -4.0 7.11e-01 -4.5 1.00e+00 1.00e+00h 1 72 2.0817350e+00 3.55e-06 1.13e-03 -4.1 5.83e-01 -5.0 1.00e+00 1.00e+00h 1 73 2.0819263e+00 4.52e-05 3.23e-04 -4.0 2.08e+00 -5.5 1.00e+00 1.00e+00h 1 74 2.0818512e+00 1.98e-05 7.14e-04 -4.1 1.44e+00 -5.9 1.00e+00 1.00e+00h 1 75 2.0810545e+00 6.60e-04 5.53e-03 -6.1 9.45e+00 -6.4 9.98e-01 1.00e+00h 1 76 2.0810336e+00 1.58e-05 2.37e-03 -5.6 2.53e-01 -4.2 1.00e+00 9.77e-01h 1 77 2.0811086e+00 1.40e-05 8.59e-01 -4.0 6.92e+00 -4.7 1.00e+00 7.05e-02f 1 78 2.0815396e+00 4.33e-04 7.62e-03 -4.1 3.13e+00 -5.1 1.00e+00 1.00e+00f 1 79 2.0817070e+00 3.83e-05 2.52e-03 -4.1 1.59e+00 -5.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817883e+00 1.41e-05 3.29e-04 -4.1 3.37e+00 -6.1 1.00e+00 1.00e+00h 1 81 2.0810186e+00 7.61e-04 5.48e-03 -6.2 1.08e+01 -6.6 9.98e-01 1.00e+00h 1 82 2.0809979e+00 1.72e-05 2.36e-03 -5.6 2.49e-01 -4.3 1.00e+00 9.78e-01h 1 83 2.0810658e+00 1.53e-05 8.76e-01 -4.0 7.41e+00 -4.8 1.00e+00 6.58e-02f 1 84 2.0814954e+00 4.21e-04 6.32e-03 -4.1 3.28e+00 -5.3 1.00e+00 1.00e+00f 1 85 2.0816784e+00 4.43e-05 2.13e-03 -4.1 1.98e+00 -5.8 1.00e+00 1.00e+00h 1 86 2.0817541e+00 1.03e-05 5.50e-04 -4.1 2.97e+00 -6.2 1.00e+00 1.00e+00h 1 87 2.0809525e+00 9.39e-04 5.41e-03 -6.2 1.29e+01 -6.7 9.95e-01 1.00e+00h 1 88 2.0810274e+00 4.31e-06 6.97e-05 -4.9 3.28e-01 -5.4 1.00e+00 1.00e+00h 1 89 2.0811825e+00 1.83e-05 1.22e-01 -4.0 7.46e+00 -5.9 1.00e+00 1.42e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0815840e+00 4.19e-04 8.96e-03 -4.2 8.33e+00 -6.3 9.32e-01 1.00e+00h 1 91 2.0816443e+00 2.79e-05 1.02e-03 -4.2 6.66e+00 -6.8 1.00e+00 1.00e+00h 1 92 2.0816108e+00 2.30e-05 3.56e-04 -4.2 1.46e+01 -7.3 1.00e+00 1.00e+00h 1 93 2.0807387e+00 3.31e-03 9.47e-04 -6.2 4.80e+01 -7.8 9.75e-01 9.32e-01h 1 94 2.0818901e+00 6.17e-03 2.76e-03 -4.0 5.55e+01 -8.2 1.00e+00 1.00e+00f 1 95 2.0816275e+00 1.07e-03 1.18e-03 -4.1 4.34e+01 -8.7 1.00e+00 1.00e+00h 1 96 2.0816049e+00 8.35e-06 2.45e-04 -4.1 1.85e+01 -9.2 1.00e+00 1.00e+00h 1 97 2.0805954e+00 3.50e-03 1.51e-04 -6.1 4.21e+01 -9.7 9.77e-01 9.66e-01h 1 98 2.0818905e+00 6.48e-03 4.68e-04 -4.0 6.04e+01 -10.2 1.00e+00 1.00e+00f 1 99 2.0816147e+00 4.94e-04 2.77e-05 -4.1 2.07e+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 100 2.0806044e+00 3.49e-03 2.34e-04 -6.1 4.24e+01 -11.1 9.76e-01 9.58e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0806043507453293e+00 2.0806043507453293e+00 Dual infeasibility......: 2.3390955388620616e-04 2.3390955388620616e-04 Constraint violation....: 3.4901514544527501e-03 3.4901514544527501e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9593050361152769e-05 1.9593050361152769e-05 Overall NLP error.......: 3.4901514544527501e-03 3.4901514544527501e-03 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 1.322 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.569s jacobian structure: 1600 nonzeros (2.626s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.973s 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 (4.022s) linear index maps built (0.001s) evaluator ready (total: 6.65s) evaluator created (6.677s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.679s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1032010e+00 2.32e+00 6.67e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9835292e+00 1.25e-01 3.58e+00 -0.9 2.30e+00 0.0 9.79e-01 1.00e+00f 1 2 2.6790252e+00 9.50e-02 9.64e-01 -0.9 6.75e-01 -0.5 9.80e-01 8.21e-01h 1 3 2.3972571e+00 1.58e-02 1.57e+00 -1.7 3.59e-01 -1.0 5.46e-01 8.59e-01h 1 4 2.1868426e+00 3.46e-03 1.57e-01 -2.1 8.22e-02 -1.4 9.99e-01 1.00e+00h 1 5 2.0964400e+00 1.08e-03 1.04e-02 -3.4 8.30e-02 -1.9 9.97e-01 9.51e-01h 1 6 2.0909621e+00 2.35e-05 1.81e-03 -4.0 1.53e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909379e+00 6.29e-08 1.85e-05 -4.0 1.35e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909346e+00 1.06e-09 1.82e-05 -4.0 3.99e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909251e+00 6.38e-09 1.76e-05 -4.0 1.15e-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 2.0909001e+00 4.13e-08 7.03e-05 -4.0 3.20e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0909001423470399e+00 2.0909001423470399e+00 Dual infeasibility......: 7.0284505000557993e-05 7.0284505000557993e-05 Constraint violation....: 4.1290449826619779e-08 4.1290449826619779e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999999463e-05 9.9999999999999463e-05 Overall NLP error.......: 7.0284505000557993e-05 7.0284505000557993e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 28.668 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.769s jacobian structure: 1600 nonzeros (2.832s) integrator 1 hessian structure: 0.055s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.337s 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 (4.395s) linear index maps built (0.001s) evaluator ready (total: 7.229s) evaluator created (7.255s) 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: 7.257s) Fidelity: 0.51 Fidelity: 0.52 Fidelity: 0.53 Fidelity: 0.54 Fidelity: 0.55 Fidelity: 0.56 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.069s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.769s jacobian structure: 1600 nonzeros (2.84s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.259s 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 (4.312s) linear index maps built (0.001s) evaluator ready (total: 7.153s) evaluator created (7.182s) 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: 7.184s) Fidelity: 0.1 Best fidelities: 0: 0.1 Fidelity: 0.2 Best fidelities: 0: 0.1 1: 0.2 Fidelity: 0.30000000000000004 Best fidelities: 0: 0.1 2: 0.30000000000000004 1: 0.2 Fidelity: 0.4 Best fidelities: 2: 0.30000000000000004 3: 0.4 1: 0.2 Fidelity: 0.5 Best fidelities: 4: 0.5 2: 0.30000000000000004 3: 0.4 Fidelity: 0.6000000000000001 Best fidelities: 5: 0.6000000000000001 4: 0.5 3: 0.4 Fidelity: 0.7000000000000001 Best fidelities: 5: 0.6000000000000001 4: 0.5 6: 0.7000000000000001 Fidelity: 0.8 Best fidelities: 5: 0.6000000000000001 6: 0.7000000000000001 7: 0.8 Fidelity: 0.9 Best fidelities: 6: 0.7000000000000001 7: 0.8 8: 0.9 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.362s jacobian structure: 1600 nonzeros (2.429s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.338s 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 (4.392s) linear index maps built (0.001s) evaluator ready (total: 6.822s) evaluator created (6.851s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 6.854s) Difference in Hessian initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) 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 (0.051s) linear index maps built (0.001s) evaluator ready (total: 0.119s) evaluator created (0.119s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: 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 (2.193s) optimizer initialization complete (total: 2.314s) 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 2.7374946e+00 3.06e+00 1.63e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8655875e+00 2.79e-02 8.38e-01 -1.0 2.00e+00 -2.0 9.88e-01 1.00e+00f 1 2 2.3740783e+00 3.11e-02 6.76e-02 -1.7 4.27e-01 -1.6 9.72e-01 1.00e+00h 1 3 2.1671769e+00 7.72e-03 6.68e-01 -3.5 1.68e-01 -1.1 9.21e-01 1.00e+00h 1 4 2.0965442e+00 2.21e-03 2.54e-01 -4.0 1.28e-01 -1.6 1.00e+00 8.89e-01h 1 5 2.0925004e+00 1.23e-03 1.26e+00 -4.0 1.13e+00 -2.1 1.00e+00 3.40e-01h 1 6 2.0909724e+00 4.47e-04 4.50e-01 -4.0 1.10e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0909949e+00 5.09e-06 1.93e-02 -4.0 4.97e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909818e+00 3.13e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909611e+00 2.41e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908994e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907172e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901981e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888560e+00 8.18e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861698e+00 4.38e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830983e+00 9.09e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828529e+00 9.31e-04 2.27e-02 -4.0 5.43e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823459e+00 3.89e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820405e+00 9.47e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.71e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.34e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.83e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191004e+00 2.0819382907191004e+00 Dual infeasibility......: 1.2204879901861476e-11 1.2204879901861476e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000029e-04 1.0000000000000029e-04 Overall NLP error.......: 1.2204879901861476e-11 1.2204879901861476e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 28.633 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.066s) integrator 1 hessian structure: 0.053s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.055s) linear index maps built (0.001s) evaluator ready (total: 0.122s) evaluator created (0.122s) 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 (0.065s) optimizer initialization complete (total: 0.188s) 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 2.8175859e+00 2.57e+00 1.93e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8838373e+00 2.54e-02 5.72e-01 -1.0 2.52e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3092425e+00 2.58e-02 1.17e-01 -1.7 3.21e-01 -1.6 9.15e-01 1.00e+00h 1 3 2.1193348e+00 1.02e-03 1.52e-01 -2.8 5.23e-02 -1.1 9.63e-01 1.00e+00h 1 4 2.1027303e+00 4.34e-04 9.66e-01 -3.6 1.34e-01 -1.6 1.00e+00 5.82e-01h 1 5 2.0934378e+00 7.78e-04 6.22e-01 -4.0 7.30e-01 -2.1 1.00e+00 5.22e-01h 1 6 2.0920733e+00 5.77e-04 1.07e+00 -4.0 1.46e+00 -2.6 1.00e+00 2.60e-01h 1 7 2.0909619e+00 1.08e-04 2.79e-01 -4.0 1.18e+00 -3.1 1.00e+00 1.00e+00h 1 8 2.0908553e+00 4.54e-06 2.34e-03 -4.0 8.15e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908586e+00 2.26e-06 4.95e-05 -4.0 2.22e-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 2.0908112e+00 1.23e-07 2.86e-04 -4.0 5.43e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907113e+00 7.35e-07 1.07e-03 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904360e+00 6.36e-06 8.85e-04 -4.0 4.28e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902488e+00 6.24e-06 2.00e-02 -4.0 1.22e+01 -5.9 6.94e-01 1.78e-01h 2 14 2.0886918e+00 1.56e-04 3.98e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.69e-01h 1 15 2.0859500e+00 1.56e-03 1.19e-01 -4.0 6.97e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835572e+00 8.50e-04 1.70e-01 -4.0 1.29e+01 -5.5 1.00e+00 5.10e-01h 1 17 2.0833580e+00 1.42e-04 1.03e-02 -4.0 5.01e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828932e+00 6.53e-05 3.04e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827595e+00 6.43e-05 2.53e-03 -4.0 2.82e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824918e+00 1.82e-04 3.10e-03 -4.0 7.33e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821486e+00 9.99e-04 9.84e-03 -4.0 1.82e+02 -7.9 5.50e-01 1.00e+00h 1 22 2.0820928e+00 1.33e-03 2.72e+00 -4.0 2.60e+02 -6.6 1.00e+00 5.69e-02h 3 23 2.0820845e+00 4.86e-05 2.77e-03 -4.0 2.64e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0824838e+00 6.40e-07 4.98e-02 -4.0 1.33e+00 -4.8 6.28e-01 1.00e+00H 1 25 2.0822223e+00 4.21e-06 7.75e-03 -4.0 1.29e-01 -1.7 1.00e+00 1.00e+00h 1 26 2.0821485e+00 1.06e-07 1.36e-03 -4.0 3.69e-02 -2.2 1.00e+00 1.00e+00h 1 27 2.0821278e+00 1.10e-08 1.19e-04 -4.0 5.36e-02 -2.7 1.00e+00 1.00e+00h 1 28 2.0821260e+00 4.72e-08 6.29e-05 -4.0 8.90e-02 -3.1 1.00e+00 1.00e+00h 1 29 2.0821257e+00 8.49e-08 5.83e-06 -4.0 2.43e-02 -3.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821260e+00 2.00e-07 5.47e-06 -4.0 6.83e-02 -4.1 1.00e+00 1.00e+00h 1 31 2.0819932e+00 5.09e-06 5.25e-05 -4.1 2.01e-01 -4.6 1.00e+00 1.00e+00h 1 32 2.0821286e+00 4.50e-06 1.11e-04 -4.0 3.81e-01 -5.1 1.00e+00 1.00e+00h 1 33 2.0819660e+00 2.84e-05 9.51e-05 -4.1 1.09e+00 -5.5 1.00e+00 1.00e+00h 1 34 2.0820961e+00 1.75e-05 3.94e-04 -4.0 1.37e+00 -6.0 1.00e+00 1.00e+00h 1 35 2.0818689e+00 1.15e-04 2.70e-04 -4.1 5.09e+00 -6.5 1.00e+00 1.00e+00h 1 36 2.0820424e+00 1.57e-04 1.02e-03 -4.0 7.17e+00 -7.0 1.00e+00 1.00e+00h 1 37 2.0817482e+00 5.24e-04 3.13e-04 -4.1 2.26e+01 -7.4 1.00e+00 1.00e+00h 1 38 2.0819057e+00 8.68e-04 3.22e-03 -4.0 3.74e+01 -7.9 1.00e+00 1.00e+00h 1 39 2.0815986e+00 1.15e-03 2.71e-03 -4.1 5.08e+01 -8.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818413e+00 8.90e-04 8.26e-04 -4.0 3.78e+01 -8.9 1.00e+00 1.00e+00h 1 41 2.0815805e+00 3.36e-04 8.68e-05 -4.1 1.47e+01 -9.3 1.00e+00 1.00e+00h 1 42 2.0818394e+00 1.86e-04 2.55e-05 -4.0 8.49e+00 -9.8 1.00e+00 1.00e+00h 1 43 2.0818383e+00 2.52e-08 5.43e-08 -4.0 3.41e-01 -10.3 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.89e-13 1.22e-11 -4.0 2.62e-03 -10.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 44 (scaled) (unscaled) Objective...............: 2.0818383021807376e+00 2.0818383021807376e+00 Dual infeasibility......: 1.2204042111737742e-11 1.2204042111737742e-11 Constraint violation....: 1.8901546994243290e-13 1.8901546994243290e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000469696e-04 1.0000000000469696e-04 Overall NLP error.......: 1.2204042111737742e-11 1.2204042111737742e-11 Number of objective function evaluations = 53 Number of objective gradient evaluations = 45 Number of equality constraint evaluations = 53 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 45 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 44 Total seconds in IPOPT = 29.661 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.089s) integrator 1 hessian structure: 0.051s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.315s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (MinimumTimeObjective): 0.018s objective hessian structure: 0.519s hessian structure: 375 nonzeros (0.571s) linear index maps built (0.0s) evaluator ready (total: 0.813s) evaluator created (1.282s) NL constraint bounds extracted (0.012s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.111s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.329s) optimizer initialization complete (total: 4.736s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3199597e+00 8.84e-01 1.13e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2847881e+00 3.18e-01 1.96e+00 -1.2 1.36e+00 -2.0 1.00e+00 1.00e+00h 1 2 1.2871805e+00 1.53e-01 6.66e-01 -1.0 3.13e-01 -0.7 1.00e+00 5.21e-01h 1 3 1.4275167e+00 6.47e-02 1.67e+00 -2.0 6.26e-01 -1.1 9.81e-01 1.00e+00h 1 4 1.3050550e+00 4.41e-02 6.92e-01 -1.2 7.06e-01 -0.7 1.00e+00 3.19e-01f 1 5 1.2486939e+00 2.49e-02 6.51e-01 -1.7 5.63e-01 -1.2 8.37e-01 4.34e-01H 1 6 1.1547961e+00 2.15e-03 1.32e-01 -2.4 1.33e+00 - 9.98e-01 1.00e+00h 1 7 1.0971035e+00 1.42e-04 1.95e-02 -4.0 5.61e-01 - 1.00e+00 9.35e-01h 1 8 1.0909252e+00 3.58e-06 1.10e-02 -4.0 9.37e-01 - 1.00e+00 1.00e+00h 1 9 1.0908996e+00 2.27e-09 4.06e-04 -4.0 1.62e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 2.12e-15 7.31e-10 -4.0 1.15e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0908997263375841e+00 1.0908997263375841e+00 Dual infeasibility......: 7.3102268602692229e-10 7.3102268602692229e-10 Constraint violation....: 2.1171535088289871e-15 2.1171535088289871e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001021047315e-04 1.0000001021047315e-04 Overall NLP error.......: 7.3102268602692229e-10 7.3102268602692229e-10 Number of objective function evaluations = 12 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 31.386 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.066s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.067s) integrator 1 hessian structure: 0.058s 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 (0.06s) linear index maps built (0.001s) evaluator ready (total: 0.129s) evaluator created (0.129s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.408s) optimizer initialization complete (total: 0.538s) 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 4.1676431e+00 3.10e+00 1.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5249199e+00 2.52e+00 3.19e+00 -0.8 1.13e+01 -2.0 9.34e-02 3.88e-01f 1 2 2.1436198e+00 1.86e+00 3.69e+00 -0.4 3.12e+00 -0.7 7.81e-01 2.75e-01f 1 3 1.9561240e+00 1.26e+00 4.26e+00 -0.2 1.00e+01 -1.1 6.94e-01 3.16e-01f 1 4 1.9493431e+00 5.51e-01 3.34e+00 -0.7 3.14e+00 -0.7 4.89e-01 6.17e-01h 1 5 1.9369426e+00 4.10e-01 2.40e+00 -0.6 1.68e+00 -0.3 5.00e-01 2.57e-01h 1 6 1.9603029e+00 3.47e-01 7.25e-01 -4.0 2.34e+00 -0.8 6.52e-01 1.00e+00h 1 7 1.6868392e+00 2.57e-03 1.37e+00 -2.6 4.98e-01 -1.3 6.75e-01 1.00e+00h 1 8 1.4312278e+00 3.10e-02 3.19e-01 -1.7 1.60e+00 -1.7 9.93e-01 6.68e-01f 1 9 1.2827906e+00 1.90e-03 1.66e-02 -2.3 6.13e-01 -2.2 9.89e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2066999e+00 1.31e-02 6.23e-02 -3.6 1.06e+00 -2.7 8.56e-01 1.00e+00h 1 11 1.1889687e+00 1.38e-02 1.86e-02 -4.0 1.66e+00 -3.2 1.00e+00 1.00e+00h 1 12 1.1864315e+00 2.06e-03 1.54e-03 -4.0 7.22e-01 -2.7 1.00e+00 1.00e+00h 1 13 1.1834128e+00 1.27e-02 5.39e-03 -4.0 1.48e+00 -3.2 1.00e+00 1.00e+00h 1 14 1.1796558e+00 3.53e-02 6.17e-03 -4.0 2.24e+00 -3.7 1.00e+00 1.00e+00h 1 15 3.6022194e+00 8.13e-03 1.46e+01 -4.0 1.34e+01 -4.2 4.95e-02 1.00e+00H 1 16 3.3124624e+00 7.72e-03 1.39e+01 -4.1 1.53e+00 -0.1 2.13e-01 5.01e-02f 1 17 1.1797188e+00 1.40e-03 2.59e+00 -4.1 1.26e+00 -0.6 6.00e-01 8.19e-01f 1 18 1.1815675e+00 1.32e-03 7.71e+00 -4.0 6.11e-02 -1.1 9.75e-01 5.56e-02h 1 19 1.1816275e+00 7.43e-05 1.67e-02 -3.9 5.01e-02 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1799005e+00 6.82e-04 6.01e-03 -4.0 1.81e-01 -2.0 1.00e+00 1.00e+00h 1 21 1.1795339e+00 8.83e-05 4.66e-04 -4.0 1.03e-01 -2.5 1.00e+00 1.00e+00h 1 22 1.1792174e+00 6.01e-04 3.04e-04 -4.0 2.96e-01 -3.0 1.00e+00 1.00e+00h 1 23 1.1784498e+00 1.93e-03 1.14e-03 -4.0 8.11e-01 -3.5 1.00e+00 1.00e+00h 1 24 1.1766751e+00 1.30e-02 7.71e-03 -4.0 2.02e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1737264e+00 3.36e-02 3.72e-02 -4.0 4.12e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1707269e+00 6.86e-02 4.99e-03 -4.0 6.95e+00 -4.9 5.98e-01 1.00e+00h 1 27 7.7459693e+01 2.53e-02 3.08e+02 -4.0 5.75e+01 -4.5 4.35e-03 8.80e-01h 1 28 5.8029073e+01 2.22e-02 2.70e+02 -4.1 2.66e+00 0.5 2.05e-02 1.22e-01f 1 29 5.7991053e+01 2.22e-02 2.69e+02 -4.1 1.98e+00 -0.0 1.00e+00 3.21e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7489221e+00 6.89e-03 3.02e+01 -4.1 7.89e+00 -0.5 1.41e-01 6.90e-01f 1 31 1.2101244e+00 1.82e-03 5.26e+01 -4.1 1.51e-01 -1.0 1.00e+00 7.36e-01f 1 32 1.2116891e+00 1.79e-03 5.41e+01 -4.1 1.05e-01 -1.4 8.23e-01 1.56e-02h 7 33 1.2020620e+00 8.60e-02 4.63e+01 -4.1 2.92e+01 -1.9 6.19e-01 1.18e-01f 1 34 1.2007679e+00 8.41e-02 4.72e+01 -4.1 8.74e-02 -1.5 1.00e+00 2.22e-02h 1 35 1.1990727e+00 7.63e-02 3.99e+01 -4.1 4.89e+00 -2.0 4.86e-01 1.57e-01f 1 36 1.1994212e+00 2.87e-02 1.49e+01 -4.1 2.55e-01 -2.4 1.00e+00 6.25e-01h 1 37 1.1997318e+00 1.30e-04 2.76e-02 -4.1 9.52e-02 -2.0 1.00e+00 1.00e+00f 1 38 1.1994997e+00 2.13e-04 9.16e-04 -4.1 2.86e-01 -2.5 1.00e+00 1.00e+00h 1 39 1.1986857e+00 6.59e-04 1.12e-03 -4.1 8.21e-01 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1962637e+00 1.70e-03 1.06e-02 -4.1 2.33e+00 -3.4 1.00e+00 1.00e+00h 1 41 1.1903305e+00 1.25e-02 7.48e-02 -4.1 6.16e+00 -3.9 1.00e+00 1.00e+00h 1 42 1.1799644e+00 8.96e-02 3.43e-01 -4.1 1.33e+01 -4.4 1.00e+00 1.00e+00h 1 43 1.1706676e+00 5.24e-01 8.39e-02 -4.1 1.89e+01 -4.9 7.01e-01 1.00e+00h 1 44 1.1700427e+00 4.75e-01 2.42e-01 -4.0 1.29e+01 -5.4 4.24e-01 1.47e-01h 1 45 1.1693652e+00 7.67e-02 2.70e-01 -4.0 8.99e+00 -4.0 1.00e+00 1.00e+00h 1 46 1.1696978e+00 2.39e-03 2.35e-03 -3.8 1.82e+00 -4.5 9.86e-01 1.00e+00h 1 47 1.1684855e+00 1.16e-02 7.10e-04 -4.0 4.62e+00 -5.0 1.00e+00 1.00e+00h 1 48 1.1686012e+00 2.02e-05 7.98e-04 -4.0 5.00e-02 -1.8 1.00e+00 1.00e+00h 1 49 1.1685777e+00 8.79e-07 3.58e-04 -4.0 7.56e-02 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.1685983e+00 4.11e-10 2.75e-03 -4.0 1.28e-01 -2.8 1.00e+00 1.00e+00H 1 51 1.1685556e+00 2.60e-06 9.70e-04 -4.0 5.98e-01 -3.3 5.39e-01 1.87e-01f 2 52 1.1685268e+00 3.66e-05 4.85e-05 -4.0 2.77e-01 -3.8 1.00e+00 1.00e+00h 1 53 1.1684407e+00 3.10e-04 4.68e-05 -4.0 8.00e-01 -4.2 1.00e+00 1.00e+00h 1 54 1.1682027e+00 2.34e-03 4.35e-05 -4.0 2.23e+00 -4.7 1.00e+00 1.00e+00h 1 55 1.1676263e+00 1.35e-02 1.74e-04 -4.0 5.57e+00 -5.2 1.00e+00 1.00e+00h 1 56 1.1665747e+00 4.87e-02 1.87e-04 -4.0 1.16e+01 -5.7 1.00e+00 1.00e+00h 1 57 1.1652534e+00 1.07e-01 7.77e-04 -4.0 2.07e+01 -6.1 1.00e+00 1.00e+00h 1 58 1.1639762e+00 1.74e-01 3.35e-03 -4.0 3.36e+01 -6.6 1.00e+00 1.00e+00h 1 59 1.1628713e+00 2.43e-01 7.64e-03 -4.0 5.22e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.1619673e+00 3.12e-01 1.32e-02 -4.0 7.89e+01 -7.6 1.00e+00 1.00e+00h 1 61 1.1612590e+00 3.78e-01 1.91e-02 -4.0 1.16e+02 -8.1 1.00e+00 1.00e+00h 1 62 1.1607474e+00 4.23e-01 2.35e-02 -4.0 1.64e+02 -8.5 1.00e+00 1.00e+00h 1 63 1.1604982e+00 3.82e-01 1.99e-02 -4.0 2.06e+02 -9.0 1.00e+00 1.00e+00h 1 64 1.1607261e+00 9.36e-02 1.91e-03 -4.0 1.42e+02 -9.5 1.00e+00 1.00e+00h 1 65 1.1608531e+00 2.55e-03 7.70e-04 -4.0 1.51e+01 -10.0 1.00e+00 1.00e+00h 1 66 1.1608491e+00 1.98e-04 2.42e-05 -4.0 5.86e+00 -10.4 1.00e+00 1.00e+00h 1 67 1.1608491e+00 1.08e-07 4.51e-10 -4.0 1.47e-01 -10.9 1.00e+00 1.00e+00h 1 68 1.1608491e+00 1.13e-12 1.12e-13 -4.0 4.37e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 68 (scaled) (unscaled) Objective...............: 1.1608491307792173e+00 1.1608491307792173e+00 Dual infeasibility......: 1.1217375227474957e-13 1.1217375227474957e-13 Constraint violation....: 1.1279865930191590e-12 1.1279865930191590e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000514e-04 1.0000000000000514e-04 Overall NLP error.......: 1.1279865930191590e-12 1.1279865930191590e-12 Number of objective function evaluations = 80 Number of objective gradient evaluations = 69 Number of equality constraint evaluations = 80 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 69 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 68 Total seconds in IPOPT = 33.043 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.054s jacobian structure: 180 nonzeros (0.091s) integrator 1 hessian structure: 0.053s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.344s sub-objective 2 (QuadraticRegularizer): 0.095s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.02s objective hessian structure: 0.559s hessian structure: 375 nonzeros (0.612s) linear index maps built (0.0s) evaluator ready (total: 0.855s) evaluator created (1.292s) NL constraint bounds extracted (0.013s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.113s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.74s) optimizer initialization complete (total: 4.159s) 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 1.3783540e+00 7.21e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8008185e+00 1.03e-01 1.40e+00 -1.0 8.33e-01 0.0 9.97e-01 1.00e+00h 1 2 1.6010820e+00 4.27e-02 7.04e-01 -0.8 4.47e-01 -0.5 8.92e-01 4.89e-01h 1 3 1.6637642e+00 3.57e-02 9.11e-01 -1.2 3.88e+00 - 9.16e-01 7.12e-01h 1 4 1.3065224e+00 1.18e-02 3.14e-01 -1.6 2.19e-01 -1.0 9.83e-01 8.41e-01f 1 5 1.1134311e+00 1.01e-04 6.49e-02 -2.9 1.72e+00 - 9.95e-01 1.00e+00h 1 6 1.0920422e+00 2.16e-06 1.52e-01 -4.0 3.36e+00 - 1.00e+00 1.00e+00h 1 7 1.0909457e+00 3.47e-09 5.66e-03 -4.0 6.98e-01 - 1.00e+00 1.00e+00h 1 8 1.0910391e+00 1.22e-14 9.94e-05 -4.0 9.98e-02 - 1.00e+00 1.00e+00f 1 9 1.0910386e+00 8.88e-16 2.67e-05 -4.0 1.81e-03 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.41e-27 3.14e-14 -4.0 1.87e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 3.1363149924357181e-14 3.1363149924357181e-14 Constraint violation....: 1.4124346283382085e-27 1.4124346283382085e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000156e-04 1.0000000000000156e-04 Overall NLP error.......: 3.1363149924357181e-14 3.1363149924357181e-14 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 23.136 EXIT: Optimal Solution Found. Difference in Jacobian 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 5.7947433e+00 2.91e+00 4.50e-01 9.80e-01 -1.0 - 0.00e+00 1 0 1 5.7947426e+00 2.91e+00 2.32e-04 9.06e-06 -1.0 -2.0 1.00e-07 1 2h 2 2.6719996e+00 5.23e-02 2.53e-04 6.16e-06 -1.0 -1.6 1.00e+00 1 1h 3 2.4125446e+00 1.49e-01 5.10e-04 1.04e-05 -2.5 -2.1 4.73e-01 1 1h 4 2.1845946e+00 1.32e-01 7.40e-04 1.29e-05 -2.5 -2.5 7.29e-01 1 1h 5 2.1231383e+00 1.23e-02 2.74e-04 8.24e-06 -2.5 -3.0 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1231382644854047e+00 2.1231382644854047e+00 Dual infeasibility......: 2.7363581436595026e-04 2.7363581436595026e-04 Constraint violation....: 1.2332641628391833e-02 1.2332641628391833e-02 Complementarity.........: 8.2375193093031514e-06 8.2375193093031514e-06 Overall NLP error.......: 1.2332641628391833e-02 1.2332641628391833e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 19.146 s Total wall secs in linear solver = 0.023 s Total wall secs in NLP function evaluations = 21.046 s Total wall secs in solver (w/o init./fun./lin. alg.) = 47.317 s Total wall secs = 87.532 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 1.5948093e+00 3.10e+00 5.85e-01 9.73e-01 -1.0 - 0.00e+00 1 0 1 1.5948092e+00 3.10e+00 3.49e-03 7.16e-04 -1.0 0.0 1.00e-07 1 2h 2 1.4714728e+00 2.11e+00 5.82e-03 2.61e-04 -1.0 -0.5 3.19e-01 1 1h 3 2.3771780e+00 3.04e-01 3.19e-04 6.06e-05 -1.0 -1.0 8.58e-01 1 1h 4 2.3554421e+00 4.47e-02 6.09e-04 4.94e-05 -1.7 -1.4 1.00e+00 1 1h 5 2.1524077e+00 2.15e-02 3.28e-04 3.53e-05 -2.5 -1.9 9.58e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1524076783719126e+00 2.1524076783719126e+00 Dual infeasibility......: 3.2779775753319341e-04 3.2779775753319341e-04 Constraint violation....: 2.1541612340166088e-02 2.1541612340166088e-02 Complementarity.........: 3.5326889281093622e-05 3.5326889281093622e-05 Overall NLP error.......: 2.1541612340166088e-02 2.1541612340166088e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.006 s Total wall secs in NLP function evaluations = 21.309 s Total wall secs in solver (w/o init./fun./lin. alg.) = 23.576 s Total wall secs = 44.893 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 4.7932891e+00 3.10e+00 7.70e-01 9.46e-01 -1.0 - 0.00e+00 1 0 1 4.7932885e+00 3.10e+00 1.20e-03 1.74e-04 -1.0 0.0 1.00e-07 1 2h 2 4.1472300e+00 2.73e+00 1.08e-03 1.36e-04 -1.0 -0.5 1.20e-01 1 1h 3 2.7448231e+00 8.81e-02 1.97e-04 1.64e-05 -1.0 -1.0 1.00e+00 1 1h 4 2.3068898e+00 6.76e-02 3.94e-04 1.60e-05 -2.5 -1.4 9.83e-01 1 1h 5 2.1608711e+00 2.44e-02 4.01e-04 1.47e-05 -2.5 -1.9 9.75e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1608710976814347e+00 2.1608710976814347e+00 Dual infeasibility......: 4.0106971485821846e-04 4.0106971485821846e-04 Constraint violation....: 2.4392196408424924e-02 2.4392196408424924e-02 Complementarity.........: 1.4747532747301238e-05 1.4747532747301238e-05 Overall NLP error.......: 2.4392196408424924e-02 2.4392196408424924e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 0.001 s Total wall secs in linear solver = 0.006 s Total wall secs in NLP function evaluations = 21.943 s Total wall secs in solver (w/o init./fun./lin. alg.) = 11.516 s Total wall secs = 33.466 s EXIT: Maximum Number of Iterations Exceeded. This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.8619766e+00 3.00e+00 1.81e+00 9.68e-01 -1.0 - 0.00e+00 0 0 1 2.8619756e+00 3.00e+00 9.91e-05 1.63e-05 -1.0 -4.0 2.00e-07 1 1h 2 3.5876640e+00 2.14e+00 3.28e-04 9.50e-06 -1.0 -3.6 2.82e-01 1 1h 3 2.7493677e+00 1.15e+00 4.99e-04 6.05e-06 -1.0 -4.1 9.57e-01 1 1h 4 2.6664139e+00 2.45e-01 2.66e-05 2.71e-06 -1.0 -2.7 1.00e+00 1 1h 5 2.3629319e+00 8.88e-02 1.03e-04 3.45e-06 -1.7 -3.2 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.3629318569067790e+00 2.3629318569067790e+00 Dual infeasibility......: 1.0265474563660114e-04 1.0265474563660114e-04 Constraint violation....: 8.8783718671786360e-02 8.8783718671786360e-02 Complementarity.........: 3.4451245032047328e-06 3.4451245032047328e-06 Overall NLP error.......: 8.8783718671786360e-02 8.8783718671786360e-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 = 11.896 s Total wall secs in linear solver = 0.004 s Total wall secs in NLP function evaluations = 21.095 s Total wall secs in solver (w/o init./fun./lin. alg.) = 37.412 s Total wall secs = 70.408 s EXIT: Maximum Number of Iterations Exceeded. [ Info: Setting fixed_variable_treatment = MadNLP.RelaxBound for AbstractIntermediateCallback (MadNLP's kkt_system default would otherwise eliminate fixed vars from solver.x) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 3.4682108e+00 2.30e+00 8.94e-01 9.53e-01 -1.0 - 0.00e+00 1 0 1 3.4682104e+00 2.30e+00 1.23e-03 3.28e-04 -1.0 0.0 1.00e-07 1 2h 2 2.1358821e+00 1.29e+00 4.84e-04 7.13e-05 -1.0 -0.5 4.38e-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 3.2732018e+00 3.73e+00 4.95e-01 9.55e-01 -1.0 - 0.00e+00 1 0 1 2.7234647e+00 1.72e+00 1.14e+00 3.03e-01 -1.0 0.0 5.40e-01 2 1h 2 2.6266920e+00 6.51e-02 1.21e+00 1.21e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.5844184e+00 8.62e-02 2.18e-01 1.06e-01 -1.0 -1.0 7.97e-01 2 1h 4 2.3326680e+00 6.91e-03 7.26e-02 3.28e-02 -1.7 -1.4 1.00e+00 2 1h 5 2.1200603e+00 9.01e-03 1.77e-02 5.09e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.0910331e+00 1.15e-03 2.19e-03 2.24e-04 -3.8 -2.4 1.00e+00 2 1h 7 2.0913112e+00 8.66e-06 5.53e-05 1.51e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899719e+00 5.55e-06 1.70e-05 7.68e-06 -5.7 -3.3 1.00e+00 2 1h 9 2.0899402e+00 4.99e-06 2.26e-04 2.38e-06 -8.6 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899095e+00 1.42e-05 4.34e-04 7.33e-09 -8.6 -4.3 7.24e-01 2 1h 11 2.0897955e+00 6.36e-05 4.51e-05 2.55e-09 -8.6 -4.8 1.00e+00 2 1h 12 2.0897355e+00 5.55e-05 1.03e-02 2.57e-09 -8.6 -5.2 1.79e-01 2 1h 13 2.0887955e+00 1.18e-04 1.19e-03 8.33e-09 -8.6 -5.7 1.00e+00 2 1h 14 2.0886159e+00 1.09e-04 8.20e-02 3.06e-09 -8.6 -6.2 7.62e-02 2 1h 15 2.0840211e+00 2.70e-05 4.45e-02 5.79e-09 -8.6 -6.7 1.00e+00 2 1h 16 2.0832776e+00 2.27e-05 1.45e-01 4.07e-09 -8.6 -7.2 1.60e-01 2 1h 17 2.0816601e+00 1.61e-05 1.53e-01 4.49e-09 -8.6 -7.6 2.97e-01 1 1h 18 2.0814807e+00 1.36e-05 2.23e-01 3.07e-06 -8.6 -8.1 1.56e-01 1 1h 19 2.0806695e+00 1.86e-06 1.39e-01 3.32e-06 -8.6 -8.6 8.69e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0806929e+00 8.50e-07 4.64e-02 8.56e-05 -8.6 -7.3 5.44e-01 1 1h 21 2.0806894e+00 8.27e-07 4.95e-02 3.43e-05 -8.6 -7.7 2.63e-02 1 1h 22 2.0806520e+00 6.33e-07 3.61e-01 1.11e-06 -8.6 -6.4 2.35e-01 1 1h 23 2.0806542e+00 4.61e-07 2.24e-02 9.41e-06 -8.6 -6.9 2.73e-01 1 1h 24 2.0806149e+00 4.95e-09 1.88e-03 2.13e-06 -8.6 -7.4 1.00e+00 2 1h 25 2.0805970e+00 3.69e-09 6.51e-03 1.24e-06 -8.6 -7.8 2.93e-01 2 1h 26 2.0805832e+00 3.12e-09 1.15e-02 2.68e-07 -8.6 -8.3 1.90e-01 1 1h 27 2.0805478e+00 8.74e-09 1.70e-02 6.39e-08 -8.6 -8.8 1.00e+00 1 1h 28 2.0805441e+00 6.32e-09 3.62e-02 2.46e-08 -8.6 -6.6 2.73e-01 1 1h 29 2.0805434e+00 5.20e-09 4.39e-02 3.99e-07 -8.6 -7.0 1.73e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0805396e+00 4.97e-10 1.34e-04 4.64e-08 -8.6 -7.5 1.00e+00 2 1h 31 2.0805371e+00 8.51e-11 3.68e-03 3.75e-09 -8.6 -8.0 1.00e+00 2 1h 32 2.0805371e+00 1.14e-11 3.14e-06 2.50e-08 -8.6 -6.7 1.00e+00 1 1h 33 2.0805371e+00 1.39e-13 9.18e-07 6.73e-09 -8.6 -6.2 1.00e+00 1 1h 34 2.0805371e+00 1.02e-13 1.43e-07 2.51e-09 -8.6 -6.7 1.00e+00 2 1h 35 2.0805370e+00 5.82e-13 8.19e-07 2.51e-09 -8.6 -7.2 1.00e+00 2 1h 36 2.0805368e+00 2.82e-12 3.81e-06 2.51e-09 -8.6 -7.7 1.00e+00 2 1h 37 2.0805366e+00 6.74e-12 9.83e-06 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 38 2.0805365e+00 1.49e-11 4.26e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 39 2.0805365e+00 4.23e-12 1.02e-05 1.21e-07 -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 2.0805365e+00 1.66e-12 5.47e-07 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 41 2.0805365e+00 1.89e-13 1.96e-06 3.46e-09 -8.6 -7.3 1.00e+00 1 1h 42 2.0805365e+00 5.26e-13 1.66e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h 43 2.0805365e+00 9.01e-13 5.54e-07 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 44 2.0805365e+00 8.20e-13 5.57e-07 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 45 2.0805365e+00 1.66e-13 1.10e-07 2.51e-09 -8.6 -9.3 1.00e+00 1 1h 46 2.0805365e+00 4.88e-15 3.11e-09 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 46 (scaled) (unscaled) Objective...............: 2.0805364803022623e+00 2.0805364803022623e+00 Dual infeasibility......: 3.1146135115456275e-09 3.1146135115456275e-09 Constraint violation....: 4.8849813083506888e-15 4.8849813083506888e-15 Complementarity.........: 2.5059035602159491e-09 2.5059035602159491e-09 Overall NLP error.......: 3.1146135115456275e-09 3.1146135115456275e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 47 Number of constraint evaluations = 47 Number of constraint Jacobian evaluations = 47 Number of Lagrangian Hessian evaluations = 46 Number of KKT factorizations = 108 Number of KKT backsolves = 71 Total wall secs in initialization = 3.024 s Total wall secs in linear solver = 0.044 s Total wall secs in NLP function evaluations = 22.471 s Total wall secs in solver (w/o init./fun./lin. alg.) = 34.592 s Total wall secs = 60.131 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/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 ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile ====================================================================================== cmd: /opt/julia/bin/julia 159 running 1 of 1 signal (10): User defined signal 1 jl_to_typeof at /source/src/julia.h:983 [inlined] ijl_types_equal at /source/src/subtype.c:2357 jl_specializations_get_linfo_ at /source/src/gf.c:237 cache_method at /source/src/gf.c:1587 ml_matches at /source/src/gf.c:4916 ml_matches at /source/src/gf.c:4608 [inlined] ijl_matching_methods at /source/src/gf.c:3126 [inlined] ijl_matching_methods at /source/src/gf.c:3113 _methods_by_ftype at ./runtime_internals.jl:1415 [inlined] _findall at ./../usr/share/julia/Compiler/src/methodtable.jl:105 [inlined] #findall#5 at ./../usr/share/julia/Compiler/src/methodtable.jl:70 [inlined] findall at ./../usr/share/julia/Compiler/src/methodtable.jl:70 [inlined] #findall#13 at ./../usr/share/julia/Compiler/src/methodtable.jl:113 findall at ./../usr/share/julia/Compiler/src/methodtable.jl:110 [inlined] find_simple_method_matches at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:386 jfptr_find_simple_method_matches_14278.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_invoke at /source/src/gf.c:4021 tojlinvoke86057.1 at /opt/julia/lib/julia/sys.so (unknown line) j_find_simple_method_matches_79094.1 at /opt/julia/lib/julia/sys.so (unknown line) #find_method_matches#135 at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:348 [inlined] find_method_matches at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:342 [inlined] abstract_call_gf_by_type at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:120 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2822 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2931 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2924 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3084 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3102 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3431 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3877 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3834 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4388 jfptr_typeinf_local_84207.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4581 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1256 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1439 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1448 jfptr_typeinf_ext_toplevel_82967.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] jl_type_infer at /source/src/gf.c:466 jl_compile_method_internal at /source/src/gf.c:3516 _jl_invoke at /source/src/gf.c:4006 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jacobian! at /home/pkgeval/.julia/packages/ForwardDiff/4J2wz/src/jacobian.jl:58 unknown function (ip: 0x734702d7b95b) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/integrators/bilinear_integrator.jl:114 unknown function (ip: 0x734702d7b400) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:507 unknown function (ip: 0x734717125ede) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:377 unknown function (ip: 0x73471712422a) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 eval_constraint_jacobian at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1108 jac_coord! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1270 [inlined] _eval_jac_wrapper! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/Callbacks/nlpmodels.jl:971 set_scaling! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/Callbacks/nlpmodels.jl:716 initialize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:39 #solve!#179 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:152 solve! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:132 [inlined] #solve!#178 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:131 [inlined] solve! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:131 unknown function (ip: 0x734702d485e2) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 optimize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1510 unknown function (ip: 0x7347238155f2) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #_solve#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:54 _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:13 [inlined] #solve!#56 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:202 [inlined] solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:195 unknown function (ip: 0x734702ed77f4) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 include_string at ./loading.jl:2873 include_string at ./loading.jl:2883 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] jl_f_invokelatest at /source/src/builtins.c:881 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118 [inlined] cd at ./file.jl:112 unknown function (ip: 0x7347505fa5c6) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117 unknown function (ip: 0x7347505fa20e) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:231 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 include_string at ./loading.jl:2873 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 _include at ./loading.jl:2933 include at ./Base.jl:307 IncludeInto at ./Base.jl:308 jfptr_IncludeInto_53184.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 exec_options at ./client.jl:283 _start at ./client.jl:550 jfptr__start_64964.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] true_main at /source/src/jlapi.c:971 jl_repl_entrypoint at /source/src/jlapi.c:1139 main at /source/cli/loader_exe.c:58 unknown function (ip: 0x734751a87249) 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 ============================================================== iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile ====================================================================================== 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 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430 ijl_task_get_next at /source/src/scheduler.c:457 poptask at ./task.jl:1216 wait at ./task.jl:1228 #wait#406 at ./condition.jl:141 wait at ./condition.jl:136 [inlined] wait at ./process.jl:693 wait at ./process.jl:686 jfptr_wait_70429.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 subprocess_handler at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2556 unknown function (ip: 0x717a0fb82983) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #205 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2496 withenv at ./env.jl:265 #190 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2311 with_temp_env at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2164 #186 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2278 #mktempdir#21 at ./file.jl:936 unknown function (ip: 0x717a0fb706cc) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 mktempdir at ./file.jl:932 mktempdir at ./file.jl:932 #sandbox#182 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2225 [inlined] sandbox at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2215 unknown function (ip: 0x717a0fb6d1b9) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #test#193 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2481 test at /source/usr/share/julia/stdlib/v1.12/Pkg/src/Operations.jl:2387 [inlined] #test#174 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:552 test at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:529 unknown function (ip: 0x717a0fb6c711) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #test#84 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:169 unknown function (ip: 0x717a0fb6c210) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 test at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:158 #test#82 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:157 test at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:157 [inlined] #test#81 at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:156 [inlined] test at /source/usr/share/julia/stdlib/v1.12/Pkg/src/API.jl:156 unknown function (ip: 0x717a0fb6173f) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 eval_body at /source/src/interpreter.c:558 eval_body at /source/src/interpreter.c:558 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 include_string at ./loading.jl:2873 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 _include at ./loading.jl:2933 include at ./Base.jl:306 exec_options at ./client.jl:317 _start at ./client.jl:550 jfptr__start_64964.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] true_main at /source/src/jlapi.c:971 jl_repl_entrypoint at /source/src/jlapi.c:1139 main at /source/cli/loader_exe.c:58 unknown function (ip: 0x717a2a4b6249) 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 ============================================================== 0 1.2704569e+00 2.98e+00 4.16e-01 9.76e-01 -1.0 - 0.00e+00 1 0 ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.12/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x0000717a0fbfc010 Total snapshots: 320. Utilization: 0% ╎320 @Base/client.jl:550 _start() ╎ 320 @Base/client.jl:317 exec_options(opts::Base.JLOptions) ╎ 320 @Base/Base.jl:306 include(mod::Module, _path::String) ╎ 320 @Base/loading.jl:2933 _include(mapexpr::Function, mod::Module, _pat… ╎ 320 @Base/loading.jl:2873 include_string(mapexpr::typeof(identity), mo… ╎ 320 @Base/boot.jl:489 eval(m::Module, e::Any) ╎ ╎ 320 @Pkg/src/API.jl:156 kwcall(::@NamedTuple{julia_args::Cmd}, ::typ… ╎ ╎ 320 @Pkg/src/API.jl:156 #test#81 ╎ ╎ 320 @Pkg/src/API.jl:157 test ╎ ╎ 320 @Pkg/src/API.jl:157 test(pkgs::Vector{String}; kwargs::Base.P… ╎ ╎ 320 @Pkg/src/API.jl:158 kwcall(::@NamedTuple{julia_args::Cmd}, :… ╎ ╎ ╎ 320 @Pkg/src/API.jl:169 test(pkgs::Vector{PackageSpec}; io::IOC… ╎ ╎ ╎ 320 @Pkg/src/API.jl:529 kwcall(::@NamedTuple{julia_args::Cmd, … ╎ ╎ ╎ 320 @Pkg/src/API.jl:552 test(ctx::Pkg.Types.Context, pkgs::Ve… ╎ ╎ ╎ 320 @Pkg/…erations.jl:2387 test ╎ ╎ ╎ 320 @Pkg/…erations.jl:2481 test(ctx::Pkg.Types.Context, pkg… ╎ ╎ ╎ ╎ 320 @Pkg/…rations.jl:2215 kwcall(::@NamedTuple{preferences… ╎ ╎ ╎ ╎ 320 @Pkg/…rations.jl:2225 #sandbox#182 ╎ ╎ ╎ ╎ 320 @Base/file.jl:932 mktempdir(fn::Function) ╎ ╎ ╎ ╎ 320 @Base/file.jl:932 mktempdir(fn::Function, parent::S… ╎ ╎ ╎ ╎ 320 @Base/file.jl:936 mktempdir(fn::Pkg.Operations.var… ╎ ╎ ╎ ╎ ╎ 320 @Pkg/…tions.jl:2278 (::Pkg.Operations.var"#186#18… ╎ ╎ ╎ ╎ ╎ 320 @Pkg/…tions.jl:2164 with_temp_env(fn::Pkg.Operat… ╎ ╎ ╎ ╎ ╎ 320 @Pkg/…tions.jl:2311 (::Pkg.Operations.var"#190#… ╎ ╎ ╎ ╎ ╎ 320 @Base/env.jl:265 withenv(::Pkg.Operations.var"… ╎ ╎ ╎ ╎ ╎ 320 @Pkg/…ions.jl:2496 (::Pkg.Operations.var"#205… ╎ ╎ ╎ ╎ ╎ ╎ 320 @Pkg/…ons.jl:2556 subprocess_handler(cmd::Cm… ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…ss.jl:686 wait(x::Base.Process) ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…ss.jl:693 wait(x::Base.Process, syn… ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…on.jl:136 wait ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…on.jl:141 wait(c::Base.GenericCon… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…sk.jl:1228 wait() 319╎ ╎ ╎ ╎ ╎ ╎ ╎ 320 @Base/…sk.jl:1216 poptask(W::Base.Intr… ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.12/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x00007347371fc010 Total snapshots: 13. Utilization: 100% ╎13 @Base/client.jl:550 _start() ╎ 13 @Base/client.jl:283 exec_options(opts::Base.JLOptions) ╎ 13 @Base/boot.jl:489 eval(m::Module, e::Any) ╎ 13 @Base/Base.jl:308 (::Base.IncludeInto)(fname::String) ╎ 13 @Base/Base.jl:307 include(mapexpr::Function, mod::Module, _path::Str… ╎ 13 @Base/loading.jl:2933 _include(mapexpr::Function, mod::Module, _pat… ╎ ╎ 13 @Base/loading.jl:2873 include_string(mapexpr::typeof(identity), mo… ╎ ╎ 13 @Base/boot.jl:489 eval(m::Module, e::Any) ╎ ╎ 13 @TestItemRunner/…r.jl:134 kwcall(::@NamedTuple{filter::var"#2#3"… ╎ ╎ 13 @TestItemRunner/….jl:231 run_tests(path::String; filter::var"#2… ╎ ╎ 13 @TestItemRunner/….jl:117 run_testitem(filepath::String, use_de… ╎ ╎ ╎ 13 @Base/file.jl:112 cd(f::TestItemRunner.var"#run_testitem##4#r… ╎ ╎ ╎ 13 @TestItemRunner/…jl:118 #run_testitem##4 ╎ ╎ ╎ 13 @TestItemRunner/….jl:7 withpath(f::TestItemRunner.var"#run_… ╎ ╎ ╎ 13 @TestItemRunner/…l:119 #run_testitem##6 ╎ ╎ ╎ 13 @Base/loading.jl:2883 include_string(m::Module, txt::Stri… ╎ ╎ ╎ ╎ 13 @Base/loading.jl:2873 include_string(mapexpr::typeof(ide… ╎ ╎ ╎ ╎ 13 @Base/boot.jl:489 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…l:195 kwcall(::@NamedTuple{options::Ma… ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:202 #solve!#56 ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:13 _solve ╎ ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:54 _solve(prob::DirectTrajOptProbl… ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…per.jl:1510 optimize!(model::MadNLPMOI.Op… ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…ver.jl:131 solve!(solver::MadNLP.MadNLPS… ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…er.jl:131 #solve!#178 ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…er.jl:132 solve! ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…er.jl:152 solve!(solver::MadNLP.MadNL… ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…er.jl:39 initialize!(solver::MadNLP.… ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/…s.jl:716 set_scaling!(cb::MadNLP.Sp… ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/….jl:971 _eval_jac_wrapper!(cb::Mad… ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/….jl:1270 jac_coord! ╎ ╎ ╎ ╎ ╎ ╎ ╎ 13 @MadNLP/….jl:1108 eval_constraint_jacobia… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:377 eval_constraint_jac… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:507 _fill_jacobian_val… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 13 @DirectTrajOpt/…:114 eval_jacobian(B::… 12╎ ╎ ╎ ╎ ╎ ╎ ╎ 13 @ForwardDiff/…:58 jacobian!(result::S… 1 2.6859588e+00 6.19e-02 1.68e+00 2.50e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 2 2.6527776e+00 3.91e-02 2.43e-01 1.06e-01 -1.0 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 3 2.4171304e+00 7.87e-03 1.63e-01 3.65e-02 -1.7 - 1.00e+00 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 4 2.1137310e+00 1.32e-02 7.08e-02 5.85e-03 -2.5 - 9.79e-01 1 1h ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 5 2.1158562e+00 2.39e-03 2.96e-02 3.02e-03 -2.5 - 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1158562182216163e+00 2.1158562182216163e+00 Dual infeasibility......: 2.9618847939929031e-02 2.9618847939929031e-02 Constraint violation....: 2.3896843985067306e-03 2.3896843985067306e-03 Complementarity.........: 3.0150833057824293e-03 3.0150833057824293e-03 Overall NLP error.......: 2.9618847939929031e-02 2.9618847939929031e-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 = 0.718 s Total wall secs in linear solver = 0.008 s Total wall secs in NLP function evaluations = 0.031 s Total wall secs in solver (w/o init./fun./lin. alg.) = 48.397 s Total wall secs = 49.153 s EXIT: Maximum Number of Iterations Exceeded. ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 [159] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/MadNLPSolverExt.jl:238 jl_is_type_type at /source/src/julia.h:1858 [inlined] obvious_subtype at /source/src/subtype.c:2079 ijl_subtype_env at /source/src/subtype.c:2301 abstract_call_known at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2686 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2931 abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:2924 [inlined] abstract_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3084 abstract_eval_call at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3102 [inlined] abstract_eval_statement_expr at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3431 abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3877 [inlined] abstract_eval_basic_statement at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:3834 [inlined] typeinf_local at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4388 jfptr_typeinf_local_84207.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4581 typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1256 typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1439 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1448 jfptr_typeinf_ext_toplevel_82967.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] jl_type_infer at /source/src/gf.c:466 jl_compile_method_internal at /source/src/gf.c:3516 _jl_invoke at /source/src/gf.c:4006 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 include_string at ./loading.jl:2873 include_string at ./loading.jl:2883 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] jl_f_invokelatest at /source/src/builtins.c:881 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7 #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118 [inlined] cd at ./file.jl:112 unknown function (ip: 0x7347505fa5c6) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117 unknown function (ip: 0x7347505fa20e) at (unknown file) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:231 run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 include_string at ./loading.jl:2873 _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 _include at ./loading.jl:2933 include at ./Base.jl:307 IncludeInto at ./Base.jl:308 jfptr_IncludeInto_53184.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] do_call at /source/src/interpreter.c:123 eval_value at /source/src/interpreter.c:243 eval_stmt_value at /source/src/interpreter.c:194 [inlined] eval_body at /source/src/interpreter.c:689 jl_interpret_toplevel_thunk at /source/src/interpreter.c:898 jl_toplevel_eval_flex at /source/src/toplevel.c:1035 jl_toplevel_eval_flex at /source/src/toplevel.c:975 ijl_toplevel_eval at /source/src/toplevel.c:1047 ijl_toplevel_eval_in at /source/src/toplevel.c:1092 eval at ./boot.jl:489 exec_options at ./client.jl:283 _start at ./client.jl:550 jfptr__start_64964.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4014 [inlined] ijl_apply_generic at /source/src/gf.c:4214 jl_apply at /source/src/julia.h:2397 [inlined] true_main at /source/src/jlapi.c:971 jl_repl_entrypoint at /source/src/jlapi.c:1139 main at /source/cli/loader_exe.c:58 unknown function (ip: 0x734751a87249) 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: 2281428406 (Pool: 2281378127; Big: 50279); GC: 781 PkgEval terminated after 2721.9s: test duration exceeded the time limit