Package evaluation of DirectTrajectoryOptimization on Julia 1.10.8 (92f03a4775*) started at 2025-02-25T13:53:40.172 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 5.32s ################################################################################ # Installation # Installing DirectTrajectoryOptimization... Resolving package versions... Installed DirectTrajectoryOptimization ─ v0.2.0 Updating `~/.julia/environments/v1.10/Project.toml` [a9f42406] + DirectTrajectoryOptimization v0.2.0 Updating `~/.julia/environments/v1.10/Manifest.toml` ⌅ [c3fe647b] + AbstractAlgebra v0.15.1 ⌅ [1520ce14] + AbstractTrees v0.3.4 ⌅ [79e6a3ab] + Adapt v3.7.2 [66dad0bd] + AliasTables v1.1.3 ⌃ [4fba245c] + ArrayInterface v7.7.1 [30b0a656] + ArrayInterfaceCore v0.1.29 [dd5226c6] + ArrayInterfaceStaticArraysCore v0.1.4 [6e4b80f9] + BenchmarkTools v1.6.0 [d360d2e6] + ChainRulesCore v1.25.1 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [861a8166] + Combinatorics v1.0.2 [38540f10] + CommonSolve v0.2.4 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [b152e2b5] + CompositeTypes v0.1.4 ⌅ [187b0558] + ConstructionBase v1.5.6 [9a962f9c] + DataAPI v1.16.0 [864edb3b] + DataStructures v0.18.20 [e2d170a0] + DataValueInterfaces v1.0.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a9f42406] + DirectTrajectoryOptimization v0.2.0 [31c24e10] + Distributions v0.25.117 ⌅ [ffbed154] + DocStringExtensions v0.8.6 ⌅ [5b8099bc] + DomainSets v0.5.14 [4e289a0a] + EnumX v1.0.4 [e2ba6199] + ExprTools v0.1.10 ⌅ [1a297f60] + FillArrays v0.13.11 [59287772] + Formatting v0.4.3 [f6369f11] + ForwardDiff v0.10.38 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 ⌅ [46192b85] + GPUArraysCore v0.1.5 [34004b35] + HypergeometricFunctions v0.3.27 [615f187c] + IfElse v0.1.1 [8197267c] + IntervalSets v0.7.10 [b6b21f68] + Ipopt v1.7.2 ⌅ [92d709cd] + IrrationalConstants v0.1.1 [82899510] + IteratorInterfaceExtensions v1.0.0 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.1 [b964fa9f] + LaTeXStrings v1.4.0 ⌃ [2ee39098] + LabelledArrays v1.15.1 ⌅ [23fbe1c1] + Latexify v0.15.21 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.15 [b8f27783] + MathOptInterface v1.37.0 [e1d29d7a] + Missings v1.2.0 [d8a4904e] + MutableArithmetics v1.6.4 ⌅ [77ba4419] + NaNMath v0.3.7 [bac558e1] + OrderedCollections v1.8.0 [90014a1f] + PDMats v0.11.32 [d96e819e] + Parameters v0.12.3 [69de0a69] + Parsers v2.8.1 ⌃ [d236fae5] + PreallocationTools v0.4.24 [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.4.3 [43287f4e] + PtrArrays v1.3.0 [1fd47b50] + QuadGK v2.11.2 [fb686558] + RandomExtensions v0.4.4 [3cdcf5f2] + RecipesBase v1.3.4 ⌅ [731186ca] + RecursiveArrayTools v2.32.3 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.0 [79098fc4] + Rmath v0.8.0 [7e49a35a] + RuntimeGeneratedFunctions v0.5.13 ⌅ [0bca4576] + SciMLBase v1.81.0 [6c6a2e73] + Scratch v1.2.1 ⌅ [efcf1570] + Setfield v0.7.1 [66db9d55] + SnoopPrecompile v1.0.3 [a2af1166] + SortingAlgorithms v1.2.1 ⌅ [276daf66] + SpecialFunctions v1.8.8 [90137ffa] + StaticArrays v1.9.12 [1e83bf80] + StaticArraysCore v1.4.3 [82ae8749] + StatsAPI v1.7.0 [2913bbd2] + StatsBase v0.34.4 [4c63d2b9] + StatsFuns v1.3.2 [856f2bd8] + StructTypes v1.11.0 ⌅ [d1185830] + SymbolicUtils v0.11.0 ⌅ [0c5d862f] + Symbolics v0.1.32 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.0 [a759f4b9] + TimerOutputs v0.5.27 [3bb67fe8] + TranscodingStreams v0.11.3 [a2a6695c] + TreeViews v0.3.0 [3a884ed6] + UnPack v1.0.2 [700de1a5] + ZygoteRules v0.2.7 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.0+0 [9cc047cb] + Ipopt_jll v300.1400.1700+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.700.301+0 ⌅ [656ef2d0] + OpenBLAS32_jll v0.3.24+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [f50d1b31] + Rmath_jll v0.5.1+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.1 [56f22d72] + Artifacts [2a0f44e3] + Base64 [ade2ca70] + Dates [8ba89e20] + Distributed [f43a241f] + Downloads v1.6.0 [7b1f6079] + FileWatching [9fa8497b] + Future [b77e0a4c] + InteractiveUtils [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 [8f399da3] + Libdl [37e2e46d] + LinearAlgebra [56ddb016] + Logging [d6f4376e] + Markdown [a63ad114] + Mmap [ca575930] + NetworkOptions v1.2.0 [44cfe95a] + Pkg v1.10.0 [de0858da] + Printf [9abbd945] + Profile [3fa0cd96] + REPL [9a3f8284] + Random [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization [6462fe0b] + Sockets [2f01184e] + SparseArrays v1.10.0 [10745b16] + Statistics v1.10.0 [4607b0f0] + SuiteSparse [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test [cf7118a7] + UUIDs [4ec0a83e] + Unicode [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] + LibCURL_jll v8.4.0+0 [e37daf67] + LibGit2_jll v1.6.4+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.2+1 [14a3606d] + MozillaCACerts_jll v2023.1.10 [4536629a] + OpenBLAS_jll v0.3.23+4 [05823500] + OpenLibm_jll v0.8.1+4 [bea87d4a] + SuiteSparse_jll v7.2.1+1 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.52.0+1 [3f19e933] + p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Building DirectTrajectoryOptimization → `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/b14763be7e90836eb56370fda4ff2fab25f5892a/build.log` Installation completed after 27.01s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/tgnBf/src/julia-1.9/activate_set.jl:63 Precompiling package dependencies... Precompilation completed after 472.38s ################################################################################ # Testing # Testing DirectTrajectoryOptimization ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.10/Pkg/src/Operations.jl:1829 Status `/tmp/jl_hrsq85/Project.toml` [a9f42406] DirectTrajectoryOptimization v0.2.0 [f6369f11] ForwardDiff v0.10.38 ⌅ [0c5d862f] Symbolics v0.1.29 [37e2e46d] LinearAlgebra [2f01184e] SparseArrays v1.10.0 [8dfed614] Test Status `/tmp/jl_hrsq85/Manifest.toml` ⌅ [c3fe647b] AbstractAlgebra v0.15.1 ⌅ [1520ce14] AbstractTrees v0.3.4 ⌅ [79e6a3ab] Adapt v3.7.2 [66dad0bd] AliasTables v1.1.3 ⌃ [4fba245c] ArrayInterface v7.7.1 [30b0a656] ArrayInterfaceCore v0.1.29 [dd5226c6] ArrayInterfaceStaticArraysCore v0.1.4 [6e4b80f9] BenchmarkTools v1.6.0 [d360d2e6] ChainRulesCore v1.25.1 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [861a8166] Combinatorics v1.0.2 [38540f10] CommonSolve v0.2.4 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.16.0 [b152e2b5] CompositeTypes v0.1.4 ⌅ [187b0558] ConstructionBase v1.5.6 [9a962f9c] DataAPI v1.16.0 [864edb3b] DataStructures v0.18.20 [e2d170a0] DataValueInterfaces v1.0.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a9f42406] DirectTrajectoryOptimization v0.2.0 [31c24e10] Distributions v0.25.117 ⌅ [ffbed154] DocStringExtensions v0.8.6 ⌅ [5b8099bc] DomainSets v0.5.14 [4e289a0a] EnumX v1.0.4 [e2ba6199] ExprTools v0.1.10 ⌅ [1a297f60] FillArrays v0.13.11 [59287772] Formatting v0.4.3 [f6369f11] ForwardDiff v0.10.38 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 ⌅ [46192b85] GPUArraysCore v0.1.5 [34004b35] HypergeometricFunctions v0.3.27 [615f187c] IfElse v0.1.1 [8197267c] IntervalSets v0.7.10 [b6b21f68] Ipopt v1.7.2 ⌅ [92d709cd] IrrationalConstants v0.1.1 [82899510] IteratorInterfaceExtensions v1.0.0 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.1 [b964fa9f] LaTeXStrings v1.4.0 ⌃ [2ee39098] LabelledArrays v1.15.1 ⌅ [23fbe1c1] Latexify v0.15.21 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.15 [b8f27783] MathOptInterface v1.37.0 [e1d29d7a] Missings v1.2.0 [d8a4904e] MutableArithmetics v1.6.4 ⌅ [77ba4419] NaNMath v0.3.7 [bac558e1] OrderedCollections v1.8.0 [90014a1f] PDMats v0.11.32 [d96e819e] Parameters v0.12.3 [69de0a69] Parsers v2.8.1 ⌃ [d236fae5] PreallocationTools v0.4.24 [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.4.3 [43287f4e] PtrArrays v1.3.0 [1fd47b50] QuadGK v2.11.2 [fb686558] RandomExtensions v0.4.4 [3cdcf5f2] RecipesBase v1.3.4 ⌅ [731186ca] RecursiveArrayTools v2.32.3 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.0 [79098fc4] Rmath v0.8.0 [7e49a35a] RuntimeGeneratedFunctions v0.5.13 ⌅ [0bca4576] SciMLBase v1.81.0 [6c6a2e73] Scratch v1.2.1 ⌅ [efcf1570] Setfield v0.7.1 [66db9d55] SnoopPrecompile v1.0.3 [a2af1166] SortingAlgorithms v1.2.1 ⌅ [276daf66] SpecialFunctions v1.8.8 [90137ffa] StaticArrays v1.9.12 [1e83bf80] StaticArraysCore v1.4.3 [82ae8749] StatsAPI v1.7.0 [2913bbd2] StatsBase v0.34.4 [4c63d2b9] StatsFuns v1.3.2 [856f2bd8] StructTypes v1.11.0 ⌅ [d1185830] SymbolicUtils v0.11.0 ⌅ [0c5d862f] Symbolics v0.1.29 [3783bdb8] TableTraits v1.0.1 [bd369af6] Tables v1.12.0 [a759f4b9] TimerOutputs v0.5.27 [3bb67fe8] TranscodingStreams v0.11.3 [a2a6695c] TreeViews v0.3.0 [3a884ed6] UnPack v1.0.2 [700de1a5] ZygoteRules v0.2.7 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.12.0+0 [9cc047cb] Ipopt_jll v300.1400.1700+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.700.301+0 ⌅ [656ef2d0] OpenBLAS32_jll v0.3.24+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [f50d1b31] Rmath_jll v0.5.1+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.1 [56f22d72] Artifacts [2a0f44e3] Base64 [ade2ca70] Dates [8ba89e20] Distributed [f43a241f] Downloads v1.6.0 [7b1f6079] FileWatching [9fa8497b] Future [b77e0a4c] InteractiveUtils [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 [8f399da3] Libdl [37e2e46d] LinearAlgebra [56ddb016] Logging [d6f4376e] Markdown [a63ad114] Mmap [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.10.0 [de0858da] Printf [9abbd945] Profile [3fa0cd96] REPL [9a3f8284] Random [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization [6462fe0b] Sockets [2f01184e] SparseArrays v1.10.0 [10745b16] Statistics v1.10.0 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test [cf7118a7] UUIDs [4ec0a83e] Unicode [e66e0078] CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] LibCURL_jll v8.4.0+0 [e37daf67] LibGit2_jll v1.6.4+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.2+1 [14a3606d] MozillaCACerts_jll v2023.1.10 [4536629a] OpenBLAS_jll v0.3.23+4 [05823500] OpenLibm_jll v0.8.1+4 [bea87d4a] SuiteSparse_jll v7.2.1+1 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.52.0+1 [3f19e933] p7zip_jll v17.4.0+2 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... ┌ Warning: the implicit keyword argument `filter_modules=(:Base, :SpecialFunctions, :NaNMath)` in `diffrules()` is deprecated and will be changed to `filter_modules=nothing` in an upcoming breaking release of DiffRules (i.e., `diffrules()` will return all rules defined in DiffRules) │ caller = top-level scope at diff.jl:219 └ @ Core ~/.julia/packages/Symbolics/4rq0M/src/diff.jl:219 WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/kyCuf/src/IntervalSets.jl:296 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. ┌ Warning: the implicit keyword argument `filter_modules=(:Base, :SpecialFunctions, :NaNMath)` in `diffrules()` is deprecated and will be changed to `filter_modules=nothing` in an upcoming breaking release of DiffRules (i.e., `diffrules()` will return all rules defined in DiffRules) │ caller = top-level scope at diff.jl:219 └ @ Core ~/.julia/packages/Symbolics/4rq0M/src/diff.jl:219 WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/kyCuf/src/IntervalSets.jl:296 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/kyCuf/src/IntervalSets.jl:296 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. WARNING: Wrapping `Vararg` directly in UnionAll is deprecated (wrap the tuple instead). You may need to write `f(x::Vararg{T})` rather than `f(x::Vararg{<:T})` or `f(x::Vararg{T}) where T` instead of `f(x::Vararg{T} where T)`. ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0019-8127ba4e6677 is missing from the cache. │ This may mean Symbolics [0c5d862f-8b57-4792-8d23-62f2024744c7] does not support precompilation but is imported by a module that does. └ @ Base loading.jl:2018 Test Summary: | Pass Total Time Objective | 6 6 29.7s Test Summary: | Pass Total Time Dynamics | 5 5 24.3s Test Summary: | Pass Total Time Constraints | 2 2 7.7s Test Summary: | Pass Total Time Hessian of Lagrangian | 6 6 2m53.2s ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 2576 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 496 variables with only lower bounds: 0 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 400 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 9.5907580e+00 2.04e+00 5.75e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3287775e+02 1.15e+00 6.28e+01 -11.0 5.41e+00 - 1.00e+00 1.00e+00h 1 2 1.0062599e+02 1.42e-01 1.37e+00 -11.0 1.49e+00 - 1.00e+00 1.00e+00f 1 3 6.2127598e+01 8.84e-01 3.77e+00 -11.0 4.53e+00 - 1.00e+00 1.00e+00f 1 4 5.5475251e+01 5.77e-02 6.68e-01 -11.0 1.23e+00 - 1.00e+00 1.00e+00f 1 5 5.4580674e+01 1.87e-03 2.91e-01 -11.0 3.41e-01 - 1.00e+00 1.00e+00f 1 6 5.4498618e+01 1.62e-03 3.01e-01 -11.0 1.88e-01 - 1.00e+00 1.00e+00h 1 7 5.4483680e+01 2.23e-03 4.47e-01 -11.0 1.89e+00 - 1.00e+00 6.25e-02f 5 8 5.1424821e+01 1.69e-01 6.97e-01 -11.0 2.20e+00 - 1.00e+00 1.00e+00F 1 9 5.3019064e+01 7.48e-02 3.09e-01 -11.0 1.23e+00 - 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.4015770e+01 3.12e-02 8.70e-01 -11.0 1.24e+00 - 1.00e+00 5.00e-01h 2 11 5.4559186e+01 9.67e-03 6.31e-01 -11.0 4.28e-01 - 1.00e+00 1.00e+00h 1 12 5.4240508e+01 1.36e-03 7.81e-01 -11.0 1.73e-01 - 1.00e+00 1.00e+00h 1 13 5.4025143e+01 1.18e-02 1.49e+00 -11.0 9.71e-01 - 1.00e+00 1.00e+00F 1 14 5.4282278e+01 6.63e-03 1.93e+00 -11.0 1.15e+00 - 1.00e+00 1.00e+00H 1 15 5.4035336e+01 5.75e-04 5.83e-01 -11.0 6.80e-01 - 1.00e+00 1.00e+00F 1 16 5.4002991e+01 2.43e-04 1.59e-01 -11.0 3.48e-01 - 1.00e+00 1.00e+00H 1 17 5.4001035e+01 5.69e-04 2.34e-01 -11.0 1.37e-01 - 1.00e+00 1.00e+00h 1 18 5.3995675e+01 3.37e-04 9.91e-02 -11.0 5.47e-02 - 1.00e+00 1.00e+00h 1 19 5.3991192e+01 6.16e-05 1.54e-01 -11.0 1.29e-01 - 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.3991146e+01 8.49e-05 1.75e-01 -11.0 5.53e-01 - 1.00e+00 3.12e-02h 6 21 5.3989749e+01 5.63e-05 1.11e-01 -11.0 1.17e-01 - 1.00e+00 1.00e+00H 1 22 5.3989683e+01 5.95e-05 1.21e-01 -11.0 2.59e-01 - 1.00e+00 3.12e-02h 6 23 5.3988466e+01 5.00e-06 1.23e-02 -11.0 3.26e-02 - 1.00e+00 1.00e+00H 1 24 5.3988636e+01 7.72e-08 1.62e-03 -11.0 1.20e-02 - 1.00e+00 1.00e+00H 1 25 5.3988518e+01 1.23e-07 2.55e-05 -11.0 9.85e-03 - 1.00e+00 1.00e+00H 1 26 5.3988517e+01 1.08e-08 6.37e-06 -11.0 3.08e-04 - 1.00e+00 1.00e+00h 1 27 5.3988517e+01 5.28e-10 1.18e-05 -11.0 1.14e-04 - 1.00e+00 1.00e+00h 1 28 5.3988517e+01 2.89e-10 1.55e-07 -11.0 7.42e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 5.3988516993874022e+01 5.3988516993874022e+01 Dual infeasibility......: 1.5474354472799767e-07 1.5474354472799767e-07 Constraint violation....: 2.8910698834927473e-10 2.8910698834927473e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 1.5474354472799767e-07 1.5474354472799767e-07 Number of objective function evaluations = 63 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 2.567 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: acrobot | 2 2 7.8s This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 92 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 28 variables with only lower bounds: 0 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 20 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.4937872e-01 1.16e+00 1.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3741007e-01 8.33e-17 9.99e-02 -11.0 7.70e-01 - 1.00e+00 1.00e+00h 1 2 1.9471243e-01 5.72e-17 3.47e-17 -11.0 4.99e-01 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 2 (scaled) (unscaled) Objective...............: 1.9471243374874661e-01 1.9471243374874661e-01 Dual infeasibility......: 3.4694469519536142e-17 3.4694469519536142e-17 Constraint violation....: 5.7245874707234634e-17 5.7245874707234634e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 5.7245874707234634e-17 5.7245874707234634e-17 Number of objective function evaluations = 3 Number of objective gradient evaluations = 3 Number of equality constraint evaluations = 3 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 3 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 0.231 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: user-provided dynamics gradients | 2 2 4.7s This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3. Number of nonzeros in equality constraint Jacobian...: 59 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 30 variables with only lower bounds: 0 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 22 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 7.4937872e-01 1.16e+00 1.25e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9471243e-01 1.25e-16 2.78e-17 -1.0 1.06e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 1 (scaled) (unscaled) Objective...............: 1.9471243374874661e-01 1.9471243374874661e-01 Dual infeasibility......: 2.7755575615628914e-17 2.7755575615628914e-17 Constraint violation....: 1.2490009027033011e-16 1.2490009027033011e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 1.2490009027033011e-16 1.2490009027033011e-16 Number of objective function evaluations = 2 Number of objective gradient evaluations = 2 Number of equality constraint evaluations = 2 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 2 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 1 Total seconds in IPOPT = 2.186 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: general constraint | 2 2 4.0s Testing DirectTrajectoryOptimization tests passed Testing completed after 405.11s PkgEval succeeded after 931.2s