Package evaluation of IterativeLQR on Julia 1.10.8 (92f03a4775*) started at 2025-02-25T12:56:47.175 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 5.04s ################################################################################ # Installation # Installing IterativeLQR... Resolving package versions... Updating `~/.julia/environments/v1.10/Project.toml` [605048dd] + IterativeLQR v0.2.3 Updating `~/.julia/environments/v1.10/Manifest.toml` ⌅ [47edcb42] + ADTypes v0.2.7 ⌅ [c3fe647b] + AbstractAlgebra v0.27.10 [1520ce14] + AbstractTrees v0.4.5 [7d9f7c33] + Accessors v0.1.41 ⌅ [79e6a3ab] + Adapt v3.7.2 [66dad0bd] + AliasTables v1.1.3 [dce04be8] + ArgCheck v2.4.0 ⌃ [4fba245c] + ArrayInterface v7.7.1 [30b0a656] + ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] + AutoHashEquals v0.2.0 [198e06fe] + BangBang v0.4.3 [9718e550] + Baselet v0.1.1 [e2ed5e7c] + Bijections v0.1.9 [d360d2e6] + ChainRulesCore v1.25.1 [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 [a33af91c] + CompositionsBase v0.1.2 ⌅ [187b0558] + ConstructionBase v1.5.6 [a8cc5b0e] + Crayons v4.1.1 [9a962f9c] + DataAPI v1.16.0 [864edb3b] + DataStructures v0.18.20 [e2d170a0] + DataValueInterfaces v1.0.0 [244e2a9f] + 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[0bca4576] + SciMLBase v1.98.1 [c0aeaf25] + SciMLOperators v0.3.12 [6c6a2e73] + Scratch v1.2.1 [efcf1570] + Setfield v1.1.1 [66db9d55] + SnoopPrecompile v1.0.3 [a2af1166] + SortingAlgorithms v1.2.1 [276daf66] + SpecialFunctions v2.5.0 [171d559e] + SplittablesBase v0.1.15 [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 ⌅ [2efcf032] + SymbolicIndexingInterface v0.2.2 ⌅ [d1185830] + SymbolicUtils v0.19.11 ⌅ [0c5d862f] + Symbolics v4.14.0 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.0 ⌅ [8ea1fca8] + TermInterface v0.2.3 [ac1d9e8a] + ThreadsX v0.1.12 [a759f4b9] + TimerOutputs v0.5.27 [3bb67fe8] + TranscodingStreams v0.11.3 [28d57a85] + Transducers v0.4.84 [a2a6695c] + TreeViews v0.3.0 [781d530d] + TruncatedStacktraces v1.4.0 [3a884ed6] + UnPack v1.0.2 [700de1a5] + ZygoteRules v0.2.7 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [f50d1b31] + Rmath_jll v0.5.1+0 [0dad84c5] + 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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 10.54s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 126.97s ################################################################################ # Testing # Testing IterativeLQR Status `/tmp/jl_vljxdT/Project.toml` [6e4b80f9] BenchmarkTools v1.6.0 [f6369f11] ForwardDiff v0.10.38 [605048dd] IterativeLQR v0.2.3 ⌅ [0c5d862f] Symbolics v4.14.0 [37e2e46d] LinearAlgebra [2f01184e] SparseArrays v1.10.0 [8dfed614] Test Status `/tmp/jl_vljxdT/Manifest.toml` ⌅ [47edcb42] ADTypes v0.2.7 ⌅ [c3fe647b] AbstractAlgebra v0.27.10 [1520ce14] AbstractTrees v0.4.5 [7d9f7c33] Accessors v0.1.41 ⌅ [79e6a3ab] Adapt v3.7.2 [66dad0bd] AliasTables v1.1.3 [dce04be8] ArgCheck v2.4.0 ⌃ [4fba245c] ArrayInterface v7.7.1 [30b0a656] ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] AutoHashEquals v0.2.0 [198e06fe] BangBang v0.4.3 [9718e550] Baselet v0.1.1 [6e4b80f9] BenchmarkTools v1.6.0 [e2ed5e7c] Bijections v0.1.9 [d360d2e6] ChainRulesCore v1.25.1 [861a8166] Combinatorics v1.0.2 [38540f10] CommonSolve v0.2.4 [bbf7d656] CommonSubexpressions v0.3.1 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[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: 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. 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: Code.get_symbolify is deprecated, use get_rewrites instead. likely near /home/pkgeval/.julia/packages/Symbolics/UrqtQ/src/build_function.jl:130 ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0019-7db156adffdb 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 | 7 7 28.3s Test Summary: | Pass Total Time Dynamics | 4 4 14.5s Test Summary: | Pass Total Time Constraints | 12 12 11.6s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University al iter: 1 ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University iter: 1 cost: 23.44690642697087 gradient_norm: 13.17336387423377 max_violation: 3.4125120618063 step_size: 1.0 iter: 2 cost: 9.388407782575932 gradient_norm: 8.509521089475086 max_violation: 3.143892885495308 step_size: 1.0 iter: 3 cost: 6.874008965549251 gradient_norm: 5.856772131215768 max_violation: 3.1314367309955227 step_size: 1.0 iter: 4 cost: 6.001192120404302 gradient_norm: 4.401186534545817 max_violation: 3.1252396056862324 step_size: 1.0 iter: 5 cost: 5.597733117017153 gradient_norm: 3.5092075424675735 max_violation: 3.1215537119988883 step_size: 1.0 iter: 6 cost: 5.378610082050092 gradient_norm: 2.9122946402162357 max_violation: 3.119110248853759 step_size: 1.0 iter: 7 cost: 5.246477660438647 gradient_norm: 2.486571518798302 max_violation: 3.1173711304128013 step_size: 1.0 iter: 8 cost: 5.160708817277132 gradient_norm: 2.1683018659509545 max_violation: 3.1160698346881546 step_size: 1.0 iter: 9 cost: 5.101898982056531 gradient_norm: 1.9216587625996968 max_violation: 3.115059318824949 step_size: 1.0 iter: 10 cost: 5.059827980061739 gradient_norm: 1.7250536113813177 max_violation: 3.114251801578095 step_size: 1.0 iter: 11 cost: 5.028697058883002 gradient_norm: 1.564738384419189 max_violation: 3.113591629798982 step_size: 1.0 iter: 12 cost: 5.005017284096062 gradient_norm: 1.4315576082500536 max_violation: 3.1130418050945687 step_size: 1.0 iter: 13 cost: 4.986587329343054 gradient_norm: 1.3191854269668923 max_violation: 3.112576768042506 step_size: 1.0 iter: 14 cost: 4.971962622109695 gradient_norm: 1.2231142756157012 max_violation: 3.112178292373405 step_size: 1.0 iter: 15 cost: 4.960163336986518 gradient_norm: 1.1400471711938407 max_violation: 3.1118330297932077 step_size: 1.0 iter: 16 cost: 4.950505867270809 gradient_norm: 1.0675178723737975 max_violation: 3.1115309796657775 step_size: 1.0 iter: 17 cost: 4.9425015144243 gradient_norm: 1.003645303504107 max_violation: 3.1112645009979554 step_size: 1.0 iter: 18 cost: 4.935793413453261 gradient_norm: 0.9469700610036318 max_violation: 3.1110276549620663 step_size: 1.0 iter: 19 cost: 4.930116048752808 gradient_norm: 0.8963427384792172 max_violation: 3.1108157557234435 step_size: 1.0 iter: 20 cost: 4.925268565367972 gradient_norm: 0.8508459010182474 max_violation: 3.1106250564184457 step_size: 1.0 iter: 21 cost: 4.921096753410893 gradient_norm: 0.8097384624536624 max_violation: 3.1104525250934043 step_size: 1.0 iter: 22 cost: 4.917480627805691 gradient_norm: 0.7724153137047894 max_violation: 3.1102956818997343 step_size: 1.0 iter: 23 cost: 4.914325701930664 gradient_norm: 0.7383775426934147 max_violation: 3.1101524788538786 step_size: 1.0 iter: 24 cost: 4.91155675094016 gradient_norm: 0.7072101434337006 max_violation: 3.1100212097179525 step_size: 1.0 iter: 25 cost: 4.909113284854974 gradient_norm: 0.6785651076696421 max_violation: 3.1099004415489495 step_size: 1.0 iter: 26 cost: 4.906946215976446 gradient_norm: 0.6521484428523878 max_violation: 3.1097889620709838 step_size: 1.0 iter: 27 cost: 4.9050153736292295 gradient_norm: 0.6277100933434004 max_violation: 3.109685738760735 step_size: 1.0 iter: 28 cost: 4.903287628669344 gradient_norm: 0.6050360352276928 max_violation: 3.1095898867127936 step_size: 1.0 iter: 29 cost: 4.901735462581388 gradient_norm: 0.5839420172516727 max_violation: 3.109500643162279 step_size: 1.0 iter: 30 cost: 4.9003358646728605 gradient_norm: 0.5642685616871359 max_violation: 3.109417347109102 step_size: 1.0 iter: 31 cost: 4.899069474120803 gradient_norm: 0.5458769390439276 max_violation: 3.1093394228903097 step_size: 1.0 iter: 32 cost: 4.897919906654981 gradient_norm: 0.5286459024092656 max_violation: 3.1092663668357985 step_size: 1.0 iter: 33 cost: 4.896873221823567 gradient_norm: 0.5124690193733334 max_violation: 3.109197736352564 step_size: 1.0 iter: 34 cost: 4.895917498269317 gradient_norm: 0.497252477813383 max_violation: 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cost: 266.17608162185775 gradient_norm: 654.7359920509851 max_violation: 0.005218432062024547 step_size: 1.0 iter: 80 cost: 266.1603040567758 gradient_norm: 646.5123472099536 max_violation: 0.0051525245250715335 step_size: 1.0 iter: 81 cost: 266.1449414468095 gradient_norm: 638.4930748875871 max_violation: 0.005088252899156709 step_size: 1.0 iter: 82 cost: 266.1299767244661 gradient_norm: 630.6706476299717 max_violation: 0.00502555714962849 step_size: 1.0 iter: 83 cost: 266.1153937517892 gradient_norm: 623.0379031569245 max_violation: 0.004964380140988434 step_size: 1.0 iter: 84 cost: 266.1011772581932 gradient_norm: 615.5880224937947 max_violation: 0.004904667464150858 step_size: 1.0 iter: 85 cost: 266.08731278319294 gradient_norm: 608.3145096499367 max_violation: 0.0048463672758320975 step_size: 1.0 iter: 86 cost: 266.07378662356683 gradient_norm: 601.2111727096075 max_violation: 0.0047894301490571944 step_size: 1.0 iter: 87 cost: 266.06058578458897 gradient_norm: 594.2721062624813 max_violation: 0.004733808934213823 step_size: 1.0 iter: 88 cost: 266.04769793495365 gradient_norm: 587.491675011662 max_violation: 0.004679458629349376 step_size: 1.0 iter: 89 cost: 266.03511136507234 gradient_norm: 580.8644985132979 max_violation: 0.004626336259404673 step_size: 1.0 iter: 90 cost: 266.0228149484691 gradient_norm: 574.3854369342226 max_violation: 0.004574400763449615 step_size: 1.0 iter: 91 cost: 266.0107981059872 gradient_norm: 568.0495777419201 max_violation: 0.004523612889264839 step_size: 1.0 iter: 92 cost: 265.99905077259774 gradient_norm: 561.8522232846487 max_violation: 0.004473935094950532 step_size: 1.0 iter: 93 cost: 265.98756336657806 gradient_norm: 555.7888791697369 max_violation: 0.004425331456821113 step_size: 1.0 iter: 94 cost: 265.97632676086863 gradient_norm: 549.8552433892904 max_violation: 0.004377767583202186 step_size: 1.0 iter: 95 cost: 265.96533225643503 gradient_norm: 544.0471961341508 max_violation: 0.004331210533654484 step_size: 1.0 iter: 96 cost: 265.954571557471 gradient_norm: 538.3607902506235 max_violation: 0.004285628743274539 step_size: 1.0 iter: 97 cost: 265.94403674830073 gradient_norm: 532.7922422897886 max_violation: 0.004240991951674822 step_size: 1.0 iter: 98 cost: 265.93372027184205 gradient_norm: 527.3379241112743 max_violation: 0.004197271136347491 step_size: 1.0 iter: 99 cost: 265.92361490951095 gradient_norm: 521.9943549883689 max_violation: 0.004154438449983089 step_size: 1.0 iter: 100 cost: 265.9137137624616 gradient_norm: 516.7581942040136 max_violation: 0.0041124671616762365 step_size: 1.0 Test Summary: | Pass Total Time Solve: acrobot | 1 1 2m15.3s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University al iter: 1 ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ V / -_) |_| (_) | / |___|\__\___|_| \__,_|\__|_|\_/\___|____\__\_\_|_\ Taylor Howell and Simon Le Cleac'h Robotic Exploration Lab Stanford University iter: 1 cost: 261.2537798738653 gradient_norm: 885.6763002794513 max_violation: 1.1807656674637883 step_size: 1.0 iter: 2 cost: 69.99469960068207 gradient_norm: 376.08357134305186 max_violation: 0.766429330514935 step_size: 1.0 iter: 3 cost: 34.54977364243712 gradient_norm: 193.82532155965612 max_violation: 0.5197983639867401 step_size: 1.0 iter: 4 cost: 22.539037764763805 gradient_norm: 111.7024513072441 max_violation: 0.4196158004810382 step_size: 1.0 iter: 5 cost: 17.035664625358486 gradient_norm: 69.14467761180012 max_violation: 0.37323467952446965 step_size: 1.0 iter: 6 cost: 14.062954292496705 gradient_norm: 45.607762506571646 max_violation: 0.34188493819304266 step_size: 1.0 iter: 7 cost: 12.272616098482587 gradient_norm: 31.744197515746393 max_violation: 0.3195794259745215 step_size: 1.0 iter: 8 cost: 11.110324366994146 gradient_norm: 28.481409161315987 max_violation: 0.30283107541267995 step_size: 1.0 iter: 9 cost: 10.312569004061332 gradient_norm: 25.725116998667954 max_violation: 0.28976177042682494 step_size: 1.0 iter: 10 cost: 9.740976036112503 gradient_norm: 24.387263942641127 max_violation: 0.27926490324135944 step_size: 1.0 iter: 11 cost: 9.317182750501477 gradient_norm: 23.27948171916522 max_violation: 0.270642534988605 step_size: 1.0 iter: 12 cost: 8.99409364960746 gradient_norm: 22.133658624582665 max_violation: 0.2634309744732146 step_size: 1.0 iter: 13 cost: 8.742010825607291 gradient_norm: 21.003710960323513 max_violation: 0.25730926409585564 step_size: 1.0 iter: 14 cost: 8.541448500865746 gradient_norm: 19.918615937273927 max_violation: 0.2520477436399142 step_size: 1.0 iter: 15 cost: 8.379187541400649 gradient_norm: 18.892634093629162 max_violation: 0.24747750308208794 step_size: 1.0 iter: 16 cost: 8.246001295724474 gradient_norm: 17.931443843477687 max_violation: 0.243471404916475 step_size: 1.0 iter: 17 cost: 8.135289721002943 gradient_norm: 17.035806102872616 max_violation: 0.2399318426078958 step_size: 1.0 iter: 18 cost: 8.042229513640368 gradient_norm: 16.203750801407285 max_violation: 0.23678258854916034 step_size: 1.0 iter: 19 cost: 7.963228813262942 gradient_norm: 15.431879152844623 max_violation: 0.23396321467267356 step_size: 1.0 iter: 20 cost: 7.895567773780683 gradient_norm: 14.71613518888006 max_violation: 0.2314251818556059 step_size: 1.0 iter: 21 cost: 7.837155934003607 gradient_norm: 14.05225742418412 max_violation: 0.2291290411089797 step_size: 1.0 iter: 22 cost: 7.786364917793634 gradient_norm: 13.436037151680694 max_violation: 0.22704239307714413 step_size: 1.0 iter: 23 cost: 7.741910858273423 gradient_norm: 12.86345977297741 max_violation: 0.22513837563732508 step_size: 1.0 iter: 24 cost: 7.702770335780684 gradient_norm: 12.330775619639935 max_violation: 0.223394526194177 step_size: 1.0 iter: 25 cost: 7.668119333509148 gradient_norm: 11.834528666306948 max_violation: 0.22179191431193956 step_size: 1.0 iter: 26 cost: 7.637288274827675 gradient_norm: 11.37156056170258 max_violation: 0.2203144723692816 step_size: 1.0 iter: 27 cost: 7.609728473089355 gradient_norm: 10.939000679422454 max_violation: 0.21894847327438605 step_size: 1.0 iter: 28 cost: 7.5849867970528555 gradient_norm: 10.534248743252592 max_violation: 0.21768211877573584 step_size: 1.0 iter: 29 cost: 7.562686328832223 gradient_norm: 10.154954010172425 max_violation: 0.21650521190799044 step_size: 1.0 iter: 30 cost: 7.542511446200534 gradient_norm: 9.798993394781991 max_violation: 0.2154088941268837 step_size: 1.0 iter: 31 cost: 7.5241962083383624 gradient_norm: 9.464449922833648 max_violation: 0.21438543266983068 step_size: 1.0 iter: 32 cost: 7.507515233952561 gradient_norm: 9.149592283243631 max_violation: 0.21342804726960818 step_size: 1.0 iter: 33 cost: 7.492276478169418 gradient_norm: 8.852855866270925 max_violation: 0.21253076796176984 step_size: 1.0 iter: 34 cost: 7.478315469141725 gradient_norm: 8.572825443102449 max_violation: 0.2116883176538611 step_size: 1.0 iter: 35 cost: 7.465490676384057 gradient_norm: 8.308219503864 max_violation: 0.21089601456018237 step_size: 1.0 iter: 36 cost: 7.453679763543525 gradient_norm: 8.057876191788143 max_violation: 0.21014969068297518 step_size: 1.0 iter: 37 cost: 7.442776537525081 gradient_norm: 7.820740728824099 max_violation: 0.20944562333843297 step_size: 1.0 iter: 38 cost: 7.432688449752018 gradient_norm: 7.595854208610376 max_violation: 0.2087804773531028 step_size: 1.0 iter: 39 cost: 7.423334538118871 gradient_norm: 7.382343627146472 max_violation: 0.2081512560379437 step_size: 1.0 iter: 40 cost: 7.414643722894794 gradient_norm: 7.179413023837764 max_violation: 0.20755525942109987 step_size: 1.0 iter: 41 cost: 7.406553388595878 gradient_norm: 6.986335612818852 max_violation: 0.20699004851539815 step_size: 1.0 iter: 42 cost: 7.399008198200706 gradient_norm: 6.802446793745567 max_violation: 0.20645341462638545 step_size: 1.0 iter: 43 cost: 7.391959097146254 gradient_norm: 6.627137941422962 max_violation: 0.2059433528896557 step_size: 1.0 iter: 44 cost: 7.385362473123337 gradient_norm: 6.45985088395812 max_violation: 0.20545803937275675 step_size: 1.0 iter: 45 cost: 7.379179444392276 gradient_norm: 6.300072989008616 max_violation: 0.2049958111936343 step_size: 1.0 iter: 46 cost: 7.373375254601611 gradient_norm: 6.147332786703153 max_violation: 0.2045551492013793 step_size: 1.0 iter: 47 cost: 7.367918756251549 gradient_norm: 6.001196066353447 max_violation: 0.2041346628427032 step_size: 1.0 iter: 48 cost: 7.362781968245788 gradient_norm: 5.861262391436014 max_violation: 0.20373307689846154 step_size: 1.0 iter: 49 cost: 7.357939695613454 gradient_norm: 5.727161984084324 max_violation: 0.20334921982621523 step_size: 1.0 iter: 50 cost: 7.353369201599009 gradient_norm: 5.598552936261505 max_violation: 0.2029820134865652 step_size: 1.0 iter: 51 cost: 7.349049924024784 gradient_norm: 5.475118710010506 max_violation: 0.20263046406533292 step_size: 1.0 iter: 52 cost: 7.34496322921335 gradient_norm: 5.35656589373689 max_violation: 0.20229365403219823 step_size: 1.0 iter: 53 cost: 7.341092197882067 gradient_norm: 5.242622185541038 max_violation: 0.2019707350005815 step_size: 1.0 iter: 54 cost: 7.337421438340977 gradient_norm: 5.133034578164165 max_violation: 0.20166092137318348 step_size: 1.0 iter: 55 cost: 7.333936923079356 gradient_norm: 5.0275677230832505 max_violation: 0.2013634846738297 step_size: 1.0 iter: 56 cost: 7.330625845447401 gradient_norm: 4.926002454107622 max_violation: 0.20107774848119497 step_size: 1.0 iter: 57 cost: 7.327476493652688 gradient_norm: 4.828134453115053 max_violation: 0.20080308389097912 step_size: 1.0 iter: 58 cost: 7.324478139716949 gradient_norm: 4.733773042605958 max_violation: 0.2005389054433122 step_size: 1.0 iter: 59 cost: 7.321620941393538 gradient_norm: 4.64274009160189 max_violation: 0.20028466746088736 step_size: 1.0 iter: 60 cost: 7.318895855341548 gradient_norm: 4.554869022929657 max_violation: 0.20003986075024294 step_size: 1.0 iter: 61 cost: 7.316294560101643 gradient_norm: 4.47000391137999 max_violation: 0.19980400962503886 step_size: 1.0 iter: 62 cost: 7.313809387626099 gradient_norm: 4.387998663338512 max_violation: 0.1995766692150367 step_size: 1.0 iter: 63 cost: 7.3114332622926375 gradient_norm: 4.318891416810995 max_violation: 0.19935742302960957 step_size: 1.0 iter: 64 cost: 7.309159646479266 gradient_norm: 4.2614430161156545 max_violation: 0.19914588074805462 step_size: 1.0 iter: 65 cost: 7.306982491904377 gradient_norm: 4.205440961225905 max_violation: 0.19894167621241277 step_size: 1.0 iter: 66 cost: 7.304896196042877 gradient_norm: 4.150833848380019 max_violation: 0.1987444656016777 step_size: 1.0 iter: 67 cost: 7.302895563020863 gradient_norm: 4.09757253229489 max_violation: 0.19855392576839925 step_size: 1.0 iter: 68 cost: 7.300975768469271 gradient_norm: 4.0456100154202375 max_violation: 0.19836975272122537 step_size: 1.0 iter: 69 cost: 7.299132327884227 gradient_norm: 3.994901342440709 max_violation: 0.19819166023870682 step_size: 1.0 iter: 70 cost: 7.297361068098634 gradient_norm: 3.945403499836873 max_violation: 0.1980193786011526 step_size: 1.0 iter: 71 cost: 7.295658101519613 gradient_norm: 3.8970753204244346 max_violation: 0.1978526534292424 step_size: 1.0 iter: 72 cost: 7.294019802828746 gradient_norm: 3.8498773926640872 max_violation: 0.19769124461888232 step_size: 1.0 iter: 73 cost: 7.292442787879104 gradient_norm: 3.803771974568054 max_violation: 0.19753492536320216 step_size: 1.0 iter: 74 cost: 7.290923894554755 gradient_norm: 3.7587229120288264 max_violation: 0.19738348125356087 step_size: 1.0 iter: 75 cost: 7.289460165386733 gradient_norm: 3.714695561357109 max_violation: 0.1972367094521399 step_size: 1.0 iter: 76 cost: 7.28804883174277 gradient_norm: 3.671656715862188 max_violation: 0.19709441792968274 step_size: 1.0 iter: 77 cost: 7.286687299430009 gradient_norm: 3.62957453626189 max_violation: 0.1969564247623623 step_size: 1.0 iter: 78 cost: 7.285373135567649 gradient_norm: 3.588418484737847 max_violation: 0.19682255748258193 step_size: 1.0 iter: 79 cost: 7.284104056602718 gradient_norm: 3.548159262458899 max_violation: 0.19669265247897094 step_size: 1.0 iter: 80 cost: 7.282877917356494 gradient_norm: 3.508768750404913 max_violation: 0.19656655444127047 step_size: 1.0 iter: 81 cost: 7.281692701001064 gradient_norm: 3.470219953278031 max_violation: 0.19644411584615984 step_size: 1.0 iter: 82 cost: 7.28054650987663 gradient_norm: 3.432486946391343 max_violation: 0.19632519648074798 step_size: 1.0 iter: 83 cost: 7.2794375570698175 gradient_norm: 3.3955448253297504 max_violation: 0.19620966300036713 step_size: 1.0 iter: 84 cost: 7.2783641586813435 gradient_norm: 3.3593696582735255 max_violation: 0.19609738851796976 step_size: 1.0 iter: 85 cost: 7.277324726719402 gradient_norm: 3.323938440791899 max_violation: 0.1959882522223797 step_size: 1.0 iter: 86 cost: 7.276317762561029 gradient_norm: 3.2892290530176655 max_violation: 0.19588213902326235 step_size: 1.0 iter: 87 cost: 7.275341850930356 gradient_norm: 3.25522021904111 max_violation: 0.19577893922049228 step_size: 1.0 al iter: 2 iter: 1 cost: 7.269944849743791 gradient_norm: 0.48354130657668726 max_violation: 0.0481756108564424 step_size: 1.0 iter: 2 cost: 7.253994869618226 gradient_norm: 0.13733625988558718 max_violation: 0.0017963190921093108 step_size: 1.0 iter: 3 cost: 7.252163371769252 gradient_norm: 0.12093728810343407 max_violation: 0.001811038634711104 step_size: 1.0 iter: 4 cost: 7.251086984969248 gradient_norm: 0.114766263279237 max_violation: 0.0018202529338060547 step_size: 1.0 iter: 5 cost: 7.250360358028719 gradient_norm: 0.1096676429055452 max_violation: 0.0018264790512261264 step_size: 1.0 Test Summary: | Pass Total Time Solve: car | 3 3 19.5s Testing IterativeLQR tests passed Testing completed after 365.17s PkgEval succeeded after 520.49s