Package evaluation of DirectTrajectoryOptimization on Julia 1.10.9 (96dc2d8c45*) started at 2025-06-06T21:57:19.986 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 5.29s ################################################################################ # 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 v1.0.3 [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 v0.18.22 [e2d170a0] + DataValueInterfaces v1.0.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a9f42406] + DirectTrajectoryOptimization v0.2.0 [31c24e10] + Distributions v0.25.120 ⌅ [ffbed154] + DocStringExtensions v0.8.6 ⌅ [5b8099bc] + DomainSets v0.5.14 [4e289a0a] + EnumX v1.0.5 [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 v0.3.28 [615f187c] + IfElse v0.1.1 [8197267c] + IntervalSets v0.7.11 [b6b21f68] + Ipopt v1.10.6 ⌅ [92d709cd] + IrrationalConstants v0.1.1 [82899510] + IteratorInterfaceExtensions v1.0.0 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.3 [b964fa9f] + LaTeXStrings v1.4.0 ⌃ [2ee39098] + LabelledArrays v1.15.1 ⌅ [23fbe1c1] + Latexify v0.15.21 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.40.2 [e1d29d7a] + Missings v1.2.0 [d8a4904e] + MutableArithmetics v1.6.4 ⌅ [77ba4419] + NaNMath v0.3.7 [bac558e1] + OrderedCollections v1.8.1 [90014a1f] + PDMats v0.11.35 [d96e819e] + Parameters v0.12.3 [69de0a69] + Parsers v2.8.3 ⌃ [d236fae5] + PreallocationTools v0.4.24 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.4.3 [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 v1.3.1 [79098fc4] + Rmath v0.8.0 [7e49a35a] + RuntimeGeneratedFunctions v0.5.15 ⌅ [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 v1.9.13 [1e83bf80] + StaticArraysCore v1.4.3 [82ae8749] + StatsAPI v1.7.1 [2913bbd2] + StatsBase v0.34.5 [4c63d2b9] + StatsFuns v1.5.0 [856f2bd8] + StructTypes v1.11.0 ⌅ [d1185830] + SymbolicUtils v0.11.0 ⌅ [0c5d862f] + Symbolics v0.1.32 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.1 [a759f4b9] + TimerOutputs v0.5.29 [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 v2.12.1+0 [9cc047cb] + Ipopt_jll v300.1400.1701+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.0+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 v2025.5.20+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 v0.8.5+0 [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 26.78s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/iS95e/src/julia-1.9/activate_set.jl:63 Precompiling package dependencies... Precompilation completed after 393.89s ################################################################################ # 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_E2qPfx/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_E2qPfx/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 v1.0.3 [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 v0.18.22 [e2d170a0] DataValueInterfaces v1.0.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a9f42406] DirectTrajectoryOptimization v0.2.0 [31c24e10] Distributions v0.25.120 ⌅ [ffbed154] DocStringExtensions v0.8.6 ⌅ [5b8099bc] DomainSets v0.5.14 [4e289a0a] EnumX v1.0.5 [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 v0.3.28 [615f187c] IfElse v0.1.1 [8197267c] IntervalSets v0.7.11 [b6b21f68] Ipopt v1.10.6 ⌅ [92d709cd] IrrationalConstants v0.1.1 [82899510] IteratorInterfaceExtensions v1.0.0 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.3 [b964fa9f] LaTeXStrings v1.4.0 ⌃ [2ee39098] LabelledArrays v1.15.1 ⌅ [23fbe1c1] Latexify v0.15.21 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.16 [b8f27783] MathOptInterface v1.40.2 [e1d29d7a] Missings v1.2.0 [d8a4904e] MutableArithmetics v1.6.4 ⌅ [77ba4419] NaNMath v0.3.7 [bac558e1] OrderedCollections v1.8.1 [90014a1f] PDMats v0.11.35 [d96e819e] Parameters v0.12.3 [69de0a69] Parsers v2.8.3 ⌃ [d236fae5] PreallocationTools v0.4.24 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.4.3 [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 v1.3.1 [79098fc4] Rmath v0.8.0 [7e49a35a] RuntimeGeneratedFunctions v0.5.15 ⌅ [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 v1.9.13 [1e83bf80] StaticArraysCore v1.4.3 [82ae8749] StatsAPI v1.7.1 [2913bbd2] StatsBase v0.34.5 [4c63d2b9] StatsFuns v1.5.0 [856f2bd8] StructTypes v1.11.0 ⌅ [d1185830] SymbolicUtils v0.11.0 ⌅ [0c5d862f] Symbolics v0.1.29 [3783bdb8] TableTraits v1.0.1 [bd369af6] Tables v1.12.1 [a759f4b9] TimerOutputs v0.5.29 [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 v2.12.1+0 [9cc047cb] Ipopt_jll v300.1400.1701+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.0+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 v2025.5.20+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 v0.8.5+0 [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/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. ┌ Warning: 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/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. WARNING: Method definition isapprox(IntervalSets.AbstractInterval{T} where T, IntervalSets.AbstractInterval{T} where T) in module IntervalSets at /home/pkgeval/.julia/packages/IntervalSets/CFJJK/src/IntervalSets.jl:297 overwritten in module DomainSets at /home/pkgeval/.julia/packages/DomainSets/aafhp/src/domains/interval.jl:52. WARNING: Wrapping `Vararg` directly in UnionAll is deprecated (wrap the tuple instead). You may need to write `f(x::Vararg{T})` rather than `f(x::Vararg{<:T})` or `f(x::Vararg{T}) where T` instead of `f(x::Vararg{T} where T)`. ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-d919-21cb9bf94af6 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 28.2s Test Summary: | Pass Total Time Dynamics | 5 5 22.8s Test Summary: | Pass Total Time Constraints | 2 2 7.7s Test Summary: | Pass Total Time Hessian of Lagrangian | 6 6 2m38.1s ****************************************************************************** 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 5.8.0. 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 1.0887916e+01 1.47e+00 4.89e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3402327e+02 8.46e-01 5.69e+01 -11.0 5.52e+00 - 1.00e+00 1.00e+00h 1 2 1.0372996e+02 9.14e-02 1.70e+00 -11.0 1.46e+00 - 1.00e+00 1.00e+00f 1 3 6.5195342e+01 8.86e-01 4.80e+00 -11.0 4.19e+00 - 1.00e+00 1.00e+00f 1 4 5.6083571e+01 1.06e-01 8.87e-01 -11.0 1.66e+00 - 1.00e+00 1.00e+00f 1 5 5.4922258e+01 2.32e-03 4.61e-01 -11.0 4.17e-01 - 1.00e+00 1.00e+00f 1 6 5.4837235e+01 7.60e-04 2.35e-01 -11.0 1.28e-01 - 1.00e+00 1.00e+00h 1 7 5.2281173e+01 1.76e-01 1.30e+00 -11.0 2.40e+00 - 1.00e+00 1.00e+00F 1 8 5.3086470e+01 8.53e-02 1.01e+00 -11.0 8.26e-01 - 1.00e+00 5.00e-01h 2 9 5.4504308e+01 3.49e-03 7.39e-01 -11.0 4.13e-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 5.4641364e+01 1.29e-03 2.84e-01 -11.0 5.23e-01 - 1.00e+00 1.00e+00H 1 11 5.4401801e+01 1.92e-03 6.37e-01 -11.0 5.11e-01 - 1.00e+00 1.00e+00F 1 12 5.4371380e+01 3.38e-03 1.08e+00 -11.0 6.42e-01 - 1.00e+00 1.00e+00H 1 13 5.4298246e+01 1.74e-04 1.35e+00 -11.0 3.61e-01 - 1.00e+00 1.00e+00F 1 14 5.4218532e+01 9.77e-04 8.86e-01 -11.0 2.76e-01 - 1.00e+00 1.00e+00f 1 15 5.4086912e+01 1.09e-03 5.95e-01 -11.0 4.77e-01 - 1.00e+00 1.00e+00F 1 16 5.4082504e+01 1.33e-03 6.43e-01 -11.0 1.21e+00 - 1.00e+00 6.25e-02h 5 17 5.4080816e+01 1.38e-03 6.24e-01 -11.0 6.06e-01 - 1.00e+00 1.25e-01h 4 18 5.4077252e+01 1.66e-03 6.52e-01 -11.0 1.30e+00 - 1.00e+00 6.25e-02h 5 19 5.4072904e+01 2.04e-03 6.22e-01 -11.0 6.34e-01 - 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.4070684e+01 2.22e-03 5.77e-01 -11.0 6.10e-01 - 1.00e+00 1.25e-01h 4 21 5.4066895e+01 2.38e-03 6.01e-01 -11.0 9.72e-01 - 1.00e+00 6.25e-02h 5 22 5.4064956e+01 3.34e-03 4.77e-01 -11.0 5.10e-01 - 1.00e+00 2.50e-01h 3 23 5.4062848e+01 3.45e-03 5.03e-01 -11.0 9.65e-01 - 1.00e+00 6.25e-02h 5 24 5.4061576e+01 3.43e-03 5.06e-01 -11.0 6.60e-01 - 1.00e+00 1.25e-01h 4 25 5.4057495e+01 3.53e-03 5.01e-01 -11.0 5.96e-01 - 1.00e+00 1.25e-01h 4 26 5.4331585e+01 2.57e-02 4.43e-01 -11.0 5.58e-01 - 1.00e+00 1.00e+00w 1 27 5.4003042e+01 2.14e-03 4.38e-01 -11.0 1.83e-01 - 1.00e+00 1.00e+00h 1 28 5.3990705e+01 7.99e-05 4.48e-02 -11.0 5.77e-02 - 1.00e+00 1.00e+00h 1 29 5.3989595e+01 2.93e-05 1.78e-01 -11.0 1.45e-01 - 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.3989536e+01 3.20e-05 1.88e-01 -11.0 2.23e-01 - 1.00e+00 3.12e-02h 6 31 5.3987888e+01 3.76e-05 1.68e-02 -11.0 6.92e-02 - 1.00e+00 1.00e+00H 1 32 5.3989204e+01 2.38e-06 6.36e-02 -11.0 2.75e-02 - 1.00e+00 1.00e+00H 1 33 5.3988564e+01 3.66e-06 1.55e-03 -11.0 3.09e-02 - 1.00e+00 1.00e+00H 1 34 5.3988523e+01 4.06e-07 1.00e-03 -11.0 2.42e-03 - 1.00e+00 1.00e+00h 1 35 5.3988520e+01 1.04e-08 2.90e-04 -11.0 3.61e-03 - 1.00e+00 1.00e+00H 1 36 5.3988517e+01 8.48e-09 3.95e-05 -11.0 3.32e-03 - 1.00e+00 1.00e+00H 1 37 5.3988520e+01 1.62e-09 2.11e-04 -11.0 1.83e-03 - 1.00e+00 1.00e+00H 1 38 5.3988517e+01 1.24e-09 4.03e-06 -11.0 1.66e-03 - 1.00e+00 1.00e+00H 1 39 5.3988517e+01 1.00e-10 4.38e-06 -11.0 4.55e-05 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 5.3988517e+01 1.66e-11 2.57e-08 -11.0 2.28e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 40 (scaled) (unscaled) Objective...............: 5.3988516992754931e+01 5.3988516992754931e+01 Dual infeasibility......: 2.5708455170248001e-08 2.5708455170248001e-08 Constraint violation....: 1.6579071449029925e-11 1.6579071449029925e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 2.5708455170248001e-08 2.5708455170248001e-08 Number of objective function evaluations = 123 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 123 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 41 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 2.808 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: acrobot | 2 2 8.8s This is Ipopt version 3.14.17, running with linear solver MUMPS 5.8.0. 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 1.0594440e+00 1.54e+00 1.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.0330444e-01 2.22e-16 1.57e-01 -11.0 8.25e-01 - 1.00e+00 1.00e+00h 1 2 1.9471243e-01 5.55e-17 6.25e-17 -11.0 7.85e-01 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 2 (scaled) (unscaled) Objective...............: 1.9471243374874661e-01 1.9471243374874661e-01 Dual infeasibility......: 6.2450045135165055e-17 6.2450045135165055e-17 Constraint violation....: 5.5511151231257827e-17 5.5511151231257827e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 6.2450045135165055e-17 6.2450045135165055e-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 = 0.232 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: user-provided dynamics gradients | 2 2 4.8s This is Ipopt version 3.14.17, running with linear solver MUMPS 5.8.0. 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 1.0594440e+00 1.54e+00 1.96e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9471243e-01 1.46e-16 2.94e-17 -1.0 1.49e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 1 (scaled) (unscaled) Objective...............: 1.9471243374874661e-01 1.9471243374874661e-01 Dual infeasibility......: 2.9408983928669308e-17 2.9408983928669308e-17 Constraint violation....: 1.4571677198205180e-16 1.4571677198205180e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 1.4571677198205180e-16 1.4571677198205180e-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 = 2.306 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: general constraint | 2 2 4.1s Testing DirectTrajectoryOptimization tests passed Testing completed after 392.81s PkgEval succeeded after 839.45s