Package evaluation of IterativeLQR on Julia 1.10.9 (96dc2d8c45*) started at 2025-06-06T20:50:52.126 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 4.49s ################################################################################ # 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 v0.1.42 ⌅ [79e6a3ab] + Adapt v3.7.2 [66dad0bd] + AliasTables v1.1.3 [dce04be8] + ArgCheck v2.5.0 ⌃ [4fba245c] + ArrayInterface v7.7.1 [30b0a656] + ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] + AutoHashEquals v0.2.0 [198e06fe] + BangBang v0.4.4 [9718e550] + Baselet v0.1.1 ⌅ [e2ed5e7c] + Bijections v0.1.10 [d360d2e6] + ChainRulesCore v1.25.1 [861a8166] + Combinatorics v1.0.3 [38540f10] + CommonSolve v0.2.4 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [b152e2b5] + CompositeTypes v0.1.4 [a33af91c] + CompositionsBase v0.1.2 ⌅ [187b0558] + ConstructionBase v1.5.6 [a8cc5b0e] + Crayons v4.1.1 [9a962f9c] + DataAPI v1.16.0 [864edb3b] + DataStructures v0.18.22 [e2d170a0] + DataValueInterfaces v1.0.0 [244e2a9f] + 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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 To see why use `status --outdated -m` Installation completed after 10.6s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 119.81s ################################################################################ # Testing # Testing IterativeLQR Status `/tmp/jl_e8H7UT/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_e8H7UT/Manifest.toml` ⌅ [47edcb42] ADTypes v0.2.7 ⌅ [c3fe647b] AbstractAlgebra v0.27.10 [1520ce14] AbstractTrees v0.4.5 [7d9f7c33] Accessors v0.1.42 ⌅ [79e6a3ab] Adapt v3.7.2 [66dad0bd] AliasTables v1.1.3 [dce04be8] ArgCheck v2.5.0 ⌃ [4fba245c] ArrayInterface v7.7.1 [30b0a656] ArrayInterfaceCore v0.1.29 ⌅ [15f4f7f2] AutoHashEquals v0.2.0 [198e06fe] BangBang v0.4.4 [9718e550] Baselet v0.1.1 [6e4b80f9] BenchmarkTools v1.6.0 ⌅ [e2ed5e7c] Bijections v0.1.10 [d360d2e6] ChainRulesCore v1.25.1 [861a8166] Combinatorics v1.0.3 [38540f10] CommonSolve v0.2.4 [bbf7d656] CommonSubexpressions v0.3.1 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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/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. 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: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. ERROR: Method overwriting is not permitted during Module precompilation. Use `__precompile__(false)` to opt-out of precompilation. WARNING: Method definition islinear(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:311 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:7. WARNING: Method definition isconstant(Any) in module SciMLOperators at /home/pkgeval/.julia/packages/SciMLOperators/2UPBq/src/interface.jl:254 overwritten in module SciMLBase at /home/pkgeval/.julia/packages/SciMLBase/szsYq/src/operators/operators.jl:8. 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-7a6e-66de7aea84c9 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 26.5s Test Summary: | Pass Total Time Dynamics | 4 4 13.5s Test Summary: | Pass Total Time Constraints | 12 12 12.2s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ 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: 7.4368363639263135 gradient_norm: 4.196485248958528 max_violation: 3.1459833812828073 step_size: 1.0 iter: 2 cost: 5.515538009649723 gradient_norm: 2.0545227549127 max_violation: 3.126394794883271 step_size: 1.0 iter: 3 cost: 5.1625508761109415 gradient_norm: 1.3655855203646958 max_violation: 3.1199020936246646 step_size: 1.0 iter: 4 cost: 5.039084400621907 gradient_norm: 1.0231982997082751 max_violation: 3.1166617344494276 step_size: 1.0 iter: 5 cost: 4.98194437976418 gradient_norm: 0.8181964938127061 max_violation: 3.114720033730741 step_size: 1.0 iter: 6 cost: 4.950906818663768 gradient_norm: 0.6816620855148829 max_violation: 3.113426907419883 step_size: 1.0 iter: 7 cost: 4.932192693132514 gradient_norm: 0.5841900213412144 max_violation: 3.1125040475518864 step_size: 1.0 iter: 8 cost: 4.920046799069034 gradient_norm: 0.5111102273438531 max_violation: 3.1118124195293357 step_size: 1.0 iter: 9 cost: 4.911719800036564 gradient_norm: 0.4542829732326844 max_violation: 3.1112748387357554 step_size: 1.0 iter: 10 cost: 4.905763673673542 gradient_norm: 0.4088283089084802 max_violation: 3.1108450244372876 step_size: 1.0 iter: 11 cost: 4.90135690422151 gradient_norm: 0.371642474386795 max_violation: 3.1104935423566227 step_size: 1.0 iter: 12 cost: 4.898005260879237 gradient_norm: 0.3406570799476002 max_violation: 3.1102007799498073 step_size: 1.0 iter: 13 cost: 4.895396943798581 gradient_norm: 0.31444056250023833 max_violation: 3.1099531658092534 step_size: 1.0 iter: 14 cost: 4.893327361806828 gradient_norm: 0.29197059349142823 max_violation: 3.10974101034111 step_size: 1.0 iter: 15 cost: 4.891657757909664 gradient_norm: 0.27249758920791994 max_violation: 3.109557210735449 step_size: 1.0 iter: 16 cost: 4.890291332434004 gradient_norm: 0.25545943603846993 max_violation: 3.1093964418995386 step_size: 1.0 iter: 17 cost: 4.88915889070951 gradient_norm: 0.24042632857209467 max_violation: 3.1092546331412403 step_size: 1.0 iter: 18 cost: 4.888209908240337 gradient_norm: 0.22706400345059272 max_violation: 3.1091286194143044 step_size: 1.0 al iter: 2 iter: 1 cost: 56.22713871982622 gradient_norm: 6.50182827229874 max_violation: 2.9377460406981446 step_size: 1.0 iter: 2 cost: 55.77987016595984 gradient_norm: 3.0780842249532396 max_violation: 2.9405672297174177 step_size: 1.0 iter: 3 cost: 55.69782843783013 gradient_norm: 2.015032748797646 max_violation: 2.9413409957759256 step_size: 1.0 iter: 4 cost: 55.66910253991665 gradient_norm: 1.497484634792123 max_violation: 2.9416875551702466 step_size: 1.0 iter: 5 cost: 55.65579114640113 gradient_norm: 1.1914090392491499 max_violation: 2.941879511398302 step_size: 1.0 iter: 6 cost: 55.648551769323674 gradient_norm: 0.9892145007590027 max_violation: 2.9419995385947284 step_size: 1.0 iter: 7 cost: 55.644181927030644 gradient_norm: 0.8456990412767658 max_violation: 2.942080753228667 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iter: 78 cost: 266.1931439785299 gradient_norm: 663.6477696411546 max_violation: 0.005288177388598214 step_size: 1.0 iter: 79 cost: 266.17692500742896 gradient_norm: 655.2057810449335 max_violation: 0.005220524840875096 step_size: 1.0 iter: 80 cost: 266.1611392865044 gradient_norm: 646.9762337425511 max_violation: 0.005154572474337926 step_size: 1.0 iter: 81 cost: 266.14576874124816 gradient_norm: 638.9512058295286 max_violation: 0.005090257126371678 step_size: 1.0 iter: 82 cost: 266.13079629480023 gradient_norm: 631.1231644296981 max_violation: 0.005027518721756885 step_size: 1.0 iter: 83 cost: 266.1162058003726 gradient_norm: 623.4849421150172 max_violation: 0.004966300086476583 step_size: 1.0 iter: 84 cost: 266.10198197904106 gradient_norm: 616.0297150008075 max_violation: 0.004906546774680276 step_size: 1.0 iter: 85 cost: 266.0881103624396 gradient_norm: 608.7509824200728 max_violation: 0.004848206908058206 step_size: 1.0 iter: 86 cost: 266.07457723989944 gradient_norm: 601.6425480074591 max_violation: 0.0047912310263020785 step_size: 1.0 iter: 87 cost: 266.0613696096484 gradient_norm: 594.6985021012638 max_violation: 0.004735571947927619 step_size: 1.0 iter: 88 cost: 266.04847513370464 gradient_norm: 587.9132053546793 max_violation: 0.004681184640622504 step_size: 1.0 iter: 89 cost: 266.0358820961547 gradient_norm: 581.2812734492021 max_violation: 0.00462802610026003 step_size: 1.0 iter: 90 cost: 266.0235793645243 gradient_norm: 574.797562856007 max_violation: 0.004576055238180721 step_size: 1.0 iter: 91 cost: 266.0115563539648 gradient_norm: 568.4571575090794 max_violation: 0.004525232775642429 step_size: 1.0 iter: 92 cost: 265.99980299404376 gradient_norm: 562.2553563805101 max_violation: 0.004475521145396066 step_size: 1.0 iter: 93 cost: 265.98830969789964 gradient_norm: 556.187661842008 max_violation: 0.004426884399451825 step_size: 1.0 iter: 94 cost: 265.97706733358973 gradient_norm: 550.2497687941348 max_violation: 0.004379288122910108 step_size: 1.0 iter: 95 cost: 265.9660671974323 gradient_norm: 544.4375544670161 max_violation: 0.004332699353079783 step_size: 1.0 iter: 96 cost: 265.9553009891953 gradient_norm: 538.747068865247 max_violation: 0.0042870865036893635 step_size: 1.0 iter: 97 cost: 265.9447607889883 gradient_norm: 533.174525823046 max_violation: 0.004242419293924993 step_size: 1.0 iter: 98 cost: 265.9344390357099 gradient_norm: 527.7162945882776 max_violation: 0.004198668681627105 step_size: 1.0 iter: 99 cost: 265.9243285069434 gradient_norm: 522.3688919331337 max_violation: 0.0041558068006681825 step_size: 1.0 iter: 100 cost: 265.91442230018447 gradient_norm: 517.1289747384204 max_violation: 0.004113806902063533 step_size: 1.0 Test Summary: | Pass Total Time Solve: acrobot | 1 1 2m20.6s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ 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: 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 363.17s PkgEval succeeded after 522.51s