Package evaluation of DirectTrajOpt on Julia 1.11.4 (a71dd056e0*) started at 2025-04-08T15:10:38.371 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 10.2s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.11/Project.toml` [c823fa1f] + DirectTrajOpt v0.2.0 Updating `~/.julia/environments/v1.11/Manifest.toml` [c29ec348] + AbstractDifferentiation v0.6.2 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.18.0 [6e4b80f9] + BenchmarkTools v1.6.0 [d360d2e6] + ChainRulesCore v1.25.1 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.16.0 [187b0558] + ConstructionBase v1.5.8 [864edb3b] + DataStructures v0.18.22 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.2.0 [ffbed154] + DocStringExtensions v0.9.4 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [5789e2e9] + FileIO v1.17.0 [6a86dc24] + FiniteDiff v2.27.0 ⌅ [f6369f11] + ForwardDiff v0.10.38 [b6b21f68] + Ipopt v1.8.0 [92d709cd] + IrrationalConstants v0.2.4 [033835bb] + JLD2 v0.5.12 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.2 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.15 [b8f27783] + MathOptInterface v1.38.1 [d8a4904e] + MutableArithmetics v1.6.4 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.3.1 [bac558e1] + OrderedCollections v1.8.0 [69de0a69] + Parsers v2.8.1 ⌅ [aea7be01] + PrecompileTools v1.2.1 [21216c6a] + Preferences v1.4.3 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.5.0 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [856f2bd8] + StructTypes v1.11.0 [f8b46487] + TestItemRunner v1.1.0 [1c621080] + TestItems v1.0.0 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [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 v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [f43a241f] + Downloads v1.6.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [b27032c2] + LibCURL v0.6.4 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.11.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.2.0 [44cfe95a] + Pkg v1.11.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [2f01184e] + SparseArrays v1.11.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] + LibCURL_jll v8.6.0+0 [e37daf67] + LibGit2_jll v1.7.2+0 [29816b5a] + LibSSH2_jll v1.11.0+1 [c8ffd9c3] + MbedTLS_jll v2.28.6+0 [14a3606d] + MozillaCACerts_jll v2023.12.12 [4536629a] + OpenBLAS_jll v0.3.27+1 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.7.0+0 [83775a58] + Zlib_jll v1.2.13+1 [8e850b90] + libblastrampoline_jll v5.11.0+0 [8e850ede] + nghttp2_jll v1.59.0+0 [3f19e933] + p7zip_jll v17.4.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m` Installation completed after 5.05s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 183.36s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_o1yr8k/Project.toml` [c823fa1f] DirectTrajOpt v0.2.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.8.0 [033835bb] JLD2 v0.5.12 [b8f27783] MathOptInterface v1.38.1 [538bc3a1] NamedTrajectories v0.3.1 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_o1yr8k/Manifest.toml` [c29ec348] AbstractDifferentiation v0.6.2 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.18.0 [6e4b80f9] BenchmarkTools v1.6.0 [d360d2e6] ChainRulesCore v1.25.1 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.16.0 [187b0558] ConstructionBase v1.5.8 [864edb3b] DataStructures v0.18.22 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.2.0 [ffbed154] DocStringExtensions v0.9.4 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [5789e2e9] FileIO v1.17.0 [6a86dc24] FiniteDiff v2.27.0 ⌅ [f6369f11] ForwardDiff v0.10.38 [b6b21f68] Ipopt v1.8.0 [92d709cd] IrrationalConstants v0.2.4 [033835bb] JLD2 v0.5.12 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.2 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.15 [b8f27783] MathOptInterface v1.38.1 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.3.1 [bac558e1] OrderedCollections v1.8.0 [69de0a69] Parsers v2.8.1 ⌅ [aea7be01] PrecompileTools v1.2.1 [21216c6a] Preferences v1.4.3 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.5.0 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [856f2bd8] StructTypes v1.11.0 [f8b46487] TestItemRunner v1.1.0 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [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 v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [f43a241f] Downloads v1.6.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [b27032c2] LibCURL v0.6.4 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.11.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.2.0 [44cfe95a] Pkg v1.11.0 [de0858da] Printf v1.11.0 [9abbd945] Profile v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v0.7.0 [9e88b42a] Serialization v1.11.0 [2f01184e] SparseArrays v1.11.0 [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.1.1+0 [deac9b47] LibCURL_jll v8.6.0+0 [e37daf67] LibGit2_jll v1.7.2+0 [29816b5a] LibSSH2_jll v1.11.0+1 [c8ffd9c3] MbedTLS_jll v2.28.6+0 [14a3606d] MozillaCACerts_jll v2023.12.12 [4536629a] OpenBLAS_jll v0.3.27+1 [05823500] OpenLibm_jll v0.8.5+0 [bea87d4a] SuiteSparse_jll v7.7.0+0 [83775a58] Zlib_jll v1.2.13+1 [8e850b90] libblastrampoline_jll v5.11.0+0 [8e850ede] nghttp2_jll v1.59.0+0 [3f19e933] p7zip_jll v17.4.0+2 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. Testing Running tests... initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u ****************************************************************************** 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...: 404 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 325 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8842167e+00 2.29e+00 6.93e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2401584e+00 1.78e+00 8.96e+01 -1.0 2.21e+00 0.0 1.86e-02 1.00e+00f 1 2 7.7782691e+00 4.55e-01 2.19e+02 -1.0 1.06e+00 1.3 4.67e-01 1.00e+00h 1 3 3.8542475e+00 1.68e-01 7.59e+02 -1.0 9.40e-01 1.8 1.00e+00 1.00e+00f 1 4 3.0367578e+00 5.68e-02 2.88e+02 -1.0 2.97e-01 1.3 1.00e+00 1.00e+00h 1 5 3.1669560e+00 4.29e-02 8.82e+01 -1.0 2.95e-01 0.8 1.00e+00 1.00e+00h 1 6 3.1758421e+00 8.37e-04 6.23e+00 -1.0 4.67e-02 2.1 1.00e+00 1.00e+00h 1 7 3.1745913e+00 4.95e-06 1.26e-01 -1.0 2.79e-03 1.7 1.00e+00 1.00e+00h 1 8 3.1724405e+00 2.94e-05 1.02e-01 -2.5 6.80e-03 1.2 1.00e+00 1.00e+00h 1 9 3.1667599e+00 2.59e-04 1.01e-01 -2.5 2.01e-02 0.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.1552823e+00 2.18e-03 9.67e-02 -2.5 5.81e-02 0.2 1.00e+00 1.00e+00h 1 11 3.1089520e+00 1.31e-03 1.04e-01 -2.5 1.65e-01 -0.3 1.00e+00 1.00e+00H 1 12 3.1082344e+00 1.27e-02 1.04e-01 -2.5 5.60e-01 -0.7 1.00e+00 2.50e-01h 3 13 3.1037231e+00 3.01e-02 1.19e-01 -2.5 2.41e-01 -0.3 1.00e+00 1.00e+00h 1 14 3.0978196e+00 3.83e-02 1.30e-01 -2.5 1.24e+00 -0.8 1.00e+00 1.25e-01h 4 15 3.0725251e+00 4.68e-02 1.39e-01 -2.5 3.18e-01 -0.4 1.00e+00 1.00e+00h 1 16 3.0652757e+00 5.05e-02 1.49e-01 -2.5 3.18e+00 -0.8 1.00e+00 3.12e-02h 6 17 3.0603445e+00 6.26e-02 1.52e-01 -2.5 3.42e-01 -0.4 1.00e+00 1.00e+00h 1 18 2.9029295e+00 3.81e-03 1.44e-01 -2.5 1.37e-01 0.0 1.00e+00 1.00e+00h 1 19 2.8558619e+00 4.72e-03 9.27e-02 -2.5 2.32e-01 -0.5 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.8505777e+00 8.76e-03 9.73e-02 -2.5 1.44e+00 -0.9 1.00e+00 6.25e-02h 5 21 2.8334901e+00 4.23e-02 2.70e-01 -2.5 4.22e-01 -0.5 1.00e+00 1.00e+00H 1 22 2.7453822e+00 1.06e-02 1.20e-01 -2.5 1.45e-01 -0.1 1.00e+00 1.00e+00h 1 23 2.7413442e+00 5.08e-02 5.13e-01 -2.5 4.43e-01 -0.6 1.00e+00 1.00e+00H 1 24 2.6071144e+00 1.53e-02 2.30e-01 -2.5 2.14e-01 -0.1 1.00e+00 1.00e+00h 1 25 2.5916912e+00 1.86e-02 1.61e-01 -2.5 4.98e-01 -0.6 1.00e+00 2.50e-01h 3 26 2.5834571e+00 2.25e-02 1.51e-01 -2.5 3.14e+00 -1.1 1.00e+00 3.12e-02h 6 27 2.5724044e+00 3.25e-02 1.53e-01 -2.5 7.48e-01 -0.7 1.00e+00 2.50e-01h 3 28 2.5192846e+00 2.59e-02 1.43e-01 -2.5 2.47e-01 -0.2 1.00e+00 1.00e+00h 1 29 2.5061649e+00 2.83e-02 1.46e-01 -2.5 8.71e-01 -0.7 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.4750059e+00 2.95e-02 1.25e-01 -2.5 2.44e-01 -0.3 1.00e+00 1.00e+00h 1 31 2.4706385e+00 3.83e-02 1.34e-01 -2.5 1.15e+00 -0.8 1.00e+00 1.25e-01h 4 32 2.4550211e+00 5.89e-02 1.57e-01 -2.5 3.44e-01 -0.3 1.00e+00 1.00e+00h 1 33 2.3019961e+00 5.90e-03 1.76e-01 -2.5 1.45e-01 0.1 1.00e+00 1.00e+00h 1 34 2.2484955e+00 6.94e-03 1.32e-01 -2.5 3.00e-01 -0.4 1.00e+00 1.00e+00H 1 35 2.2411551e+00 1.19e-02 1.38e-01 -2.5 1.66e+00 -0.9 1.00e+00 6.25e-02h 5 36 2.2291426e+00 1.56e-02 1.45e-01 -2.5 4.61e-01 -0.4 1.00e+00 2.50e-01h 3 37 2.2227324e+00 2.24e-02 1.54e-01 -2.5 3.76e+00 -0.9 1.00e+00 3.12e-02h 6 38 2.2098080e+00 2.87e-02 1.62e-01 -2.5 5.83e-01 -0.5 1.00e+00 2.50e-01h 3 39 2.1515290e+00 1.33e-02 1.27e-01 -2.5 1.49e-01 -0.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1388945e+00 1.81e-02 1.29e-01 -2.5 4.75e-01 -0.5 1.00e+00 2.50e-01h 3 41 2.1376018e+00 2.93e-02 1.40e-01 -2.5 8.87e+00 -1.0 1.00e+00 1.56e-02f 7 42 2.1225749e+00 3.47e-02 1.56e-01 -2.5 1.05e+00 -0.6 1.00e+00 1.25e-01h 4 43 2.0648928e+00 3.26e-02 1.84e-01 -2.5 2.73e-01 -0.2 1.00e+00 1.00e+00h 1 44 2.0509977e+00 3.58e-02 1.88e-01 -2.5 9.67e-01 -0.6 1.00e+00 1.25e-01h 4 45 2.0112087e+00 3.62e-02 1.65e-01 -2.5 2.75e-01 -0.2 1.00e+00 1.00e+00h 1 46 2.0016057e+00 4.29e-02 1.73e-01 -2.5 1.16e+00 -0.7 1.00e+00 1.25e-01h 4 47 1.9698817e+00 4.09e-02 1.39e-01 -2.5 2.61e-01 -0.3 1.00e+00 1.00e+00h 1 48 1.9604394e+00 4.31e-02 1.47e-01 -2.5 2.69e+00 -0.8 1.00e+00 3.12e-02h 6 49 1.9585292e+00 7.58e-02 1.83e-01 -2.5 3.86e-01 -0.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.7843971e+00 5.64e-03 1.83e-01 -2.5 1.41e-01 0.1 1.00e+00 1.00e+00h 1 51 1.7351507e+00 6.34e-03 1.32e-01 -2.5 2.95e-01 -0.4 1.00e+00 1.00e+00H 1 52 1.7284358e+00 1.17e-02 1.39e-01 -2.5 1.70e+00 -0.9 1.00e+00 6.25e-02h 5 53 1.7169058e+00 1.57e-02 1.47e-01 -2.5 4.57e-01 -0.4 1.00e+00 2.50e-01h 3 54 1.7132388e+00 2.53e-02 1.59e-01 -2.5 4.34e+00 -0.9 1.00e+00 3.12e-02f 6 55 1.7005864e+00 3.21e-02 1.68e-01 -2.5 5.85e-01 -0.5 1.00e+00 2.50e-01h 3 56 1.6316491e+00 1.54e-02 1.58e-01 -2.5 1.78e-01 -0.1 1.00e+00 1.00e+00h 1 57 1.6183552e+00 2.25e-02 1.59e-01 -2.5 5.52e-01 -0.5 1.00e+00 2.50e-01h 3 58 1.6100741e+00 2.69e-02 1.67e-01 -2.5 1.17e+01 -1.0 1.00e+00 7.81e-03f 8 59 1.5946063e+00 3.10e-02 1.78e-01 -2.5 9.72e-01 -0.6 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.5483117e+00 3.33e-02 1.90e-01 -2.5 2.72e-01 -0.2 1.00e+00 1.00e+00h 1 61 1.5338841e+00 3.68e-02 1.96e-01 -2.5 9.94e-01 -0.6 1.00e+00 1.25e-01h 4 62 1.4947836e+00 3.77e-02 1.72e-01 -2.5 2.77e-01 -0.2 1.00e+00 1.00e+00h 1 63 1.4853566e+00 4.51e-02 1.81e-01 -2.5 1.17e+00 -0.7 1.00e+00 1.25e-01h 4 64 1.4517307e+00 4.02e-02 1.40e-01 -2.5 2.53e-01 -0.3 1.00e+00 1.00e+00h 1 65 1.4435352e+00 4.71e-02 1.58e-01 -2.5 3.85e+00 -0.7 1.00e+00 3.12e-02h 6 66 1.3447862e+00 5.72e-02 5.79e-01 -2.5 4.51e-01 -0.3 1.00e+00 1.00e+00H 1 67 1.2245497e+00 6.22e-03 1.59e-01 -2.5 1.21e-01 0.1 1.00e+00 1.00e+00h 1 68 1.1712371e+00 8.18e-03 1.39e-01 -2.5 3.10e-01 -0.4 1.00e+00 1.00e+00H 1 69 1.1629844e+00 1.16e-02 1.42e-01 -2.5 1.30e+00 -0.8 1.00e+00 6.25e-02h 5 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.1609261e+00 5.03e-02 3.72e-01 -2.5 3.52e-01 -0.4 1.00e+00 1.00e+00H 1 71 1.0395639e+00 1.11e-02 1.97e-01 -2.5 1.80e-01 0.0 1.00e+00 1.00e+00h 1 72 1.0008850e+00 2.78e-02 2.00e-01 -2.5 3.97e-01 -0.5 1.00e+00 1.00e+00H 1 73 9.9423950e-01 3.22e-02 2.06e-01 -2.5 6.15e+00 -0.9 1.00e+00 1.56e-02h 7 74 9.8150127e-01 3.82e-02 1.86e-01 -2.5 6.47e-01 -0.5 1.00e+00 2.50e-01h 3 75 9.1384175e-01 1.44e-02 1.38e-01 -2.5 1.47e-01 -0.1 1.00e+00 1.00e+00h 1 76 9.0469229e-01 1.85e-02 1.21e-01 -2.5 4.50e-01 -0.6 1.00e+00 2.50e-01h 3 77 8.9842702e-01 2.05e-02 1.27e-01 -2.5 2.53e+01 -1.0 6.03e-01 2.77e-03f 9 78 8.8672842e-01 2.48e-02 1.39e-01 -2.5 8.96e-01 -0.6 1.00e+00 1.25e-01h 4 79 8.5200797e-01 3.31e-02 1.71e-01 -2.5 2.64e-01 -0.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 8.4341029e-01 4.29e-02 1.86e-01 -2.5 1.34e+00 -0.7 1.00e+00 1.25e-01h 4 81 8.1383506e-01 5.50e-02 1.98e-01 -2.5 3.45e-01 -0.2 1.00e+00 1.00e+00h 1 82 8.0413053e-01 6.25e-02 2.18e-01 -2.5 4.22e+00 -0.7 1.00e+00 3.12e-02h 6 83 7.0537990e-01 4.55e-02 5.96e-01 -2.5 3.92e-01 -0.3 1.00e+00 1.00e+00H 1 84 5.7543065e-01 5.82e-03 1.99e-01 -2.5 1.46e-01 0.1 1.00e+00 1.00e+00h 1 85 5.2169897e-01 7.72e-03 1.50e-01 -2.5 2.94e-01 -0.3 1.00e+00 1.00e+00H 1 86 5.2068136e-01 2.13e-02 1.57e-01 -2.5 1.36e+00 -0.8 1.00e+00 1.25e-01h 4 87 5.2037169e-01 6.56e-02 4.14e-01 -2.5 4.76e-01 -0.4 1.00e+00 1.00e+00H 1 88 3.7940764e-01 7.71e-03 2.28e-01 -2.5 1.65e-01 0.0 1.00e+00 1.00e+00h 1 89 3.3630933e-01 2.30e-02 1.84e-01 -2.5 3.15e-01 -0.4 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 3.2912554e-01 2.91e-02 1.94e-01 -2.5 7.18e+00 -0.9 1.00e+00 1.56e-02f 7 91 3.1664838e-01 4.00e-02 1.84e-01 -2.5 7.72e-01 -0.5 1.00e+00 2.50e-01h 3 92 2.4478499e-01 2.05e-02 1.82e-01 -2.5 2.14e-01 -0.1 1.00e+00 1.00e+00h 1 93 2.3338087e-01 2.79e-02 1.81e-01 -2.5 6.21e-01 -0.5 1.00e+00 2.50e-01h 3 94 2.2574928e-01 3.24e-02 1.89e-01 -2.5 2.38e+01 -1.0 1.00e+00 3.91e-03f 9 95 2.1145441e-01 3.61e-02 1.94e-01 -2.5 9.20e-01 -0.6 1.00e+00 1.25e-01h 4 96 1.6650845e-01 2.63e-02 1.41e-01 -2.5 2.09e-01 -0.2 1.00e+00 1.00e+00h 1 97 1.5289237e-01 3.12e-02 1.50e-01 -2.5 9.56e-01 -0.6 1.00e+00 1.25e-01h 4 98 1.1362897e-01 4.29e-02 1.79e-01 -2.5 3.00e-01 -0.2 1.00e+00 1.00e+00h 1 99 1.1073756e-01 5.97e-02 1.99e-01 -2.5 1.68e+00 -0.7 1.00e+00 1.25e-01h 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 7.8885880e-02 7.26e-02 2.13e-01 -2.5 4.01e-01 -0.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 7.8885879937698355e-02 7.8885879937698355e-02 Dual infeasibility......: 2.1319659961048276e-01 2.1319659961048276e-01 Constraint violation....: 7.2577751467026941e-02 7.2577751467026941e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.8284712090287604e-03 2.8284712090287604e-03 Overall NLP error.......: 2.1319659961048276e-01 2.1319659961048276e-01 Number of objective function evaluations = 326 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 326 Number of inequality constraint evaluations = 326 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 53.536 EXIT: Maximum Number of Iterations Exceeded. Test Summary: | Pass Total Time Package | 22 22 8m12.4s Testing DirectTrajOpt tests passed Testing completed after 565.08s PkgEval succeeded after 777.39s