Package evaluation of DirectTrajectoryOptimization on Julia 1.11.4 (a71dd056e0*) started at 2025-04-08T19:54:34.405 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 9.11s ################################################################################ # Installation # Installing DirectTrajectoryOptimization... Resolving package versions... Installed DirectTrajectoryOptimization ─ v0.2.0 Updating `~/.julia/environments/v1.11/Project.toml` [a9f42406] + DirectTrajectoryOptimization v0.2.0 Updating `~/.julia/environments/v1.11/Manifest.toml` ⌅ [c3fe647b] + AbstractAlgebra v0.15.1 ⌅ [1520ce14] + AbstractTrees v0.3.4 [66dad0bd] + AliasTables v1.1.3 ⌅ [4fba245c] + ArrayInterface v3.1.32 [30b0a656] + ArrayInterfaceCore v0.1.29 [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 v0.18.22 [e2d170a0] + DataValueInterfaces v1.0.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a9f42406] + DirectTrajectoryOptimization v0.2.0 [31c24e10] + Distributions v0.25.118 ⌅ [ffbed154] + DocStringExtensions v0.8.6 ⌅ [5b8099bc] + DomainSets v0.5.14 [4e289a0a] + EnumX v1.0.5 [e2ba6199] + ExprTools v0.1.10 [1a297f60] + FillArrays v1.13.0 [59287772] + Formatting v0.4.3 ⌃ [f6369f11] + ForwardDiff v0.10.38 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [34004b35] + HypergeometricFunctions v0.3.28 [615f187c] + IfElse v0.1.1 [8197267c] + IntervalSets v0.7.10 [b6b21f68] + Ipopt v1.8.0 ⌅ [92d709cd] + IrrationalConstants v0.1.1 [82899510] + IteratorInterfaceExtensions v1.0.0 [692b3bcd] + JLLWrappers v1.7.0 [682c06a0] + JSON v0.21.4 [0f8b85d8] + JSON3 v1.14.2 [b964fa9f] + LaTeXStrings v1.4.0 ⌃ [2ee39098] + LabelledArrays v1.9.0 ⌅ [23fbe1c1] + Latexify v0.15.21 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.15 [b8f27783] + MathOptInterface v1.38.1 [e1d29d7a] + Missings v1.2.0 [d8a4904e] + MutableArithmetics v1.6.4 ⌅ [77ba4419] + NaNMath v0.3.7 [bac558e1] + OrderedCollections v1.8.0 [90014a1f] + PDMats v0.11.33 [d96e819e] + Parameters v0.12.3 [69de0a69] + Parsers v2.8.1 ⌅ [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 v2.17.2 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [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 ⌅ [aedffcd0] + Static v0.3.3 [90137ffa] + StaticArrays v1.9.13 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [82ae8749] + StatsAPI v1.7.0 [2913bbd2] + StatsBase v0.34.4 [4c63d2b9] + StatsFuns v1.4.0 [856f2bd8] + StructTypes v1.11.0 ⌅ [d1185830] + SymbolicUtils v0.11.0 ⌅ [0c5d862f] + Symbolics v0.1.32 [3783bdb8] + TableTraits v1.0.1 [bd369af6] + Tables v1.12.0 [a759f4b9] + TimerOutputs v0.5.28 [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 v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [f50d1b31] + Rmath_jll v0.5.1+0 ⌅ [319450e9] + SPRAL_jll v2024.5.8+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed 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 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.11.0 [4607b0f0] + SuiteSparse [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 ⌃ 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 31.86s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ TestEnv ~/.julia/packages/TestEnv/tgnBf/src/julia-1.11/activate_set.jl:63 Precompiling package dependencies... Precompilation completed after 571.6s ################################################################################ # Testing # Testing DirectTrajectoryOptimization ┌ Warning: Could not use exact versions of packages in manifest, re-resolving └ @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.11/Pkg/src/Operations.jl:1920 Status `/tmp/jl_tsmv5S/Project.toml` [a9f42406] DirectTrajectoryOptimization v0.2.0 ⌅ [f6369f11] ForwardDiff v0.10.38 ⌅ [0c5d862f] Symbolics v0.1.29 [37e2e46d] LinearAlgebra v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_tsmv5S/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 v0.18.22 [e2d170a0] DataValueInterfaces v1.0.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a9f42406] DirectTrajectoryOptimization v0.2.0 [31c24e10] Distributions v0.25.118 ⌅ [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 v0.7.10 [b6b21f68] Ipopt v1.8.0 ⌅ [92d709cd] IrrationalConstants v0.1.1 [82899510] IteratorInterfaceExtensions v1.0.0 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [0f8b85d8] JSON3 v1.14.2 [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 v1.38.1 [e1d29d7a] Missings v1.2.0 [d8a4904e] MutableArithmetics v1.6.4 ⌅ [77ba4419] NaNMath v0.3.7 [bac558e1] OrderedCollections v1.8.0 [90014a1f] PDMats v0.11.33 [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 v1.3.1 [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 v1.9.13 [1e83bf80] StaticArraysCore v1.4.3 [10745b16] Statistics v1.11.1 [82ae8749] StatsAPI v1.7.0 [2913bbd2] StatsBase v0.34.4 [4c63d2b9] StatsFuns v1.4.0 [856f2bd8] StructTypes v1.11.0 ⌅ [d1185830] SymbolicUtils v0.11.0 ⌅ [0c5d862f] Symbolics v0.1.29 [3783bdb8] TableTraits v1.0.1 [bd369af6] Tables v1.12.0 [a759f4b9] TimerOutputs v0.5.28 [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 v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [f50d1b31] Rmath_jll v0.5.1+0 ⌅ [319450e9] SPRAL_jll v2024.5.8+0 [0dad84c5] ArgTools v1.1.2 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed 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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 ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... Precompiling Symbolics... 3425.7 ms ? DomainSets Info Given Symbolics was explicitly requested, output will be shown live  ┌ 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. 28835.6 ms ? Symbolics ┌ 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 Precompiling DomainSets... Info Given DomainSets was explicitly requested, output will be shown live  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. 3652.7 ms ? DomainSets 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)`. Precompiling DirectTrajectoryOptimization... 2883.7 ms ? DomainSets 78211.1 ms ✓ MathOptInterface 24565.1 ms ? Symbolics 41087.0 ms ✓ Ipopt Info Given DirectTrajectoryOptimization was explicitly requested, output will be shown live  ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0026-795ee88d6b78 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:2541 2339.2 ms ? DirectTrajectoryOptimization 2 dependencies successfully precompiled in 154 seconds. 148 already precompiled. 2 dependencies precompiled but different versions are currently loaded. Restart julia to access the new versions. Otherwise, loading dependents of these packages may trigger further precompilation to work with the unexpected versions. 3 dependencies failed but may be precompilable after restarting julia 3 dependencies had output during precompilation: ┌ DomainSets │ 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. └ ┌ Symbolics │ ┌ 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: Module DomainSets with build ID ffffffff-ffff-ffff-0026-796a5aa9a1d3 is missing from the cache. │ │ This may mean DomainSets [5b8099bc-c8ec-5219-889f-1d9e522a28bf] does not support precompilation but is imported by a module that does. │ └ @ Base loading.jl:2541 └ ┌ DirectTrajectoryOptimization │ [Output was shown above] └ ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0026-795ee88d6b78 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:2541 Test Summary: | Pass Total Time Objective | 6 6 35.6s Test Summary: | Pass Total Time Dynamics | 5 5 37.0s Test Summary: | Pass Total Time Constraints | 2 2 12.3s Test Summary: | Pass Total Time Hessian of Lagrangian | 6 6 3m12.4s ****************************************************************************** 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 7.7918064e+00 1.85e+00 4.25e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3211348e+02 7.37e-01 6.26e+01 -11.0 5.78e+00 - 1.00e+00 1.00e+00h 1 2 1.0323334e+02 8.74e-02 1.79e+00 -11.0 1.30e+00 - 1.00e+00 1.00e+00f 1 3 6.7370831e+01 1.43e+00 4.42e+00 -11.0 4.98e+00 - 1.00e+00 1.00e+00f 1 4 5.5817169e+01 1.48e-01 9.02e-01 -11.0 1.95e+00 - 1.00e+00 1.00e+00f 1 5 5.4932263e+01 3.18e-03 4.15e-01 -11.0 4.14e-01 - 1.00e+00 1.00e+00h 1 6 5.4863241e+01 2.69e-04 1.88e-01 -11.0 9.68e-02 - 1.00e+00 1.00e+00h 1 7 5.4725897e+01 2.86e-04 6.43e-01 -11.0 4.24e-01 - 1.00e+00 1.00e+00F 1 8 5.4722386e+01 2.12e-03 7.97e-01 -11.0 1.33e+00 - 1.00e+00 1.25e-01f 4 9 5.4668987e+01 1.93e-02 1.64e+00 -11.0 1.36e+00 - 1.00e+00 1.00e+00F 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 5.4469636e+01 4.34e-03 1.28e+00 -11.0 7.32e-01 - 1.00e+00 1.00e+00F 1 11 5.4412103e+01 5.23e-04 8.70e-01 -11.0 3.54e-01 - 1.00e+00 1.00e+00H 1 12 5.3978895e+01 2.11e-02 1.64e+00 -11.0 1.29e+00 - 1.00e+00 1.00e+00F 1 13 5.4334110e+01 3.27e-03 1.02e+00 -11.0 3.77e-01 - 1.00e+00 1.00e+00h 1 14 5.4177309e+01 3.14e-03 5.00e-01 -11.0 2.24e-01 - 1.00e+00 1.00e+00f 1 15 5.4084010e+01 1.01e-03 7.11e-01 -11.0 5.93e-01 - 1.00e+00 1.00e+00H 1 16 5.4078847e+01 1.46e-03 8.03e-01 -11.0 1.29e+00 - 1.00e+00 6.25e-02h 5 17 5.4071340e+01 1.84e-03 8.13e-01 -11.0 7.16e-01 - 1.00e+00 1.25e-01h 4 18 5.4064897e+01 2.56e-03 6.45e-01 -11.0 4.52e-01 - 1.00e+00 1.00e+00H 1 19 5.4060898e+01 2.72e-03 8.05e-01 -11.0 7.29e-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 5.4030702e+01 1.60e-04 6.69e-01 -11.0 3.25e-01 - 1.00e+00 1.00e+00H 1 21 5.3989469e+01 1.60e-04 2.48e-01 -11.0 2.98e-01 - 1.00e+00 1.00e+00F 1 22 5.3995394e+01 2.19e-04 2.89e-01 -11.0 1.70e-01 - 1.00e+00 1.00e+00H 1 23 5.3992328e+01 1.78e-05 1.94e-01 -11.0 1.06e-01 - 1.00e+00 1.00e+00H 1 24 5.3988510e+01 1.77e-05 1.79e-02 -11.0 8.56e-02 - 1.00e+00 1.00e+00H 1 25 5.3988532e+01 6.61e-07 2.10e-02 -11.0 9.15e-03 - 1.00e+00 1.00e+00h 1 26 5.3988526e+01 1.06e-06 5.00e-03 -11.0 2.98e-03 - 1.00e+00 1.00e+00h 1 27 5.3988517e+01 1.19e-08 5.77e-05 -11.0 5.63e-03 - 1.00e+00 1.00e+00H 1 28 5.3988531e+01 5.70e-10 5.07e-04 -11.0 4.93e-03 - 1.00e+00 1.00e+00H 1 29 5.3988517e+01 7.13e-10 1.11e-05 -11.0 5.09e-03 - 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.3988517e+01 4.47e-12 2.96e-05 -11.0 3.61e-04 - 1.00e+00 1.00e+00H 1 31 5.3988517e+01 7.93e-13 1.76e-06 -11.0 2.20e-04 - 1.00e+00 1.00e+00H 1 32 5.3988517e+01 7.91e-16 2.64e-06 -11.0 2.17e-05 - 1.00e+00 1.00e+00H 1 33 5.3988517e+01 3.91e-12 4.80e-09 -11.0 1.30e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 5.3988516992694713e+01 5.3988516992694713e+01 Dual infeasibility......: 4.8041428613032622e-09 4.8041428613032622e-09 Constraint violation....: 3.9079434133171276e-12 3.9079434133171276e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 4.8041428613032622e-09 4.8041428613032622e-09 Number of objective function evaluations = 82 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 82 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 5.478 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: acrobot | 2 2 14.9s 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 1.1413113e+00 1.33e+00 1.44e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3309966e-01 1.39e-16 1.15e-01 -11.0 1.01e+00 - 1.00e+00 1.00e+00h 1 2 1.9471243e-01 8.33e-17 4.16e-17 -11.0 5.76e-01 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 2 (scaled) (unscaled) Objective...............: 1.9471243374874658e-01 1.9471243374874658e-01 Dual infeasibility......: 4.1633363423443370e-17 4.1633363423443370e-17 Constraint violation....: 8.3266726846886741e-17 8.3266726846886741e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 8.3266726846886741e-17 8.3266726846886741e-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 = 0.357 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: user-provided dynamics gradients | 2 2 7.2s 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 1.1413113e+00 1.33e+00 1.44e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9471243e-01 8.33e-17 3.47e-17 -1.0 1.17e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 1 (scaled) (unscaled) Objective...............: 1.9471243374874658e-01 1.9471243374874658e-01 Dual infeasibility......: 3.4694469519536142e-17 3.4694469519536142e-17 Constraint violation....: 8.3266726846886741e-17 8.3266726846886741e-17 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 8.3266726846886741e-17 8.3266726846886741e-17 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 = 6.368 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Solve: general constraint | 2 2 9.2s Testing DirectTrajectoryOptimization tests passed Testing completed after 597.42s PkgEval succeeded after 1239.54s