Package evaluation of IterativeLQR on Julia 1.11.3 (d63adeda50*) started at 2025-02-25T23:31:14.213 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 8.35s ################################################################################ # Installation # Installing IterativeLQR... Resolving package versions... Updating `~/.julia/environments/v1.11/Project.toml` [605048dd] + IterativeLQR v0.2.3 Updating `~/.julia/environments/v1.11/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 v2.4.0 ⌃ [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 v0.1.9 [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 v1.1.2 [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 [10745b16] + Statistics v1.11.1 [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] + 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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 6.79s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 235.45s ################################################################################ # Testing # Testing IterativeLQR Status `/tmp/jl_qXP9lr/Project.toml` [6e4b80f9] BenchmarkTools v1.6.0 [f6369f11] ForwardDiff v0.10.38 [605048dd] IterativeLQR v0.2.3 ⌅ [0c5d862f] Symbolics v4.14.0 [37e2e46d] LinearAlgebra v1.11.0 [2f01184e] SparseArrays v1.11.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_qXP9lr/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 v2.4.0 ⌃ [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 v0.1.9 [d360d2e6] ChainRulesCore v1.25.1 [861a8166] Combinatorics v1.0.2 [38540f10] CommonSolve v0.2.4 [bbf7d656] 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[8197267c] IntervalSets v0.7.10 [3587e190] InverseFunctions v0.1.17 [92d709cd] IrrationalConstants v0.2.4 [605048dd] IterativeLQR v0.2.3 [82899510] IteratorInterfaceExtensions v1.0.0 ⌅ [033835bb] JLD2 v0.4.54 [692b3bcd] JLLWrappers v1.7.0 [682c06a0] JSON v0.21.4 [b964fa9f] LaTeXStrings v1.4.0 ⌃ [2ee39098] LabelledArrays v1.15.1 ⌅ [984bce1d] LambertW v0.4.6 ⌅ [23fbe1c1] Latexify v0.15.21 [2ab3a3ac] LogExpFunctions v0.3.29 [1914dd2f] MacroTools v0.5.15 ⌅ [e9d8d322] Metatheory v1.3.5 [128add7d] MicroCollections v0.2.0 [e1d29d7a] Missings v1.2.0 ⌅ [102ac46a] MultivariatePolynomials v0.4.7 [d8a4904e] MutableArithmetics v1.6.4 [77ba4419] NaNMath v1.1.2 [bac558e1] OrderedCollections v1.8.0 [90014a1f] PDMats v0.11.32 [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 [27ebfcd6] Primes v0.5.6 [43287f4e] PtrArrays v1.3.0 [1fd47b50] QuadGK v2.11.2 [fb686558] RandomExtensions v0.4.4 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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 v0.8.1+2 [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... 3300.2 ms ? DomainSets 24882.8 ms ✓ SciMLBase Info Given Symbolics 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. 5249.3 ms ? Symbolics 1 dependency successfully precompiled in 39 seconds. 175 already precompiled. 2 dependencies failed but may be precompilable after restarting julia 2 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 │ [Output was shown above] └ 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. 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. 2999.0 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 ArrayInterfaceCore... 995.7 ms ✓ SnoopPrecompile 1999.7 ms ✓ ArrayInterfaceCore 2 dependencies successfully precompiled in 3 seconds. 9 already precompiled. Precompiling SciMLBase... 4382.7 ms ✓ SciMLOperators 2521.4 ms ✓ ZygoteRules 1459.8 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 1464.9 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 14941.3 ms ✓ SciMLBase 5 dependencies successfully precompiled in 25 seconds. 64 already precompiled. Precompiling Groebner... 3996.9 ms ✓ Groebner 1 dependency successfully precompiled in 4 seconds. 28 already precompiled. WARNING: Code.get_symbolify is deprecated, use get_rewrites instead. likely near /home/pkgeval/.julia/packages/Symbolics/UrqtQ/src/build_function.jl:130 Precompiling Distributions... 2304.1 ms ✓ QuadGK 4209.7 ms ✓ StatsBase 9315.9 ms ✓ Distributions 3 dependencies successfully precompiled in 17 seconds. 48 already precompiled. Precompiling StatsFunsInverseFunctionsExt... 1527.0 ms ✓ StatsFuns → StatsFunsInverseFunctionsExt 1 dependency successfully precompiled in 2 seconds. 27 already precompiled. Precompiling StatsFunsChainRulesCoreExt... 4097.7 ms ✓ StatsFuns → StatsFunsChainRulesCoreExt 1 dependency successfully precompiled in 4 seconds. 30 already precompiled. Precompiling DistributionsTestExt... 3084.8 ms ✓ Distributions → DistributionsTestExt 1 dependency successfully precompiled in 4 seconds. 53 already precompiled. Precompiling DistributionsChainRulesCoreExt... 3351.3 ms ✓ Distributions → DistributionsChainRulesCoreExt 1 dependency successfully precompiled in 4 seconds. 56 already precompiled. Precompiling Latexify... 5302.4 ms ✓ Latexify 1 dependency successfully precompiled in 5 seconds. 12 already precompiled. Precompiling IterativeLQR... 2875.2 ms ? DomainSets 55039.8 ms ✓ JLD2 3669.9 ms ? Symbolics Info Given IterativeLQR was explicitly requested, output will be shown live  ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0019-a073610bda85 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 1816.9 ms ? IterativeLQR 1 dependency successfully precompiled in 65 seconds. 181 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: Module DomainSets with build ID ffffffff-ffff-ffff-0019-a0755c378cf7 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 └ ┌ IterativeLQR │ [Output was shown above] └ ┌ Warning: Module Symbolics with build ID ffffffff-ffff-ffff-0019-a073610bda85 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 | 7 7 39.0s Test Summary: | Pass Total Time Dynamics | 4 4 22.0s Test Summary: | Pass Total Time Constraints | 12 12 18.1s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ 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: 10.58970796930957 gradient_norm: 2.600725702101928 max_violation: 3.0910340553148052 step_size: 1.0 iter: 2 cost: 6.309788571945498 gradient_norm: 1.0924636583961613 max_violation: 3.098758963171175 step_size: 1.0 iter: 3 cost: 5.515542747804049 gradient_norm: 0.6951501674383871 max_violation: 3.101511957119389 step_size: 1.0 iter: 4 cost: 5.237659538429339 gradient_norm: 0.5125905266038455 max_violation: 3.102882827908346 step_size: 1.0 iter: 5 cost: 5.109045069142712 gradient_norm: 0.4068263452892483 max_violation: 3.1037042205084537 step_size: 1.0 iter: 6 cost: 5.039179137763057 gradient_norm: 0.3375555496062352 max_violation: 3.1042516385331185 step_size: 1.0 iter: 7 cost: 4.997050932087513 gradient_norm: 0.28857735535266166 max_violation: 3.1046426799346847 step_size: 1.0 iter: 8 cost: 4.96970730038908 gradient_norm: 0.2520770613341687 max_violation: 3.1049360291033934 step_size: 1.0 iter: 9 cost: 4.950960097952764 gradient_norm: 0.22380838004701054 max_violation: 3.105164257075193 step_size: 1.0 iter: 10 cost: 4.937550020268428 gradient_norm: 0.20126063039838127 max_violation: 3.105346897417828 step_size: 1.0 iter: 11 cost: 4.927627875461769 gradient_norm: 0.18285233114402644 max_violation: 3.105496378193672 step_size: 1.0 iter: 12 cost: 4.920081134029214 gradient_norm: 0.1675369254438107 max_violation: 3.105620984464318 step_size: 1.0 iter: 13 cost: 4.914207900427654 gradient_norm: 0.15459386564169042 max_violation: 3.1057264523468184 step_size: 1.0 iter: 14 cost: 4.909547602647045 gradient_norm: 0.14351065131386315 max_violation: 3.1058168795096517 step_size: 1.0 iter: 15 cost: 4.9057878638414 gradient_norm: 0.13391269520961907 max_violation: 3.105895271332937 step_size: 1.0 iter: 16 cost: 4.902710757319182 gradient_norm: 0.12551980097713988 max_violation: 3.1059638822133455 step_size: 1.0 iter: 17 cost: 4.900160499710922 gradient_norm: 0.11811816119395319 max_violation: 3.106024436396957 step_size: 1.0 iter: 18 cost: 4.898023338312197 gradient_norm: 0.11154177502103685 max_violation: 3.1060782752016403 step_size: 1.0 iter: 19 cost: 4.89621464257556 gradient_norm: 0.10565978186556035 max_violation: 3.1061264577523624 step_size: 1.0 iter: 20 cost: 4.894670394757604 gradient_norm: 0.10036762271481725 max_violation: 3.1061698315007593 step_size: 1.0 iter: 21 cost: 4.893341446166357 gradient_norm: 0.09558074341995199 max_violation: 3.1062090826006834 step_size: 1.0 iter: 22 cost: 4.892189557498409 gradient_norm: 0.09123002549191 max_violation: 3.1062447725486746 step_size: 1.0 iter: 23 cost: 4.8911846169341935 gradient_norm: 0.08725841531688272 max_violation: 3.1062773652690363 step_size: 1.0 iter: 24 cost: 4.890302652005799 gradient_norm: 0.08361840023343375 max_violation: 3.1063072474300175 step_size: 1.0 al iter: 2 iter: 1 cost: 56.221966679187425 gradient_norm: 6.499762213723428 max_violation: 2.937836525690309 step_size: 1.0 iter: 2 cost: 55.77505570364323 gradient_norm: 3.0773143463878405 max_violation: 2.940668543539433 step_size: 1.0 iter: 3 cost: 55.69308228024898 gradient_norm: 2.0145838705795613 max_violation: 2.9414463572891125 step_size: 1.0 iter: 4 cost: 55.66438071274372 gradient_norm: 1.4971730429467835 max_violation: 2.941795056337698 step_size: 1.0 iter: 5 cost: 55.65108071691246 gradient_norm: 1.1911719665898577 max_violation: 2.9419883437614858 step_size: 1.0 iter: 6 cost: 55.643847588566345 gradient_norm: 0.98902372872094 max_violation: 2.942109282387986 step_size: 1.0 iter: 7 cost: 55.639481542613574 gradient_norm: 0.8455396529320423 max_violation: 2.9421911618211865 step_size: 1.0 iter: 8 cost: 55.636645041081785 gradient_norm: 0.7384226380387293 max_violation: 2.942249765998085 step_size: 1.0 iter: 9 cost: 55.6346986178116 gradient_norm: 0.6554029573121181 max_violation: 2.9422934826892 step_size: 1.0 iter: 10 cost: 55.63330522275359 gradient_norm: 0.5891717581863611 max_violation: 2.942327154627947 step_size: 1.0 iter: 11 cost: 55.63227349843394 gradient_norm: 0.5351042660647067 max_violation: 2.942353760243313 step_size: 1.0 iter: 12 cost: 55.6314882453722 gradient_norm: 0.4901313861626564 max_violation: 2.9423752250388167 step_size: 1.0 al iter: 3 iter: 1 cost: 477.9047754115728 gradient_norm: 138.52470489875662 max_violation: 2.2688967860749436 step_size: 1.0 iter: 2 cost: 404.0554212503834 gradient_norm: 156.42752804078555 max_violation: 1.7674248550994882 step_size: 1.0 iter: 3 cost: 342.99979987754193 gradient_norm: 110.5036758218674 max_violation: 1.5525908712341292 step_size: 1.0 iter: 4 cost: 311.57462108400995 gradient_norm: 90.24154887002167 max_violation: 1.3959348725384482 step_size: 1.0 iter: 5 cost: 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step_size: 1.0 iter: 14 cost: 231.0938540669435 gradient_norm: 60.39768517178439 max_violation: 0.8312041722651 step_size: 1.0 iter: 15 cost: 229.23368868633432 gradient_norm: 55.19686064019883 max_violation: 0.8137927815849686 step_size: 1.0 iter: 16 cost: 227.66839969257651 gradient_norm: 65.1180903916798 max_violation: 0.7989350287983705 step_size: 1.0 iter: 17 cost: 226.3392872279203 gradient_norm: 75.23778136894451 max_violation: 0.7860820504498753 step_size: 1.0 iter: 18 cost: 225.20010763378662 gradient_norm: 82.29297085009362 max_violation: 0.7748336073562152 step_size: 1.0 iter: 19 cost: 224.21428401657133 gradient_norm: 87.07240928527663 max_violation: 0.7648913062391283 step_size: 1.0 iter: 20 cost: 223.35305706084034 gradient_norm: 90.1704756699602 max_violation: 0.756027873904972 step_size: 1.0 iter: 21 cost: 222.59390435898803 gradient_norm: 92.02584635447946 max_violation: 0.7480669246519933 step_size: 1.0 iter: 22 cost: 221.91920474887064 gradient_norm: 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cost: 218.0773766601896 gradient_norm: 84.88632231975895 max_violation: 0.6973488195974271 step_size: 1.0 iter: 32 cost: 217.80196046031475 gradient_norm: 83.41466991426813 max_violation: 0.6940211078373935 step_size: 1.0 iter: 33 cost: 217.54563394320533 gradient_norm: 81.93619907779893 max_violation: 0.6908914779977064 step_size: 1.0 iter: 34 cost: 217.30652451525677 gradient_norm: 80.46211303226525 max_violation: 0.6879422440877843 step_size: 1.0 iter: 35 cost: 217.08298770497544 gradient_norm: 79.00087722173163 max_violation: 0.6851578072471214 step_size: 1.0 iter: 36 cost: 216.87357384098863 gradient_norm: 77.55883358408309 max_violation: 0.6825243480785139 step_size: 1.0 iter: 37 cost: 216.67700067930144 gradient_norm: 76.14067332135826 max_violation: 0.6800295739368201 step_size: 1.0 iter: 38 cost: 216.49213062718258 gradient_norm: 74.74980228936853 max_violation: 0.6776625095608431 step_size: 1.0 iter: 39 cost: 216.3179516021452 gradient_norm: 73.38862451441925 max_violation: 0.6754133222552592 step_size: 1.0 iter: 40 cost: 216.15356082153002 gradient_norm: 72.05876299965999 max_violation: 0.6732731748917065 step_size: 1.0 iter: 41 cost: 215.99815099104333 gradient_norm: 70.76123228384861 max_violation: 0.6712341015181407 step_size: 1.0 iter: 42 cost: 215.85099848030333 gradient_norm: 69.4965737178561 max_violation: 0.6692889014972101 step_size: 1.0 iter: 43 cost: 215.71145315908367 gradient_norm: 68.26496181052521 max_violation: 0.6674310489465474 step_size: 1.0 iter: 44 cost: 215.5789296311835 gradient_norm: 67.06628803318056 max_violation: 0.6656546149029134 step_size: 1.0 iter: 45 cost: 215.45289965093886 gradient_norm: 65.90022699287385 max_violation: 0.6639542001322263 step_size: 1.0 iter: 46 cost: 215.33288554485347 gradient_norm: 64.7662887641812 max_violation: 0.6623248768970678 step_size: 1.0 iter: 47 cost: 215.2184544906019 gradient_norm: 63.66386031751144 max_violation: 0.6607621382996975 step_size: 1.0 iter: 48 cost: 215.1092135296736 gradient_norm: 62.592238330502575 max_violation: 0.6592618540618993 step_size: 1.0 iter: 49 cost: 215.0048052095537 gradient_norm: 61.55065516994769 max_violation: 0.6578202317979058 step_size: 1.0 iter: 50 cost: 214.90490376749526 gradient_norm: 60.53829944642423 max_violation: 0.6564337829938505 step_size: 1.0 iter: 51 cost: 214.80921178134264 gradient_norm: 59.55433224577186 max_violation: 0.6550992930349042 step_size: 1.0 iter: 52 cost: 214.71745722405143 gradient_norm: 58.597899910035345 max_violation: 0.6538137947257678 step_size: 1.0 iter: 53 cost: 214.62939086790675 gradient_norm: 57.66814405955865 max_violation: 0.6525745448360105 step_size: 1.0 iter: 54 cost: 214.54478399231937 gradient_norm: 56.76420940641117 max_violation: 0.6513790032728268 step_size: 1.0 iter: 55 cost: 214.46342635570554 gradient_norm: 55.885249797846214 max_violation: 0.6502248145426948 step_size: 1.0 iter: 56 cost: 214.38512439756644 gradient_norm: 55.03043284072271 max_violation: 0.6491097912126929 step_size: 1.0 iter: 57 cost: 214.3096996416286 gradient_norm: 54.198943387972406 max_violation: 0.6480318991234446 step_size: 1.0 iter: 58 cost: 214.2369872749456 gradient_norm: 53.38998611317061 max_violation: 0.6469892441403826 step_size: 1.0 iter: 59 cost: 214.1668348812826 gradient_norm: 52.6027873551006 max_violation: 0.6459800602592805 step_size: 1.0 iter: 60 cost: 214.09910131004122 gradient_norm: 51.83659637875479 max_violation: 0.6450026989068918 step_size: 1.0 iter: 61 cost: 214.03365566447337 gradient_norm: 51.09068617141218 max_violation: 0.6440556192985403 step_size: 1.0 iter: 62 cost: 213.970376395072 gradient_norm: 50.3643538692844 max_violation: 0.6431373797325861 step_size: 1.0 iter: 63 cost: 213.90915048587155 gradient_norm: 49.656920892305436 max_violation: 0.6422466297170373 step_size: 1.0 iter: 64 cost: 213.84987272294902 gradient_norm: 48.96773284978168 max_violation: 0.6413821028367681 step_size: 1.0 iter: 65 cost: 213.79244503579253 gradient_norm: 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iter: 74 cost: 213.3455280588189 gradient_norm: 42.95179173648749 max_violation: 0.6339492321244058 step_size: 1.0 iter: 75 cost: 213.30241857314093 gradient_norm: 42.42655939621902 max_violation: 0.6333081613659504 step_size: 1.0 iter: 76 cost: 213.26041617822685 gradient_norm: 41.91342017319563 max_violation: 0.6326828045829243 step_size: 1.0 iter: 77 cost: 213.2194749837924 gradient_norm: 41.41198274062857 max_violation: 0.6320725643704654 step_size: 1.0 iter: 78 cost: 213.1795516465632 gradient_norm: 40.92187118987017 max_violation: 0.6314768737032268 step_size: 1.0 iter: 79 cost: 213.14060519467586 gradient_norm: 40.4427243830192 max_violation: 0.6308951940160079 step_size: 1.0 iter: 80 cost: 213.1025968664 gradient_norm: 39.97419532677134 max_violation: 0.6303270134283965 step_size: 1.0 iter: 81 cost: 213.0654899618522 gradient_norm: 39.51595056835838 max_violation: 0.629771845100978 step_size: 1.0 iter: 82 cost: 213.0292497065064 gradient_norm: 39.067669613932516 max_violation: 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gradient_norm: 35.43436381672842 max_violation: 0.6248438874787356 step_size: 1.0 iter: 92 cost: 212.70801387905684 gradient_norm: 35.070573236411136 max_violation: 0.624405554999206 step_size: 1.0 iter: 93 cost: 212.6794536082615 gradient_norm: 34.713931959778044 max_violation: 0.6239758855493318 step_size: 1.0 iter: 94 cost: 212.65145535296267 gradient_norm: 34.364237498290585 max_violation: 0.6235546115792148 step_size: 1.0 iter: 95 cost: 212.62400075518693 gradient_norm: 34.02129466570646 max_violation: 0.6231414766434868 step_size: 1.0 iter: 96 cost: 212.59707226421907 gradient_norm: 33.68491526811162 max_violation: 0.6227362348257786 step_size: 1.0 iter: 97 cost: 212.570653092325 gradient_norm: 33.35491780836083 max_violation: 0.622338650198758 step_size: 1.0 iter: 98 cost: 212.54472717338498 gradient_norm: 33.03112720433963 max_violation: 0.6219484963172142 step_size: 1.0 iter: 99 cost: 212.51927912421394 gradient_norm: 32.71337452026956 max_violation: 0.6215655557418369 step_size: 1.0 iter: 100 cost: 212.49429420836924 gradient_norm: 32.40149671055571 max_violation: 0.6211896195915463 step_size: 1.0 al iter: 4 iter: 1 cost: 448.0314850179343 gradient_norm: 249.2735961896782 max_violation: 0.3679981900672251 step_size: 1.0 iter: 2 cost: 418.34141457442394 gradient_norm: 480.0217271258865 max_violation: 0.3536751905394788 step_size: 0.125 iter: 3 cost: 393.4137263587267 gradient_norm: 1599.2413218029997 max_violation: 0.34077018960666505 step_size: 0.25 iter: 4 cost: 380.8929067108427 gradient_norm: 3675.5392116045973 max_violation: 0.3402093426563946 step_size: 0.5 iter: 5 cost: 356.3282323171902 gradient_norm: 4637.539082744698 max_violation: 0.3057982251656024 step_size: 1.0 iter: 6 cost: 329.072686814343 gradient_norm: 3792.8086876257 max_violation: 0.2766420191153198 step_size: 1.0 iter: 7 cost: 313.2034122963185 gradient_norm: 3199.692903430234 max_violation: 0.25634237072414656 step_size: 1.0 iter: 8 cost: 302.75946189107856 gradient_norm: 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step_size: 1.0 iter: 79 cost: 266.1750474448357 gradient_norm: 654.2105748452747 max_violation: 0.0052139019873581605 step_size: 1.0 iter: 80 cost: 266.1592785339053 gradient_norm: 645.9935318824897 max_violation: 0.005148044670612695 step_size: 1.0 iter: 81 cost: 266.1439243396743 gradient_norm: 637.9806971508577 max_violation: 0.00508382202434321 step_size: 1.0 iter: 82 cost: 266.1289678050291 gradient_norm: 630.1645492564093 max_violation: 0.005021174059283928 step_size: 1.0 iter: 83 cost: 266.1143928017926 gradient_norm: 622.5379316854236 max_violation: 0.0049600436831443995 step_size: 1.0 iter: 84 cost: 266.10018406860564 gradient_norm: 615.0940309531685 max_violation: 0.004900376527985251 step_size: 1.0 iter: 85 cost: 266.08632715368793 gradient_norm: 607.826356294651 max_violation: 0.004842120789709581 step_size: 1.0 iter: 86 cost: 266.0728083620455 gradient_norm: 600.7287207806792 max_violation: 0.004785227078752952 step_size: 1.0 iter: 87 cost: 266.0596147067284 gradient_norm: 593.7952237493829 max_violation: 0.004729648281132315 step_size: 1.0 iter: 88 cost: 266.04673386379073 gradient_norm: 587.020234445244 max_violation: 0.004675339428994785 step_size: 1.0 iter: 89 cost: 266.03415413060884 gradient_norm: 580.3983767510614 max_violation: 0.004622257579773192 step_size: 1.0 iter: 90 cost: 266.02186438730615 gradient_norm: 573.9245149675656 max_violation: 0.004570361703591375 step_size: 1.0 iter: 91 cost: 266.0098540609844 gradient_norm: 567.5937405157882 max_violation: 0.004519612577945198 step_size: 1.0 iter: 92 cost: 265.9981130925529 gradient_norm: 561.4013595244745 max_violation: 0.004469972689355117 step_size: 1.0 iter: 93 cost: 265.9866319059238 gradient_norm: 555.3428812155189 max_violation: 0.004421406141320472 step_size: 1.0 iter: 94 cost: 265.975401379394 gradient_norm: 549.4140070422021 max_violation: 0.004373878568204592 step_size: 1.0 iter: 95 cost: 265.96441281901815 gradient_norm: 543.610620507299 max_violation: 0.0043273570544911655 step_size: 1.0 iter: 96 cost: 265.9536579338339 gradient_norm: 537.9287776351152 max_violation: 0.004281810059200808 step_size: 1.0 iter: 97 cost: 265.9431288127729 gradient_norm: 532.3646980185529 max_violation: 0.004237207344852667 step_size: 1.0 iter: 98 cost: 265.9328179031423 gradient_norm: 526.9147564331303 max_violation: 0.004193519910899002 step_size: 1.0 iter: 99 cost: 265.92271799054157 gradient_norm: 521.5754749538836 max_violation: 0.0041507199311418 step_size: 1.0 iter: 100 cost: 265.91282218011077 gradient_norm: 516.3435155489267 max_violation: 0.004108780694913827 step_size: 1.0 Test Summary: | Pass Total Time Solve: acrobot | 1 1 6m25.3s ___ _ _ _ _ ___ ___ |_ _| |_ ___ _ _ __ _| |_(_)_ _____| | / _ \| _ \ | || _/ -_) '_/ _` | _| \ 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 42.5s Testing IterativeLQR tests passed Testing completed after 773.8s PkgEval succeeded after 1042.03s