bug for function: pinocchio.casadi.log3

[Zkjoker]

I have recently been using the Pinocchio CasADi interface for optimal control tasks.
However, I encountered unexpected issues, which I traced back to problems with the pinocchio.casadi.log3 function. A similar issue was reported for the log6 function in CasADi (casadi/casadi#3871).

When I replaced the problematic function with an alternative provided by the CasADi authors, the issue was resolved. My current Pinocchio version is 3.5.0, and I hope this bug can be addressed.

[jcarpent]

Thanks @Zkjoker for raising this issue.
Could you provide a reproducible example of using cpin.log3 and the entry value that fails?
We will need these entries to solve the numerical issue due to the numerical flow of casadi plugged to Pinocchio.

Thanks in advance for your help,
Best,

Justin

[jcarpent]

@Zkjoker Could you check this script on your side?

import pinocchio as pin
import pinocchio.casadi as cpin
import casadi
import numpy as np

N = int(1e6)

R = pin.SE3.Random().rotation
log_R = pin.log(R)

cdR = casadi.SX.sym("dR",3,1)
cR = casadi.SX.sym("dR",3,3) 

R_exp = cR @ cpin.exp3(cdR)
log_R_exp = cpin.log3(R_exp)

log3_fn = casadi.Function("fk",[cR,cdR],[log_R_exp])
dlog_dR_exp = casadi.jacobian(log_R_exp,cdR)
dlog_dR_fn = casadi.Function("dlog_dR",[cR,cdR],[dlog_dR_exp])

for k in range(N):
  if k % 1e4 == 0:
    print("it:",k)

  R = pin.SE3.Random().rotation
  log_R = pin.log(R)
  Jlog_R = pin.Jlog3(R)
  
  arg = [casadi.DM(R),casadi.DM(np.zeros((3,)))]
  res = np.array(log3_fn.call(arg)[0]).reshape(3,)
  dres = np.array(dlog_dR_fn.call(arg)[0])

  assert np.allclose(res,log_R)
  assert np.allclose(dres,Jlog_R)

[Zkjoker]

Hello, I have tried your script and there were no error outputs.
Due to commercial reasons, I cannot fully replicate my code here, but I can provide a detailed description of the context and conditions under which the issue occurs, so that my explanation is as clear as possible and does not confuse you:
I am controlling a 32-dof dual-arm robot to make its right wrist follow a trajectory. First, I loaded the URDF model using Pinocchio, then created a CasADi-compatible model using the following code:

import pinocchio as pin 
import pinocchio.casadi as cpin 
... self.cmodel = cpin.Model(self.model)
 self.cdata = self.cmodel.createData()

Subsequently, I performed symbolic computations and optimal control with CasADi, and everything worked logically and normally.

    def fkSym(self, q_sx, end_effector_id):
        pin.casadi.forwardKinematics(self.cmodel, self.cdata, q_sx)
        pin.casadi.updateFramePlacements(self.cmodel, self.cdata)
        ee_frame_id = self.model.getFrameId(end_effector_id)
        ee_pose_sym = self.cdata.oMf[ee_frame_id]
        ee_pose_translation = ee_pose_sym.translation
        ee_pose_rotation = ee_pose_sym.rotation
        ee_rotation_angle_axised = cpin.log3(ee_pose_rotation)
        T = casadi.vertcat(ee_rotation_angle_axised, ee_pose_translation)
        return T

However, due to the high number of degrees of freedom, and since the right wrist is unrelated to the left arm, fingers, or the head, I used the buildReducedModel function to retain only the model from the base to the right wrist (10 degrees of freedom). I then created a CasADi-compatible model for this reduced model using the same method.

    def set_reduce_model(self, default_configuration):
        self.default_configuration = default_configuration
        # fmt: off
        left_joints_to_lock_ids = [4,5,6,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32]
        right_joints_to_lock_ids = [4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,27,28,29,30,31,32]
        # fmt: on
        self.left_model = pin.buildReducedModel(
            self.model_full,
            list_of_joints_to_lock=left_joints_to_lock_ids,
            reference_configuration=self.default_configuration,
        )
        self.right_model = pin.buildReducedModel(
            self.model_full,
            list_of_joints_to_lock=right_joints_to_lock_ids,
            reference_configuration=self.default_configuration,
        )

and set self.model as self.right_model , so as self.cmodel, self.cdata.

The problem arose after this step: I found that the right wrist could no longer effectively follow the trajectory, whereas the original 32-DoF model worked perfectly. I initially suspected that I had incorrectly lock wrong joints in the buildReducedModel, but upon checking, I found no issues.
Later, I only applied the method described in this link(casadi/casadi#3871) to replace the log3operation, which resolved the problem:

    def fkSym(self, q_sx, end_effector_id):
        pin.casadi.forwardKinematics(self.cmodel, self.cdata, q_sx)
        pin.casadi.updateFramePlacements(self.cmodel, self.cdata)
        ee_frame_id = self.model.getFrameId(end_effector_id)
        ee_pose_sym = self.cdata.oMf[ee_frame_id]
        ee_pose_translation = ee_pose_sym.translation
        ee_pose_rotation = ee_pose_sym.rotation
        #  here is the method in https://github.com/casadi/casadi/discussions/3871
        ee_rotation_angle_axised = math_utils.gtsam_logmap(ee_pose_rotation)
        # ee_rotation_angle_axised = cpin.log3(ee_pose_rotation)
        T = casadi.vertcat(ee_rotation_angle_axised, ee_pose_translation)
        return T

Therefore, I believe the issue was related to the symbolic computation of log3, which is why I posted my inquiry here yesterday.
However, after adjusting other parameters (e.g., control frequency), the 10-DoF model still diverged halfway through trajectory tracking, while the original 32-DoF model remained unaffected.

Thus, I now suspect that there might be an issue when creating the CasADi-compatible model from the reduced model generated by buildReducedModel, or perhaps my method of creating it is not standard.

I find this extremely perplexing. If I had generated an incorrect reduced model, logically, replacing the log3 computation should not have affected the results. Yet, after the modification, the trajectory tracking worked well (I am certain I only changed this single line of code). However, if the issue were fully resolved, why does the problem persist when I adjust other parameters (e.g., control frequency)? Specifically, the trajectory tracking suddenly diverges halfway through, unlike the original 32-DoF model.

I will continue debugging, but I would appreciate your insights: Could this be due to an error in my approach, or is there an inherent bug in the reduced model generation process (e.g., buildReducedModel) that I might have overlooked?

[Zkjoker]

I believe I have identified the cause of the error I mentioned earlier:
When calculating rotational error, I first converted the two rotation matrices into axis-angle representations via the log3 map, then computed the vector error between the two axis-angles. This approach is numerically unstable.
As a result, adjusting the control frequency parameters, changing the log3 computation method, or using the buildReducedModel led to inconsistent performance variations. This was my mistake. I sincerely apologize for the inconvenience caused.

However, when I modified the rotational error calculation to:
1.Compute the relative rotation error as R1 @ (R2.T) (matrix multiplication with R2 transposed),
2. Then applied the log3 map to derive the axis-angle,
3. And used the magnitude of this axis-angle as the error value, this yielded stable computation results.

Additionally, I noticed NaN-related warnings this time (though the results seemed unaffected).

CasADi - 2025-04-24 14:44:18 WARNING("solver:nlp_grad_f failed: NaN detected for output grad_f_x, at (row 1280, col 0).") [.../casadi/core/oracle_function.cpp:408]
CasADi - 2025-04-24 14:44:18 WARNING("solver:nlp_grad failed: NaN detected for output grad_gamma_p, at (row 307, col 0).") [.../casadi/core/oracle_function.cpp:408]
CasADi - 2025-04-24 14:44:18 WARNING("Failed to calculate multipliers") [.../casadi/core/nlpsol.cpp:758]

However, adopting the computation method described in the link (casadi/casadi#3871) eliminated these NaN warnings entirely.
Is this normal? Although I am not allowed to submit the code, I have saved a special branch for my code to reproduce the issue (if needed).
This is the print output when I set print_level to 5:

Ready to init chefz_traj_opt.....
Create FULL model ready, with 32 dof. Default tcp: right_tcp
init done.
Ready to generate sim traj.....
Ready to optimize.....
[ 0.22412055 -0.39676464  1.3077172 ] [ 0.44412055 -0.17715929  1.3277172 ]
step_index = 0 pose_last= [ 0.25321886 -0.22818344  1.3177172 ]

******************************************************************************
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...:        0
Number of nonzeros in inequality constraint Jacobian.:     5153
Number of nonzeros in Lagrangian Hessian.............:     2467

Total number of variables............................:     1984
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     1984
                     variables with only upper bounds:        0
Total number of equality constraints.................:        0
Total number of inequality constraints...............:     1407
        inequality constraints with only lower bounds:        0
   inequality constraints with lower and upper bounds:     1407
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  2.8672932e+04 1.91e+00 1.07e+02  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  2.8664798e+04 1.91e+00 1.07e+02  -1.0 2.35e+00   2.0 3.14e-04 2.00e-04f  1
   2  2.8640845e+04 1.91e+00 1.07e+02  -1.0 1.85e+00   2.4 6.60e-04 8.21e-04f  1
   3  2.8551461e+04 1.90e+00 1.07e+02  -1.0 2.11e+00   1.9 3.37e-03 2.11e-03f  1
   4  2.8488158e+04 1.90e+00 1.06e+02  -1.0 1.87e+00   2.4 5.02e-03 1.98e-03f  1
   5  2.8486837e+04 1.90e+00 1.16e+03  -1.0 1.91e+01   1.9 3.58e-03 2.90e-05h  1
   6  2.8475033e+04 1.90e+00 3.68e+02  -1.0 5.98e+01   2.3 1.59e-04 3.84e-04f  1
   7  2.8436108e+04 1.90e+00 1.85e+02  -1.0 6.16e+01   1.8 6.20e-04 7.96e-04f  1
   8  2.8434574e+04 1.90e+00 2.83e+03  -1.0 6.12e+01   2.3 9.49e-04 3.53e-05h  1
   9  2.8416600e+04 1.90e+00 2.68e+03  -1.0 6.12e+01   1.8 2.59e-04 3.98e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  2.8414173e+04 1.90e+00 4.22e+03  -1.0 6.10e+01   2.2 5.76e-04 5.12e-05h  1
  11  2.8385002e+04 1.90e+00 6.23e+02  -1.0 6.10e+01   2.6 7.78e-06 6.52e-04f  1
  12  2.8384190e+04 1.90e+00 7.36e+03  -1.0 6.07e+01   2.2 2.91e-03 1.59e-05h  1
  13  2.8298790e+04 1.89e+00 6.36e+03  -1.0 6.07e+01   2.6 9.41e-06 1.81e-03f  1
  14  2.8236216e+04 1.89e+00 7.24e+03  -1.0 6.00e+01   2.1 7.64e-04 1.13e-03f  1
  15  2.8235380e+04 1.89e+00 4.07e+04  -1.0 5.96e+01   2.5 7.07e-03 1.62e-05h  1
  16  2.7597280e+04 1.87e+00 3.15e+04  -1.0 5.93e+01   2.1 7.50e-03 1.10e-02f  1
  17  2.7579755e+04 1.87e+00 8.09e+04  -1.0 5.49e+01   2.5 8.51e-03 3.42e-04f  1
  18  2.6941871e+04 1.85e+00 6.41e+04  -1.0 5.42e+01   2.0 2.40e-03 1.10e-02f  1
  19  2.6027219e+04 1.81e+00 2.02e+04  -1.0 4.98e+01   2.4 9.17e-03 1.85e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  2.6017508e+04 1.81e+00 2.36e+04  -1.0 5.01e+01   2.0 4.85e-03 1.66e-04f  1
  21  2.6015779e+04 1.81e+00 2.44e+04  -1.0 5.50e+01   2.4 4.46e-04 4.48e-05h  1
  22  2.5865069e+04 1.81e+00 2.34e+04  -1.0 6.18e+01   1.9 3.98e-05 2.91e-03f  1
  23  2.5857225e+04 1.81e+00 5.04e+04  -1.0 1.05e+02   2.3 1.48e-03 6.77e-05f  1
  24  2.5834671e+04 1.80e+00 4.88e+04  -1.0 1.50e+02   1.9 1.09e-03 2.00e-03f  1
  25  2.5720545e+04 1.80e+00 5.91e+04  -1.0 1.28e+02   2.3 1.53e-03 9.22e-04f  1
  26  2.5773452e+04 1.80e+00 5.80e+04  -1.0 1.21e+02   1.8 1.75e-03 9.39e-04h  1
  27  2.5441053e+04 1.80e+00 4.50e+04  -1.0 1.15e+02   2.2 1.87e-03 3.07e-03f  1
  28  2.5415434e+04 1.79e+00 4.56e+04  -1.0 9.65e+01   2.7 2.59e-04 2.39e-04f  1
  29  2.5383681e+04 1.79e+00 4.44e+04  -1.0 9.83e+01   2.2 1.22e-04 3.69e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  2.5366706e+04 1.79e+00 5.24e+04  -1.0 9.43e+01   2.6 4.98e-04 1.66e-04f  1
  31  2.5297156e+04 1.79e+00 5.46e+04  -1.0 9.64e+01   2.1 1.64e-03 8.69e-04f  1
  32  2.5246335e+04 1.79e+00 5.32e+04  -1.0 9.04e+01   2.6 4.58e-04 5.35e-04f  1
  33  2.5150123e+04 1.79e+00 5.35e+04  -1.0 9.11e+01   2.1 1.73e-03 1.36e-03f  1
  34  2.5102658e+04 1.79e+00 4.91e+04  -1.0 8.39e+01   2.5 2.31e-04 5.56e-04f  1
  35  2.5063425e+04 1.79e+00 4.90e+04  -1.0 8.40e+01   2.0 2.41e-03 6.65e-04f  1
  36  2.4932474e+04 1.78e+00 3.11e+04  -1.0 7.99e+01   2.5 2.73e-05 1.72e-03f  1
  37  2.4934738e+04 1.78e+00 3.36e+04  -1.0 7.47e+01   2.0 1.46e-03 1.22e-04h  1
  38  2.4940895e+04 1.78e+00 3.99e+04  -1.0 8.15e+01   2.4 1.01e-03 6.34e-04h  1
  39  2.4974029e+04 1.78e+00 4.20e+04  -1.0 7.95e+01   1.9 2.72e-03 8.14e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  2.4985193e+04 1.78e+00 4.43e+04  -1.0 7.77e+01   2.4 1.19e-03 1.01e-03h  1
  41  2.5210231e+04 1.77e+00 4.45e+04  -1.0 7.67e+01   1.9 4.39e-05 3.58e-03h  1
  42  2.5215430e+04 1.77e+00 4.02e+04  -1.0 6.76e+01   2.3 1.38e-04 6.41e-04h  1
  43  2.5230222e+04 1.77e+00 4.08e+04  -1.0 9.76e+01   1.8 4.17e-04 6.54e-05h  1
  44  2.5212771e+04 1.77e+00 3.84e+04  -1.0 9.83e+01   2.3 2.30e-04 3.83e-04f  1
  45  2.5145841e+04 1.77e+00 1.38e+04  -1.0 9.84e+01   2.7 6.17e-04 1.13e-03f  1
  46  2.5061195e+04 1.77e+00 1.38e+04  -1.0 9.33e+01   2.2 2.83e-04 2.20e-03f  1
  47  2.5061299e+04 1.76e+00 1.39e+04  -1.0 8.40e+01   2.6 9.13e-06 2.39e-05h  1
  48  2.5061827e+04 1.76e+00 1.03e+04  -1.0 8.18e+01   2.2 6.75e-04 2.32e-05h  1
  49  2.5072300e+04 1.76e+00 1.98e+04  -1.0 8.36e+01   2.6 5.58e-05 6.75e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  2.5077054e+04 1.76e+00 1.12e+04  -1.0 8.15e+01   2.1 1.86e-03 1.75e-04h  1
  51  2.5090115e+04 1.76e+00 2.68e+04  -1.0 8.42e+01   2.5 5.79e-05 7.22e-04h  1
  52  2.5117573e+04 1.76e+00 3.55e+04  -1.0 8.63e+01   2.1 2.36e-05 7.94e-04h  1
  53  2.5116684e+04 1.76e+00 2.06e+04  -1.0 1.44e+02   2.5 3.74e-04 1.41e-04h  1
  54  2.5176916e+04 1.76e+00 3.33e+04  -1.0 2.71e+02   2.0 3.95e-04 8.18e-04h  1
  55  2.5164833e+04 1.76e+00 1.75e+04  -1.0 2.64e+02   2.4 6.63e-04 2.55e-04f  1
  56  2.5278393e+04 1.76e+00 1.81e+04  -1.0 2.66e+02   1.9 7.59e-04 9.35e-04h  1
  57  2.5247280e+04 1.76e+00 1.81e+04  -1.0 2.54e+02   2.4 8.64e-04 8.65e-04f  1
  58  2.5352854e+04 1.75e+00 1.90e+04  -1.0 2.53e+02   1.9 2.01e-04 4.81e-04h  1
  59  2.5317778e+04 1.75e+00 7.26e+04  -1.0 2.44e+02   2.3 5.27e-04 1.59e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  2.5440733e+04 1.75e+00 6.96e+04  -1.0 2.35e+02   1.8 4.10e-04 2.06e-04h  1
  61  2.5438378e+04 1.75e+00 5.53e+04  -1.0 2.25e+02   2.3 1.81e-03 2.59e-04h  1
  62  2.5430510e+04 1.75e+00 4.82e+04  -1.0 7.35e+02   2.7 2.67e-05 2.99e-05f  1
  63  2.5402011e+04 1.75e+00 4.12e+05  -1.0 7.85e+02   2.2 6.20e-04 1.58e-04f  1
  64  2.5288935e+04 1.75e+00 3.76e+05  -1.0 7.85e+02   2.6 8.18e-05 4.63e-04f  1
  65  2.5269472e+04 1.75e+00 1.26e+06  -1.0 6.88e+02   2.2 2.95e-04 1.81e-03f  1
  66  2.5258494e+04 1.75e+00 1.59e+06  -1.0 5.64e+02   2.6 6.51e-04 9.28e-04h  1
  67  2.5310007e+04 1.75e+00 1.67e+06  -1.0 4.83e+03   2.1 7.29e-05 1.05e-05h  1
  68  2.5356064e+04 1.74e+00 1.93e+06  -1.0 4.68e+02   2.5 8.20e-05 3.94e-04h  1
  69  2.5358661e+04 1.74e+00 6.40e+05  -1.0 4.76e+02   3.0 1.03e-03 4.09e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  2.5400195e+04 1.74e+00 8.45e+05  -1.0 5.50e+02   2.5 4.58e-04 1.44e-04h  1
  71  2.5408058e+04 1.74e+00 7.82e+05  -1.0 4.41e+02   2.9 1.66e-05 4.39e-05h  1
  72  2.5515472e+04 1.74e+00 8.54e+05  -1.0 6.71e+02   2.4 3.77e-04 2.41e-04h  1
  73  2.5614356e+04 1.74e+00 8.50e+05  -1.0 1.04e+03   2.0 1.16e-04 1.10e-04h  1
  74r 2.5614356e+04 1.74e+00 1.00e+03   0.2 0.00e+00   2.4 0.00e+00 4.08e-07R  5
  75r 2.4651414e+04 1.70e+00 1.00e+03   0.2 7.53e+01    -  1.41e-03 8.80e-04f  1
  76r 2.3688582e+04 1.64e+00 1.00e+03   0.2 7.37e+01    -  9.16e-04 9.60e-04f  1
  77r 2.2045523e+04 1.55e+00 1.02e+03   0.2 1.73e+02    -  6.20e-03 1.81e-03f  1
  78  2.2044185e+04 1.55e+00 1.14e+02  -1.0 4.51e+00   1.9 7.28e-04 2.65e-05f  1
  79  2.2043590e+04 1.55e+00 1.14e+02  -1.0 1.45e+01   2.3 9.58e-05 5.02e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  2.2043382e+04 1.55e+00 8.01e+02  -1.0 2.19e+01   2.8 1.90e-04 3.26e-05h  1
  81  2.2043773e+04 1.55e+00 1.22e+03  -1.0 5.15e+01   2.3 1.34e-04 4.50e-05h  1
  82  2.2044420e+04 1.55e+00 3.63e+03  -1.0 4.92e+01   2.7 2.14e-04 2.80e-05h  1
  83  2.2044849e+04 1.55e+00 9.74e+03  -1.0 5.14e+01   2.2 4.58e-04 2.52e-05h  1
  84  2.2048899e+04 1.55e+00 6.35e+04  -1.0 5.18e+01   2.7 9.08e-04 1.33e-04h  1
  85  2.2060796e+04 1.54e+00 6.69e+04  -1.0 5.83e+01   2.2 7.32e-04 6.00e-04h  1
  86  2.2066231e+04 1.54e+00 8.48e+04  -1.0 5.80e+01   2.6 4.04e-04 1.44e-04h  1
  87  2.2106114e+04 1.54e+00 4.61e+04  -1.0 5.75e+01   2.1 2.90e-04 1.98e-03h  1
  88  2.2107676e+04 1.54e+00 1.76e+05  -1.0 5.53e+01   2.6 2.27e-03 3.92e-05h  1
  89  2.2143170e+04 1.54e+00 1.37e+05  -1.0 5.52e+01   2.1 3.04e-05 2.00e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  2.2144824e+04 1.54e+00 2.93e+05  -1.0 5.10e+01   2.5 3.19e-03 4.66e-05h  1
  91  2.2168703e+04 1.54e+00 2.92e+05  -1.0 4.61e+01   2.0 7.66e-04 8.06e-04h  1
  92  2.2180467e+04 1.54e+00 4.09e+05  -1.0 4.43e+01   2.5 2.43e-03 2.80e-04h  1
  93  2.2296008e+04 1.53e+00 3.75e+05  -1.0 6.74e+01   2.0 4.87e-05 1.30e-03h  1
  94  2.2358027e+04 1.53e+00 3.43e+05  -1.0 6.23e+01   2.4 2.00e-04 6.83e-04h  1
  95  2.2372272e+04 1.53e+00 4.35e+05  -1.0 7.65e+01   1.9 3.64e-03 1.02e-04h  1
  96  2.2416311e+04 1.53e+00 5.23e+05  -1.0 8.03e+01   2.4 1.57e-03 4.08e-04h  1
  97  2.2424008e+04 1.53e+00 5.26e+05  -1.0 1.14e+02   2.8 5.24e-05 3.96e-05h  1
  98  2.2641690e+04 1.53e+00 5.42e+05  -1.0 1.28e+02   2.3 1.29e-03 1.14e-03h  1
  99  2.2747376e+04 1.53e+00 4.57e+05  -1.0 1.40e+02   2.7 2.00e-04 4.71e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  2.2779312e+04 1.53e+00 4.47e+05  -1.0 1.51e+02   2.3 6.83e-05 1.62e-04h  1
 101  2.2799237e+04 1.53e+00 2.73e+06  -1.0 1.52e+02   2.7 7.66e-03 8.53e-05h  1
 102  2.3743522e+04 1.52e+00 3.20e+06  -1.0 1.55e+02   2.2 9.34e-03 4.61e-03h  1
 103  2.3869431e+04 1.52e+00 5.68e+06  -1.0 1.36e+02   2.6 9.00e-03 4.74e-04h  1
 104  2.4067844e+04 1.52e+00 6.41e+06  -1.0 2.87e+02   2.2 2.06e-03 7.42e-04h  1
 105  2.4072666e+04 1.52e+00 6.08e+06  -1.0 1.13e+02   2.6 1.07e-05 1.90e-05h  1
 106  2.4074352e+04 1.52e+00 7.29e+07  -1.0 1.65e+02   2.1 5.94e-04 1.02e-05h  1
 107  2.4076572e+04 1.52e+00 2.23e+08  -1.0 9.78e+01   2.5 5.53e-05 1.74e-05h  1
 108r 2.4076572e+04 1.52e+00 1.00e+03   0.2 0.00e+00   2.0 0.00e+00 2.89e-07R  3
 109r 2.3709748e+04 1.50e+00 1.00e+03   0.2 2.53e+02    -  1.22e-03 5.04e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 110r 2.2352340e+04 1.42e+00 1.03e+03   0.2 4.90e+01    -  1.15e-02 2.19e-03f  1
 111r 2.0550976e+04 1.12e+00 1.04e+03   0.2 5.02e+01    -  1.03e-02 5.92e-03f  1
 112  2.0550007e+04 1.12e+00 1.27e+02  -1.0 1.71e+00   2.5 1.42e-03 6.03e-05f  1
 113  2.0548408e+04 1.12e+00 1.29e+02  -1.0 1.31e+01   2.0 2.80e-04 1.12e-04h  1
 114  2.0548660e+04 1.12e+00 3.49e+02  -1.0 1.66e+01   2.4 1.79e-04 8.52e-05h  1
 115  2.0549347e+04 1.12e+00 6.35e+02  -1.0 2.59e+01   1.9 1.96e-04 7.07e-05h  1
 116  2.0552936e+04 1.12e+00 1.69e+02  -1.0 2.39e+01   2.4 6.14e-05 1.42e-04h  1
 117  2.0563945e+04 1.12e+00 1.50e+02  -1.0 2.74e+01   1.9 4.36e-04 5.59e-04h  1
 118  2.0574413e+04 1.12e+00 3.76e+03  -1.0 2.62e+01   2.3 9.66e-04 3.68e-04h  1
 119  2.0604051e+04 1.12e+00 2.79e+04  -1.0 2.66e+01   2.7 2.05e-03 6.52e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 120  2.0640944e+04 1.12e+00 2.96e+04  -1.0 2.69e+01   2.3 1.70e-03 1.40e-03h  1
 121  2.0687482e+04 1.12e+00 1.33e+05  -1.0 2.71e+01   2.7 7.84e-03 1.13e-03h  1
 122  2.0720924e+04 1.12e+00 2.28e+05  -1.0 2.78e+01   2.2 2.00e-02 1.34e-03h  1
 123  2.0873714e+04 1.11e+00 2.82e+05  -1.0 2.74e+01   2.6 7.74e-03 3.73e-03h  1
 124  2.0876225e+04 1.11e+00 2.94e+05  -1.0 2.80e+01   2.2 2.88e-03 1.56e-04h  1
 125  2.0929550e+04 1.11e+00 2.75e+05  -1.0 2.73e+01   2.6 1.74e-05 1.54e-03h  1
 126  2.0932538e+04 1.11e+00 2.90e+05  -1.0 3.12e+01   2.1 2.78e-03 1.30e-04h  1
 127  2.1002728e+04 1.11e+00 2.79e+05  -1.0 2.85e+01   2.5 1.14e-03 1.81e-03h  1
 128  2.1011777e+04 1.11e+00 2.80e+05  -1.0 4.48e+01   2.1 6.88e-04 3.98e-04h  1
 129  2.1072086e+04 1.11e+00 2.73e+05  -1.0 3.99e+01   2.5 1.01e-03 1.47e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 130  2.1176866e+04 1.10e+00 2.84e+05  -1.0 4.65e+01   2.0 5.82e-03 3.54e-03h  1
 131  2.1334307e+04 1.10e+00 2.77e+05  -1.0 4.59e+01   2.4 3.60e-03 4.04e-03h  1
 132  2.1336101e+04 1.10e+00 2.84e+05  -1.0 4.99e+01   2.0 1.42e-03 5.48e-05h  1
 133  2.1344384e+04 1.10e+00 2.80e+05  -1.0 5.95e+01   2.4 1.12e-05 2.11e-04h  1
 134  2.1440104e+04 1.10e+00 2.75e+05  -1.0 6.08e+01   1.9 8.33e-04 1.60e-03h  1
 135  2.1461529e+04 1.10e+00 2.96e+05  -1.0 5.75e+01   2.3 1.96e-03 6.28e-04h  1
 136  2.1535142e+04 1.09e+00 2.95e+05  -1.0 5.55e+01   2.8 1.58e-03 1.58e-03h  1
 137  2.1577578e+04 1.09e+00 2.78e+05  -1.0 5.42e+01   2.3 5.22e-05 1.35e-03h  1
 138  2.1579487e+04 1.09e+00 5.00e+05  -1.0 5.77e+01   2.7 6.96e-03 4.65e-05h  1
 139  2.1718040e+04 1.09e+00 4.38e+05  -1.0 5.89e+01   2.2 1.42e-04 5.84e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 140  2.1720578e+04 1.09e+00 4.91e+05  -1.0 5.68e+01   2.7 1.99e-03 7.16e-05h  1
 141  2.1791604e+04 1.08e+00 5.05e+05  -1.0 5.80e+01   2.2 5.08e-03 3.37e-03h  1
 142  2.1809342e+04 1.08e+00 4.93e+05  -1.0 5.68e+01   2.6 5.31e-05 5.30e-04h  1
 143  2.1813033e+04 1.08e+00 5.62e+05  -1.0 5.68e+01   2.1 9.05e-03 1.80e-04h  1
 144  2.1828039e+04 1.08e+00 5.53e+05  -1.0 6.51e+01   2.6 1.25e-04 4.46e-04h  1
 145  2.1911771e+04 1.08e+00 5.18e+05  -1.0 6.48e+01   2.1 1.33e-03 4.95e-03h  1
 146  2.1957514e+04 1.08e+00 5.36e+05  -1.0 6.10e+01   2.5 2.30e-03 1.49e-03h  1
 147  2.1983170e+04 1.07e+00 5.29e+05  -1.0 5.83e+01   2.0 8.59e-04 1.64e-03h  1
 148  2.2010047e+04 1.07e+00 5.23e+05  -1.0 5.58e+01   2.5 6.66e-04 9.62e-04h  1
 149  2.2050287e+04 1.07e+00 6.66e+05  -1.0 5.68e+01   2.0 2.44e-02 2.94e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 150  2.2086346e+04 1.07e+00 7.01e+05  -1.0 4.96e+01   2.4 3.51e-03 2.17e-03h  1
 151  2.1819558e+04 1.06e+00 6.84e+05  -1.0 9.35e+01   1.9 2.22e-03 2.79e-03f  1
 152  2.1783667e+04 1.06e+00 1.15e+06  -1.0 1.11e+02   2.4 6.10e-03 8.55e-04f  1
 153  2.1121708e+04 1.06e+00 9.67e+05  -1.0 1.28e+02   1.9 8.90e-04 6.62e-03f  1
 154  2.1093019e+04 1.06e+00 1.47e+06  -1.0 1.08e+02   2.3 7.07e-03 7.48e-04f  1
 155  2.0879006e+04 1.05e+00 1.41e+06  -1.0 2.13e+02   1.8 1.82e-04 8.22e-04f  1
 156  2.0804726e+04 1.05e+00 1.96e+06  -1.0 2.60e+02   2.3 2.42e-03 3.01e-04f  1
 157  2.0617995e+04 1.05e+00 1.46e+06  -1.0 2.57e+02   2.7 2.69e-05 7.00e-04f  1
 158r 2.0617995e+04 1.05e+00 1.00e+03   0.0 0.00e+00   2.2 0.00e+00 3.00e-07R  6
 159r 1.9920722e+04 9.98e-01 1.00e+03   0.0 8.66e+01    -  9.06e-04 1.20e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 160r 1.6586273e+04 7.44e-01 9.95e+02   0.0 9.87e+01    -  6.23e-03 7.37e-03f  1
 161  1.6584892e+04 7.44e-01 1.26e+02  -1.0 8.59e-01   2.6 3.21e-04 1.27e-04f  1
 162  1.6579494e+04 7.44e-01 1.26e+02  -1.0 3.04e+00   2.2 2.73e-04 3.42e-04f  1
 163  1.6577753e+04 7.43e-01 3.33e+02  -1.0 3.23e+00   2.6 1.92e-03 1.58e-04f  1
 164  1.6570787e+04 7.43e-01 7.88e+02  -1.0 5.72e+00   2.1 1.25e-03 4.99e-04h  1
 165  1.6568471e+04 7.43e-01 5.64e+03  -1.0 7.17e+00   2.5 2.81e-03 4.23e-04h  1
 166  1.6561088e+04 7.42e-01 7.97e+03  -1.0 1.08e+01   2.0 2.62e-03 7.62e-04f  1
 167  1.6556406e+04 7.41e-01 3.37e+04  -1.0 1.03e+01   2.5 9.71e-03 1.56e-03h  1
 168  1.6431358e+04 7.32e-01 2.70e+04  -1.0 1.09e+01   2.0 6.78e-03 1.22e-02f  1
 169  1.6429900e+04 7.32e-01 4.32e+04  -1.0 1.01e+01   2.4 5.97e-03 3.77e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 170  1.6279272e+04 7.23e-01 4.79e+04  -1.0 1.00e+01   1.9 1.64e-02 1.13e-02f  1
 171  1.6266062e+04 7.22e-01 9.44e+04  -1.0 8.82e+00   2.4 1.84e-02 1.82e-03f  1
 172  1.6130163e+04 7.17e-01 1.09e+05  -1.0 1.39e+01   1.9 1.59e-02 7.01e-03f  1
 173  1.6121311e+04 7.15e-01 1.10e+05  -1.0 1.79e+01   2.3 2.80e-03 2.56e-03h  1
 174  1.6092281e+04 7.15e-01 1.09e+05  -1.0 1.77e+01   1.8 2.85e-04 6.79e-04f  1
 175  1.6084149e+04 7.14e-01 1.13e+05  -1.0 1.70e+01   2.3 1.89e-03 1.37e-03f  1
 176  1.6085131e+04 7.13e-01 1.13e+05  -1.0 1.56e+01   2.7 1.09e-03 1.08e-03h  1
 177  1.6058647e+04 7.10e-01 9.23e+04  -1.0 1.59e+01   2.2 1.57e-04 3.56e-03f  1
 178  1.6058651e+04 7.10e-01 3.81e+05  -1.0 1.44e+01   2.6 1.63e-02 8.07e-05h  1
 179  1.5854412e+04 6.92e-01 2.35e+05  -1.0 1.54e+01   2.2 5.50e-03 2.61e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 180  1.5852590e+04 6.92e-01 1.49e+06  -1.0 1.24e+01   2.6 8.78e-02 4.56e-04h  1
 181  1.5719321e+04 6.83e-01 1.48e+06  -1.0 1.33e+01   2.1 1.46e-02 1.28e-02f  1
 182  1.5721595e+04 6.81e-01 1.44e+06  -1.0 2.07e+01   2.5 7.01e-04 2.63e-03h  1
 183  1.5644458e+04 6.77e-01 1.56e+06  -1.0 2.31e+01   2.1 2.41e-02 5.04e-03f  1
 184  1.5607076e+04 6.77e-01 1.49e+06  -1.0 5.65e+01   2.5 2.48e-04 1.00e-03f  1
 185  1.5410673e+04 6.74e-01 1.48e+06  -1.0 5.93e+01   2.0 4.33e-03 4.51e-03f  1
 186  1.5372359e+04 6.73e-01 1.38e+06  -1.0 5.87e+01   2.4 5.80e-05 1.21e-03f  1
 187  1.5339330e+04 6.72e-01 1.52e+06  -1.0 6.15e+01   2.0 6.59e-03 9.70e-04f  1
 188  1.5336237e+04 6.72e-01 1.60e+06  -1.0 6.28e+01   2.4 1.06e-03 1.14e-04h  1
 189  1.5185413e+04 6.69e-01 1.58e+06  -1.0 6.57e+01   1.9 3.72e-03 4.31e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 190  1.5184278e+04 6.69e-01 1.79e+06  -1.0 6.14e+01   2.3 2.99e-03 5.66e-05h  1
 191  1.5140232e+04 6.68e-01 1.76e+06  -1.0 6.35e+01   1.9 7.75e-05 1.15e-03f  1
 192  1.5139413e+04 6.68e-01 1.93e+06  -1.0 5.65e+01   2.3 2.11e-03 3.60e-05h  1
 193  1.5141813e+04 6.68e-01 1.88e+06  -1.0 1.47e+02   1.8 1.21e-05 2.07e-04h  1
 194  1.5143543e+04 6.68e-01 1.92e+06  -1.0 1.46e+02   2.2 1.75e-04 1.11e-04h  1
 195  1.5147004e+04 6.68e-01 1.85e+06  -1.0 1.42e+02   2.7 1.07e-04 1.51e-04h  1
 196  1.5157805e+04 6.68e-01 1.80e+06  -1.0 1.47e+02   2.2 7.25e-04 8.21e-04h  1
 197  1.5159870e+04 6.68e-01 2.83e+06  -1.0 1.44e+02   2.6 8.27e-04 6.21e-05h  1
 198  1.5203423e+04 6.66e-01 2.02e+06  -1.0 1.46e+02   2.1 1.90e-04 1.94e-03h  1
 199  1.5204162e+04 6.66e-01 2.89e+06  -1.0 1.43e+02   2.6 7.54e-04 2.04e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 200  1.5204154e+04 6.66e-01 3.84e+06  -1.0 1.62e+02   2.1 1.92e-03 3.26e-05h  1
 201  1.5218005e+04 6.66e-01 3.22e+06  -1.0 1.58e+02   2.5 6.20e-04 1.08e-03h  1
 202  1.5219332e+04 6.65e-01 3.21e+06  -1.0 1.63e+02   2.0 7.93e-05 1.01e-04h  1
 203  1.5220793e+04 6.65e-01 4.22e+06  -1.0 1.59e+02   2.5 6.85e-04 2.43e-05h  1
 204  1.5447976e+04 6.62e-01 1.47e+06  -1.0 1.64e+02   2.0 2.20e-05 5.47e-03h  1
 205  1.5438514e+04 6.60e-01 2.05e+05  -1.0 1.62e+02   2.4 6.37e-04 2.26e-03h  1
 206  1.5433869e+04 6.60e-01 8.46e+05  -1.0 1.60e+02   1.9 3.58e-03 1.02e-03f  1
 207  1.5438429e+04 6.60e-01 2.42e+06  -1.0 1.74e+02   2.4 5.65e-04 2.31e-05h  1
 208  1.5560878e+04 6.59e-01 1.67e+06  -1.0 2.22e+02   1.9 1.52e-05 6.41e-04h  1
 209  1.5560040e+04 6.59e-01 1.83e+06  -1.0 1.72e+02   2.3 2.18e-04 3.08e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 210  1.5524857e+04 6.59e-01 1.83e+06  -1.0 1.89e+02   1.8 2.63e-04 2.55e-04f  1
 211  1.5369678e+04 6.57e-01 3.20e+06  -1.0 1.88e+02   2.3 4.01e-03 2.40e-03f  1
 212  1.5207605e+04 6.57e-01 3.16e+06  -1.0 2.22e+02   1.8 7.03e-05 1.99e-04f  1
 213  1.4953503e+04 6.55e-01 2.76e+06  -1.0 1.86e+02   2.2 3.14e-03 3.61e-03f  1
 214  1.4870707e+04 6.55e-01 2.73e+06  -1.0 1.86e+02   1.7 5.84e-05 1.38e-04f  1
 215  1.4737008e+04 6.53e-01 1.27e+06  -1.0 1.27e+02   2.1 2.04e-05 2.70e-03f  1
 216  1.4631284e+04 6.51e-01 5.12e+06  -1.0 1.23e+02   2.6 5.57e-03 2.67e-03f  1
 217  1.4614520e+04 6.51e-01 7.59e+06  -1.0 1.42e+02   2.1 5.20e-03 3.62e-04f  1
 218  1.4558196e+04 6.50e-01 6.94e+06  -1.0 1.26e+02   2.5 9.54e-04 1.47e-03f  1
 219  1.4500851e+04 6.49e-01 8.04e+06  -1.0 1.51e+02   2.0 3.29e-03 1.06e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 220  1.4497741e+04 6.49e-01 1.26e+07  -1.0 1.34e+02   2.5 3.82e-03 7.82e-05h  1
 221  1.4446527e+04 6.49e-01 1.27e+07  -1.0 1.51e+02   2.0 1.18e-03 8.59e-04f  1
 222  1.4445087e+04 6.49e-01 1.53e+07  -1.0 1.45e+02   2.4 1.71e-03 2.56e-05h  1
 223  1.4168569e+04 6.47e-01 3.08e+07  -1.0 1.67e+02   1.9 2.08e-02 2.47e-03f  1
 224  1.3906694e+04 6.45e-01 3.28e+07  -1.0 1.66e+02   2.4 4.97e-03 3.73e-03f  1
 225  1.3420721e+04 6.42e-01 4.87e+07  -1.0 1.46e+02   1.9 1.98e-02 3.70e-03f  1
 226  1.3483624e+04 6.42e-01 5.81e+07  -1.0 5.24e+02   2.3 8.89e-04 2.24e-04h  1
 227  1.3602128e+04 6.41e-01 5.27e+07  -1.0 6.38e+02   1.8 4.26e-04 1.44e-03h  2
 228  1.4010870e+04 6.41e-01 6.29e+07  -1.0 5.84e+02   2.3 2.03e-03 1.25e-03h  1
 229  1.3965418e+04 6.40e-01 8.40e+07  -1.0 5.99e+02   1.8 5.00e-03 6.23e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 230  1.4030324e+04 6.40e-01 9.11e+07  -1.0 7.68e+02   2.2 1.62e-04 7.60e-05h  1
 231  1.4047102e+04 6.40e-01 9.63e+07  -1.0 1.64e+03   1.7 1.33e-04 4.49e-05h  1
 232  1.4115458e+04 6.40e-01 9.43e+07  -1.0 1.51e+03   2.2 8.82e-05 1.02e-04h  1
 233  1.4201862e+04 6.40e-01 7.08e+07  -1.0 1.48e+03   2.6 3.65e-05 9.93e-05h  1
 234  1.4258790e+04 6.40e-01 5.74e+07  -1.0 1.71e+03   2.1 8.55e-06 1.03e-04h  2
 235  1.4275331e+04 6.40e-01 5.51e+07  -1.0 1.63e+03   2.5 1.36e-05 2.01e-05h  1
 236r 1.4275331e+04 6.40e-01 1.00e+03  -0.2 0.00e+00   2.1 0.00e+00 2.75e-07R  3
 237r 1.2895078e+04 5.36e-01 1.01e+03  -0.2 6.09e+01    -  1.03e-02 6.86e-03f  1
 238  1.2894498e+04 5.36e-01 1.09e+02  -1.0 3.70e+00   1.6 2.27e-04 3.98e-05f  1
 239  1.2890466e+04 5.36e-01 1.09e+02  -1.0 1.86e+00   2.0 5.87e-04 2.81e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 240  1.2879602e+04 5.35e-01 1.09e+02  -1.0 1.33e+00   2.4 3.93e-04 9.96e-04f  1
 241  1.2852483e+04 5.34e-01 1.09e+02  -1.0 2.52e+00   2.0 1.62e-03 1.83e-03f  1
 242  1.2778947e+04 5.31e-01 2.54e+02  -1.0 1.01e+00   2.4 1.76e-03 6.52e-03f  1
 243  1.2621533e+04 5.25e-01 1.95e+02  -1.0 1.21e+00   1.9 4.33e-03 1.02e-02f  1
 244  1.2517264e+04 5.21e-01 3.63e+02  -1.0 8.87e-01   2.3 3.39e-02 9.29e-03f  1
 245  1.1214464e+04 4.77e-01 5.05e+02  -1.0 9.59e-01   1.9 2.28e-02 8.40e-02f  1
 246  1.1179810e+04 4.75e-01 2.18e+03  -1.0 9.73e-01   2.3 7.92e-02 3.32e-03f  1
 247  6.5113068e+03 3.05e-01 5.10e+02  -1.0 1.05e+00   1.8 7.83e-02 3.58e-01f  1
 248  6.1719447e+03 2.87e-01 5.03e+02  -1.0 9.61e-01   2.2 5.46e-02 5.98e-02f  1
 249  3.5854120e+03 1.75e-01 2.01e+03  -1.0 1.14e+00   1.8 1.25e-01 3.89e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 250  2.6309754e+03 1.41e-01 1.99e+03  -1.0 9.82e-01   1.3 7.55e-02 1.98e-01f  1
 251  2.2659126e+03 1.23e-01 1.75e+03  -1.0 6.38e-01   1.7 2.71e-01 1.28e-01f  1
 252  2.2584016e+03 1.22e-01 3.81e+03  -1.0 1.10e+00   1.2 2.21e-01 2.33e-03f  1
 253  2.0805285e+03 1.14e-01 1.60e+03  -1.0 2.96e+00   1.7 3.37e-02 6.65e-02f  1
 254  3.1601035e+02 2.38e-03 5.28e+03  -1.0 1.37e+00   1.2 4.52e-03 9.92e-01f  1
 255  1.4889771e+02 3.23e-04 5.12e+03  -1.0 4.23e-01   0.7 5.36e-01 1.00e+00f  1
 256  6.2700773e+01 0.00e+00 3.00e+03  -1.0 4.63e-01   0.2 7.10e-01 1.00e+00f  1
 257  7.0882069e+01 3.32e-03 5.53e+02  -1.0 7.68e-01  -0.3 8.68e-01 1.00e+00H  1
 258  2.2345943e+01 0.00e+00 1.03e+00  -1.0 8.51e-02   1.1 1.00e+00 1.00e+00f  1
 259  6.2252651e+00 0.00e+00 5.34e+03  -2.5 8.12e-01    -  6.83e-01 1.00e+00f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 260  4.4900356e+00 0.00e+00 3.58e+02  -2.5 2.42e-02   0.6 9.33e-01 1.00e+00h  1
 261  2.5652082e+00 0.00e+00 2.23e+02  -2.5 1.69e+00    -  3.76e-01 1.00e+00f  1
 262  1.2590002e+00 0.00e+00 4.01e-02  -2.5 3.03e-02   0.1 1.00e+00 1.00e+00h  1
 263  1.1560378e+00 0.00e+00 1.80e-01  -2.5 3.16e+00    -  1.24e-01 1.49e-01F  1
 264  8.1805201e-01 0.00e+00 1.64e+00  -2.5 1.25e+00    -  5.17e-01 1.00e+00f  1
 265  3.9171046e-01 0.00e+00 5.01e-02  -2.5 3.01e-02  -0.4 1.00e+00 1.00e+00h  1
 266  3.8174581e-01 0.00e+00 3.80e-01  -2.5 8.97e-01    -  8.54e-01 1.76e-01h  3
 267  3.5667083e-01 0.00e+00 1.05e-02  -2.5 3.70e-02  -0.8 1.00e+00 1.00e+00h  1
 268  2.1077740e-01 0.00e+00 1.09e+02  -3.8 5.71e-01    -  7.65e-01 1.00e+00f  1
 269  1.8680354e-01 0.00e+00 1.51e-03  -3.8 2.92e-02  -1.3 1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 270  1.5680084e-01 0.00e+00 8.96e-02  -3.8 6.35e-01    -  1.00e+00 2.50e-01h  3
 271  1.4458378e-01 0.00e+00 1.10e-02  -3.8 4.69e-02  -1.8 1.00e+00 1.00e+00h  1
 272  1.2926211e-01 0.00e+00 4.24e-02  -3.8 9.73e-02  -2.3 1.00e+00 1.00e+00h  1
 273  1.2396566e-01 0.00e+00 3.47e-03  -3.8 3.21e-02  -1.8 1.00e+00 1.00e+00h  1
 274  1.3193367e-01 0.00e+00 2.72e-01  -3.8 2.76e-01    -  1.00e+00 1.00e+00H  1
 275  8.7717346e-02 0.00e+00 6.79e-04  -3.8 2.23e-03  -0.5 1.00e+00 1.00e+00f  1
 276  2.4944302e-01 0.00e+00 6.15e+00  -5.7 1.86e-01    -  7.60e-01 1.00e+00H  1
 277  6.8925479e-02 0.00e+00 4.31e-01  -5.7 4.33e-03  -0.1 9.30e-01 1.00e+00f  1
 278  6.8523051e-02 0.00e+00 4.20e-04  -5.7 1.53e-03  -0.6 1.00e+00 1.00e+00h  1
 279  6.6865894e-02 0.00e+00 3.99e-02  -5.7 4.27e-01    -  2.37e-01 5.07e-02h  3
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 280  6.6080859e-02 0.00e+00 3.64e-04  -5.7 3.97e-03  -1.0 1.00e+00 1.00e+00h  1
 281  6.4348023e-02 0.00e+00 3.36e-02  -5.7 3.19e-01    -  4.40e-01 6.39e-02h  3
 282  6.3364955e-02 0.00e+00 1.31e-03  -5.7 9.16e-03  -1.5 1.00e+00 1.00e+00h  1
 283  6.1112331e-02 0.00e+00 4.36e-02  -5.7 2.37e-01    -  1.00e+00 1.55e-01h  2
 284  6.0011266e-02 0.00e+00 5.40e-02  -5.7 2.75e-02  -2.0 1.00e+00 1.00e+00h  1
 285  5.8549035e-02 0.00e+00 1.55e-02  -5.7 1.61e-02  -1.6 1.00e+00 1.00e+00h  1
 286  5.7500705e-02 0.00e+00 8.14e-03  -5.7 1.46e-02  -2.0 1.00e+00 1.00e+00h  1
 287  5.6164355e-02 0.00e+00 3.14e-02  -5.7 2.60e-02  -2.5 1.00e+00 1.00e+00h  1
 288  5.5145869e-02 0.00e+00 2.33e-03  -5.7 8.56e-03  -2.1 1.00e+00 1.00e+00h  1
 289  5.3977520e-02 0.00e+00 4.44e-02  -5.7 1.42e-01    -  1.00e+00 4.08e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 290  5.3076676e-02 0.00e+00 8.78e-04  -5.7 6.20e-03  -1.7 1.00e+00 1.00e+00f  1
 291  5.2744059e-02 0.00e+00 6.14e-03  -5.7 7.83e-02    -  1.00e+00 2.58e-01h  2
 292  5.2278133e-02 0.00e+00 6.21e-03  -5.7 5.52e-02    -  1.00e+00 9.19e-01h  1
 293  5.2243810e-02 0.00e+00 2.89e-03  -5.7 6.32e-03    -  1.00e+00 1.00e+00f  1
 294  5.2262419e-02 0.00e+00 6.10e-04  -5.7 3.71e-03    -  1.00e+00 1.00e+00h  1
 295  5.2266754e-02 0.00e+00 7.56e-05  -5.7 1.12e-03    -  1.00e+00 1.00e+00h  1
 296  5.2267062e-02 0.00e+00 4.23e-07  -5.7 8.43e-05    -  1.00e+00 1.00e+00h  1
 297  5.1972613e-02 0.00e+00 7.67e-02  -8.6 2.89e-02    -  8.67e-01 6.26e-01h  1
 298  5.1882735e-02 0.00e+00 3.56e-02  -8.6 1.69e-02    -  6.63e-01 5.81e-01h  1
 299  5.1833702e-02 0.00e+00 1.28e-02  -8.6 8.57e-03    -  7.15e-01 6.63e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 300  5.1793915e-02 0.00e+00 8.32e-04  -8.6 4.69e-03    -  7.98e-01 1.00e+00f  1
 301  5.1780123e-02 0.00e+00 2.17e-06  -8.6 1.82e-03    -  1.00e+00 1.00e+00h  1
 302  5.1778145e-02 0.00e+00 1.42e-07  -8.6 4.26e-04    -  1.00e+00 1.00e+00h  1
 303  5.1778311e-02 0.00e+00 2.66e-10  -8.6 1.03e-04    -  1.00e+00 1.00e+00h  1

Number of Iterations....: 303

                                   (scaled)                 (unscaled)
Objective...............:   5.9140248816185337e-03    5.1778310562138552e-02
Dual infeasibility......:   2.6591314569492520e-10    2.3281155754249887e-09
Constraint violation....:   0.0000000000000000e+00    0.0000000000000000e+00
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   2.6151406474415816e-09    2.2896008609595895e-08
Overall NLP error.......:   2.6151406474415816e-09    2.2896008609595895e-08


Number of objective function evaluations             = 354
Number of objective gradient evaluations             = 299
Number of equality constraint evaluations            = 0
Number of inequality constraint evaluations          = 354
Number of equality constraint Jacobian evaluations   = 0
Number of inequality constraint Jacobian evaluations = 308
Number of Lagrangian Hessian evaluations             = 303
Total seconds in IPOPT                               = 2.509

EXIT: Optimal Solution Found.
step_index = 15 pose_last= [ 0.30321886 -0.38206762  1.3177172 ]
This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3.

Number of nonzeros in equality constraint Jacobian...:        0
Number of nonzeros in inequality constraint Jacobian.:     5153
Number of nonzeros in Lagrangian Hessian.............:     2467

Total number of variables............................:     1984
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     1984
                     variables with only upper bounds:        0
Total number of equality constraints.................:        0
Total number of inequality constraints...............:     1407
        inequality constraints with only lower bounds:        0
   inequality constraints with lower and upper bounds:     1407
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  2.7780758e+04 1.91e+00 1.07e+02  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  2.7772880e+04 1.91e+00 1.07e+02  -1.0 2.16e+00   2.0 4.31e-04 1.99e-04f  1
   2  2.7743528e+04 1.91e+00 1.07e+02  -1.0 1.92e+00   2.4 1.01e-03 1.05e-03f  1
   3  2.7644214e+04 1.90e+00 1.07e+02  -1.0 2.05e+00   1.9 3.47e-03 2.46e-03f  1
   4  2.7535327e+04 1.90e+00 1.06e+02  -1.0 1.95e+00   2.4 7.09e-03 3.60e-03f  1
   5  2.7498740e+04 1.89e+00 1.20e+02  -1.0 2.88e+00   1.9 1.71e-02 8.43e-04f  1
   6  2.7496960e+04 1.89e+00 9.86e+02  -1.0 3.17e+01   2.3 4.05e-04 5.50e-05h  1
   7  2.7396314e+04 1.89e+00 6.41e+02  -1.0 3.79e+01   1.8 5.04e-04 2.37e-03f  1
   8  2.7354952e+04 1.89e+00 3.13e+02  -1.0 3.77e+01   2.3 1.46e-03 1.27e-03f  1
   9  2.7345688e+04 1.89e+00 1.66e+03  -1.0 3.73e+01   1.8 3.22e-03 2.38e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  2.7322705e+04 1.89e+00 1.62e+03  -1.0 3.71e+01   2.2 5.28e-04 5.47e-04f  1
  11  2.7229163e+04 1.88e+00 6.38e+03  -1.0 3.70e+01   2.6 8.24e-04 2.42e-03f  1
  12  2.7096052e+04 1.88e+00 6.57e+03  -1.0 3.64e+01   2.2 2.87e-03 2.99e-03f  1
  13  2.7094196e+04 1.88e+00 2.17e+04  -1.0 3.56e+01   2.6 6.32e-03 4.68e-05h  1
  14  2.6027693e+04 1.83e+00 5.99e+03  -1.0 3.54e+01   2.1 6.21e-03 2.32e-02f  1
  15  2.5498622e+04 1.81e+00 1.01e+03  -1.0 2.95e+01   2.5 1.59e-02 1.43e-02f  1
  16  2.5028318e+04 1.79e+00 2.08e+03  -1.0 2.47e+01   2.1 1.54e-02 1.10e-02f  1
  17  2.5024283e+04 1.79e+00 4.55e+04  -1.0 2.32e+01   2.5 2.36e-02 1.16e-04f  1
  18  2.4966792e+04 1.78e+00 4.51e+04  -1.0 4.02e+01   2.0 7.72e-03 1.66e-03f  1
  19  2.4904821e+04 1.78e+00 4.39e+04  -1.0 4.06e+01   2.4 3.71e-05 2.57e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  2.4738264e+04 1.77e+00 4.42e+04  -1.0 3.90e+01   2.0 1.07e-04 4.42e-03f  1
  21  2.4653336e+04 1.77e+00 4.33e+04  -1.0 3.91e+01   2.4 4.82e-05 2.95e-03f  1
  22  2.4205264e+04 1.74e+00 4.50e+04  -1.0 3.73e+01   1.9 5.32e-04 1.30e-02f  1
  23  2.4167131e+04 1.74e+00 4.46e+04  -1.0 3.70e+01   2.3 1.10e-02 1.07e-03f  1
  24  2.4142387e+04 1.74e+00 4.19e+04  -1.0 3.37e+01   1.9 1.42e-02 1.46e-03f  1
  25  2.4129450e+04 1.74e+00 4.20e+04  -1.0 3.61e+01   2.3 8.47e-04 4.23e-04f  1
  26  2.3990882e+04 1.73e+00 3.79e+04  -1.0 3.72e+01   2.7 4.64e-04 6.65e-03f  1
  27  2.3958647e+04 1.72e+00 5.99e+04  -1.0 4.80e+01   2.2 4.29e-03 5.79e-04f  1
  28  2.3858945e+04 1.72e+00 9.55e+04  -1.0 5.35e+01   2.7 3.05e-03 1.43e-03f  1
  29  2.3799597e+04 1.72e+00 1.22e+05  -1.0 4.99e+01   2.2 7.38e-03 1.04e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  2.3785139e+04 1.72e+00 1.51e+05  -1.0 4.89e+01   2.6 2.07e-03 1.96e-04f  1
  31  2.3519255e+04 1.71e+00 1.38e+05  -1.0 4.82e+01   2.1 5.92e-05 4.68e-03f  1
  32  2.3344309e+04 1.71e+00 1.04e+05  -1.0 4.47e+01   2.6 4.00e-05 3.42e-03f  1
  33  2.3217877e+04 1.70e+00 1.04e+05  -1.0 6.24e+01   2.1 3.86e-03 3.67e-03f  1
  34  2.3028174e+04 1.69e+00 1.06e+05  -1.0 6.27e+01   2.5 6.21e-03 5.63e-03f  1
  35  2.2984563e+04 1.69e+00 9.88e+04  -1.0 5.83e+01   2.0 7.94e-03 2.45e-03f  1
  36  2.2981567e+04 1.69e+00 1.30e+05  -1.0 6.00e+01   2.5 1.38e-02 1.01e-04h  1
  37  2.2980966e+04 1.68e+00 1.27e+05  -1.0 5.33e+01   2.0 3.51e-03 1.82e-03f  1
  38  2.2953355e+04 1.68e+00 1.50e+05  -1.0 5.66e+01   2.4 4.35e-03 1.45e-03f  1
  39  2.3263565e+04 1.67e+00 1.44e+05  -1.0 4.48e+01   1.9 1.07e-04 5.36e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  2.3332788e+04 1.67e+00 1.66e+05  -1.0 7.91e+01   2.4 2.34e-03 6.70e-04h  1
  41  2.3480331e+04 1.67e+00 1.73e+05  -1.0 8.42e+01   2.8 1.18e-03 1.07e-03h  1
  42  2.3519656e+04 1.67e+00 2.10e+05  -1.0 7.32e+01   2.3 2.27e-03 3.10e-04h  1
  43  2.3930932e+04 1.66e+00 1.58e+05  -1.0 7.96e+01   2.7 1.81e-03 2.72e-03h  1
  44  2.3947131e+04 1.66e+00 2.00e+05  -1.0 6.26e+01   2.3 3.55e-03 1.07e-04h  1
  45  2.5218948e+04 1.65e+00 1.64e+05  -1.0 7.03e+01   2.7 2.28e-05 8.13e-03h  1
  46  2.5634184e+04 1.65e+00 1.77e+05  -1.0 1.70e+02   2.2 2.81e-03 1.28e-03h  1
  47  2.5728957e+04 1.65e+00 1.84e+05  -1.0 5.28e+01   2.6 4.21e-04 6.24e-04h  1
  48  2.5897213e+04 1.65e+00 1.85e+05  -1.0 1.01e+02   2.2 1.40e-04 8.20e-04h  1
  49  2.5899112e+04 1.65e+00 1.67e+05  -1.0 5.02e+01   2.6 1.25e-02 1.24e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  2.6249269e+04 1.64e+00 1.67e+05  -1.0 1.40e+02   2.1 1.79e-03 1.22e-03h  1
  51  2.6261001e+04 1.64e+00 1.67e+05  -1.0 5.07e+01   2.5 6.15e-06 7.44e-05h  1
  52  2.6710168e+04 1.64e+00 1.67e+05  -1.0 2.13e+02   2.1 1.10e-04 9.78e-04h  1
  53  2.7138953e+04 1.64e+00 1.62e+05  -1.0 5.24e+01   2.5 5.06e-04 2.86e-03h  1
  54  2.7182880e+04 1.64e+00 1.67e+05  -1.0 1.02e+03   2.0 2.84e-04 1.59e-05h  1
  55  2.7544906e+04 1.63e+00 1.70e+05  -1.0 5.79e+01   2.4 3.27e-03 2.26e-03h  1
  56  2.7779765e+04 1.63e+00 5.94e+05  -1.0 4.73e+01   2.9 1.12e-02 1.36e-03h  1
  57  2.9050895e+04 1.62e+00 5.16e+05  -1.0 5.91e+01   2.4 1.07e-03 7.96e-03h  1
  58  2.9098017e+04 1.62e+00 8.33e+05  -1.0 4.66e+01   2.8 7.87e-03 2.62e-04h  1
  59  2.9649901e+04 1.61e+00 8.60e+05  -1.0 5.87e+01   2.3 6.31e-03 4.00e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  2.9667770e+04 1.61e+00 9.83e+05  -1.0 5.31e+01   2.7 3.20e-03 1.03e-04h  1
  61  3.0200399e+04 1.60e+00 9.30e+05  -1.0 6.39e+01   2.3 1.12e-04 4.05e-03h  1
  62  3.0208341e+04 1.60e+00 9.39e+05  -1.0 6.00e+01   2.7 2.77e-04 5.22e-05h  1
  63  3.0463698e+04 1.60e+00 9.29e+05  -1.0 7.91e+01   2.2 1.63e-03 2.19e-03h  1
  64  3.0584560e+04 1.60e+00 8.80e+05  -1.0 7.51e+01   2.6 2.96e-05 9.27e-04h  1
  65  3.0747787e+04 1.60e+00 9.14e+05  -1.0 9.87e+01   2.2 2.75e-03 9.96e-04h  1
  66  3.0854689e+04 1.60e+00 9.56e+05  -1.0 1.11e+02   2.6 1.14e-03 5.77e-04h  1
  67  3.1170370e+04 1.59e+00 9.74e+05  -1.0 1.56e+02   2.1 1.75e-03 1.10e-03h  1
  68  3.1307715e+04 1.59e+00 1.06e+06  -1.0 1.86e+02   2.5 1.22e-03 5.41e-04h  1
  69  3.1808024e+04 1.59e+00 1.09e+06  -1.0 2.41e+02   2.1 2.18e-03 1.18e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  3.2309845e+04 1.59e+00 9.16e+05  -1.0 2.30e+02   2.5 6.28e-04 1.93e-03h  1
  71  3.2696489e+04 1.59e+00 9.17e+05  -1.0 2.20e+02   2.0 1.01e-03 8.09e-04h  1
  72  3.2741032e+04 1.59e+00 1.28e+06  -1.0 1.83e+02   2.4 2.88e-03 2.06e-04h  1
  73  3.3000919e+04 1.59e+00 1.32e+06  -1.0 4.43e+02   2.0 9.51e-04 5.27e-04h  1
  74  3.3042025e+04 1.59e+00 1.22e+06  -1.0 3.26e+02   2.4 1.53e-04 4.73e-04h  1
  75  3.3216635e+04 1.59e+00 1.23e+06  -1.0 5.15e+02   1.9 2.94e-04 1.86e-04h  1
  76  3.3250167e+04 1.58e+00 1.57e+06  -1.0 2.99e+02   2.3 1.69e-03 5.52e-04h  1
  77  3.3201565e+04 1.58e+00 2.26e+06  -1.0 4.38e+02   2.8 7.32e-04 1.13e-04f  1
  78  3.3176811e+04 1.58e+00 2.69e+06  -1.0 4.46e+02   2.3 9.34e-04 7.55e-05f  1
  79  3.3094895e+04 1.58e+00 3.09e+06  -1.0 4.47e+02   2.7 5.21e-04 1.79e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  3.3044568e+04 1.58e+00 3.08e+06  -1.0 4.49e+02   2.2 1.27e-04 1.57e-04f  1
  81  3.2560030e+04 1.58e+00 1.81e+06  -1.0 4.53e+02   2.7 9.62e-07 1.14e-03f  1
  82  3.2407379e+04 1.58e+00 1.68e+06  -1.0 4.55e+02   2.2 9.36e-05 2.98e-04f  1
  83  3.2286794e+04 1.58e+00 1.64e+06  -1.0 4.50e+02   2.6 1.34e-04 1.56e-04f  1
  84  3.1767876e+04 1.58e+00 1.44e+06  -1.0 2.14e+03   2.1 2.31e-05 3.50e-04f  1
  85  3.1725283e+04 1.58e+00 2.56e+06  -1.0 4.68e+02   2.6 7.24e-04 4.82e-05f  1
  86  3.1724573e+04 1.58e+00 2.78e+06  -1.0 4.32e+02   2.1 2.96e-04 2.17e-06f  2
  87  3.1635381e+04 1.58e+00 3.84e+06  -1.0 4.62e+02   2.5 7.08e-04 1.16e-04f  1
  88  3.1589676e+04 1.58e+00 3.65e+06  -1.0 5.23e+02   2.0 2.87e-04 5.20e-04f  1
  89  3.1537781e+04 1.58e+00 4.59e+06  -1.0 7.00e+02   2.5 5.25e-04 1.30e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  3.1546269e+04 1.58e+00 5.36e+06  -1.0 7.97e+02   2.0 8.71e-04 2.17e-05h  1
  91  3.1230012e+04 1.58e+00 3.69e+06  -1.0 7.67e+02   2.4 1.94e-04 9.20e-04f  1
  92  3.1307190e+04 1.58e+00 4.53e+06  -1.0 1.15e+03   1.9 8.28e-04 1.23e-04h  1
  93  3.1234699e+04 1.58e+00 4.25e+06  -1.0 1.03e+03   2.4 3.01e-05 9.16e-05f  1
  94  3.1180215e+04 1.58e+00 4.22e+06  -1.0 3.99e+03   1.9 1.88e-05 2.33e-05f  1
  95  3.1128003e+04 1.58e+00 3.94e+06  -1.0 3.15e+03   2.3 8.70e-08 1.89e-05f  1
  96  3.1096899e+04 1.58e+00 3.65e+06  -1.0 1.71e+03   2.7 4.69e-06 1.72e-05f  1
  97  3.1099498e+04 1.58e+00 3.94e+06  -1.0 2.94e+03   2.3 2.69e-04 1.55e-04f  2
  98  3.1058283e+04 1.58e+00 9.53e+06  -1.0 1.63e+03   2.7 3.42e-04 2.56e-05f  1
  99  3.1146104e+04 1.58e+00 9.05e+06  -1.0 2.76e+03   2.2 5.58e-04 9.51e-05h  3
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  3.0589030e+04 1.58e+00 6.47e+06  -1.0 1.71e+03   2.6 2.57e-04 4.50e-04f  1
 101  3.0585406e+04 1.58e+00 6.48e+06  -1.0 2.83e+03   2.2 1.26e-05 1.20e-05h  1
 102  3.0576722e+04 1.58e+00 9.10e+06  -1.0 4.86e+03   2.6 4.64e-05 6.00e-06f  1
 103r 3.0576722e+04 1.58e+00 1.00e+03   0.2 0.00e+00   2.1 0.00e+00 2.66e-07R  6
 104r 3.0149993e+04 1.56e+00 1.00e+03   0.2 7.17e+01    -  1.38e-03 2.54e-04f  1
 105r 2.9230431e+04 1.53e+00 9.98e+02   0.2 6.09e+01    -  4.06e-03 6.10e-04f  1
 106r 2.6060288e+04 1.39e+00 9.95e+02   0.2 5.78e+01    -  1.13e-02 2.85e-03f  1
 107  2.6059741e+04 1.39e+00 1.47e+02  -1.0 1.68e+00   2.5 1.29e-03 2.34e-05f  1
 108  2.6058263e+04 1.39e+00 2.21e+02  -1.0 1.03e+01   2.0 7.77e-05 3.32e-05h  1
 109  2.6057298e+04 1.39e+00 2.71e+02  -1.0 2.03e+01   2.5 1.89e-05 1.47e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 110r 2.6057298e+04 1.39e+00 9.99e+02   0.1 0.00e+00   2.0 0.00e+00 3.28e-07R  5
 111r 2.5799393e+04 1.38e+00 9.99e+02   0.1 8.09e+01    -  1.07e-03 2.54e-04f  1
 112r 2.3526098e+04 1.26e+00 9.96e+02   0.1 4.97e+01    -  4.82e-04 2.46e-03f  1
 113r 2.1365234e+04 1.15e+00 9.93e+02   0.1 4.76e+01    -  7.83e-03 2.85e-03f  1
 114  2.1363870e+04 1.15e+00 1.32e+02  -1.0 1.17e+00   2.4 5.42e-04 7.19e-05f  1
 115  2.1362684e+04 1.15e+00 1.32e+02  -1.0 1.45e+00   2.9 5.37e-04 8.21e-05h  1
 116  2.1359056e+04 1.15e+00 2.64e+02  -1.0 8.53e+00   2.4 3.97e-04 1.48e-04h  1
 117  2.1352698e+04 1.15e+00 2.06e+03  -1.0 8.46e+00   2.8 1.20e-03 2.14e-04h  1
 118  2.1338217e+04 1.15e+00 4.95e+03  -1.0 1.52e+01   2.3 2.23e-03 2.89e-04f  1
 119  2.1337596e+04 1.15e+00 7.32e+03  -1.0 1.78e+01   2.7 2.24e-04 1.26e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 120  2.1326387e+04 1.15e+00 1.23e+04  -1.0 3.16e+01   2.3 6.57e-04 2.51e-04h  1
 121  2.1323244e+04 1.15e+00 3.49e+04  -1.0 5.11e+01   2.7 6.03e-04 1.84e-04h  1
 122  2.1322040e+04 1.15e+00 5.87e+04  -1.0 9.59e+01   2.2 6.64e-04 6.80e-05h  1
 123  2.1324211e+04 1.15e+00 1.31e+05  -1.0 1.00e+02   2.6 7.08e-04 1.35e-04h  1
 124  2.1324413e+04 1.15e+00 1.62e+05  -1.0 1.35e+02   2.2 6.69e-04 1.59e-04h  1
 125  2.1331867e+04 1.15e+00 2.74e+05  -1.0 1.64e+02   2.6 7.34e-04 1.55e-04h  1
 126  2.1322434e+04 1.15e+00 2.13e+05  -1.0 1.63e+02   2.1 7.73e-05 1.02e-03h  1
 127  2.1324448e+04 1.15e+00 6.43e+05  -1.0 1.61e+02   2.5 2.59e-03 5.98e-05h  1
 128  2.1315585e+04 1.15e+00 7.03e+05  -1.0 1.58e+02   2.1 1.34e-03 2.28e-04f  1
 129  2.1332905e+04 1.15e+00 6.66e+05  -1.0 1.61e+02   2.5 5.66e-04 8.12e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 130  2.1328587e+04 1.15e+00 7.70e+05  -1.0 1.49e+02   2.0 2.35e-03 4.29e-05f  1
 131  2.1327181e+04 1.15e+00 7.78e+05  -1.0 1.58e+02   2.4 1.04e-03 9.66e-04h  1
 132  2.1195013e+04 1.14e+00 8.42e+05  -1.0 1.39e+02   2.0 2.42e-03 6.74e-04f  1
 133  2.1176530e+04 1.14e+00 9.66e+05  -1.0 1.50e+02   2.4 2.00e-03 8.78e-04f  1
 134  2.0519365e+04 1.14e+00 9.29e+05  -1.0 1.34e+02   1.9 3.19e-05 1.41e-03f  1
 135  2.0500343e+04 1.14e+00 9.73e+05  -1.0 1.39e+02   2.3 9.52e-04 4.64e-04f  1
 136  2.0220241e+04 1.14e+00 9.74e+05  -1.0 5.11e+02   1.9 1.63e-05 7.27e-05f  1
 137  2.0174093e+04 1.14e+00 9.42e+05  -1.0 1.36e+02   2.3 5.56e-04 9.56e-04f  1
 138  2.0173993e+04 1.14e+00 1.02e+06  -1.0 1.33e+02   2.7 3.68e-04 1.20e-05h  1
 139  2.0097555e+04 1.14e+00 9.73e+05  -1.0 1.35e+02   2.2 3.12e-04 9.17e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 140  2.0087962e+04 1.14e+00 1.06e+06  -1.0 1.32e+02   2.7 7.31e-04 3.65e-04f  1
 141  1.9973127e+04 1.14e+00 9.82e+05  -1.0 1.31e+02   2.2 4.10e-05 1.18e-03f  1
 142  1.9940398e+04 1.14e+00 1.17e+06  -1.0 1.27e+02   2.6 2.09e-03 1.08e-03f  1
 143  1.9379393e+04 1.13e+00 9.97e+05  -1.0 1.25e+02   2.1 8.34e-04 4.58e-03f  1
 144  1.9341866e+04 1.13e+00 9.00e+05  -1.0 1.13e+02   2.6 7.80e-05 8.38e-04f  1
 145  1.9303745e+04 1.13e+00 1.25e+06  -1.0 1.10e+02   2.1 1.39e-02 2.85e-04f  1
 146  1.9177987e+04 1.13e+00 1.03e+06  -1.0 1.10e+02   2.5 3.59e-04 2.34e-03f  1
 147  1.9124728e+04 1.13e+00 1.12e+06  -1.0 1.09e+02   2.0 6.03e-03 3.39e-04f  1
 148  1.9006585e+04 1.12e+00 1.87e+06  -1.0 1.05e+02   2.5 1.11e-02 1.89e-03f  1
 149  1.8713878e+04 1.12e+00 1.93e+06  -1.0 1.12e+02   2.0 1.06e-02 1.57e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 150  1.8616160e+04 1.12e+00 2.11e+06  -1.0 1.03e+02   2.4 4.38e-03 1.50e-03f  1
 151  1.8068545e+04 1.12e+00 2.11e+06  -1.0 1.02e+02   1.9 3.94e-03 2.62e-03f  1
 152  1.8057902e+04 1.12e+00 2.10e+06  -1.0 9.64e+01   2.4 4.23e-05 1.70e-04f  1
 153  1.7345775e+04 1.12e+00 2.12e+06  -1.0 1.70e+02   1.9 1.61e-06 1.91e-03f  1
 154  1.7293049e+04 1.11e+00 3.12e+06  -1.0 8.94e+01   2.3 2.84e-02 7.07e-04f  1
 155  1.6826306e+04 1.11e+00 3.12e+06  -1.0 1.87e+02   1.8 9.38e-04 7.03e-04f  1
 156  1.6804790e+04 1.11e+00 3.25e+06  -1.0 9.90e+01   2.3 2.85e-03 2.54e-04f  1
 157  1.6791339e+04 1.11e+00 3.59e+06  -1.0 9.56e+01   2.7 2.42e-03 2.58e-04f  1
 158  1.6475775e+04 1.11e+00 3.69e+06  -1.0 9.92e+01   2.2 5.62e-03 3.05e-03f  1
 159  1.6229046e+04 1.11e+00 3.52e+06  -1.0 9.21e+01   2.6 2.19e-03 3.33e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 160  1.6019740e+04 1.10e+00 3.53e+06  -1.0 8.17e+01   2.2 2.11e-03 1.76e-03f  1
 161  1.5941202e+04 1.10e+00 3.63e+06  -1.0 8.40e+01   2.6 1.90e-03 9.36e-04f  1
 162  1.5921299e+04 1.10e+00 3.63e+06  -1.0 8.11e+01   2.1 4.03e-05 1.58e-04f  1
 163r 1.5921299e+04 1.10e+00 9.99e+02   0.0 0.00e+00   2.5 0.00e+00 4.40e-07R  5
 164r 1.5503567e+04 1.05e+00 1.06e+03   0.0 5.86e+01    -  1.25e-02 1.26e-03f  1
 165r 1.3979352e+04 8.41e-01 1.05e+03   0.0 4.81e+01    -  9.04e-03 8.72e-03f  1
 166  1.3978328e+04 8.41e-01 1.03e+02  -1.0 2.12e+00   2.0 8.91e-05 5.80e-05f  1
 167  1.3976912e+04 8.41e-01 1.03e+02  -1.0 1.16e+00   2.5 4.91e-04 1.02e-04h  1
 168  1.3974183e+04 8.41e-01 1.03e+02  -1.0 7.78e+00   2.0 2.42e-04 1.30e-04h  1
 169  1.3972404e+04 8.41e-01 1.83e+02  -1.0 1.01e+01   2.4 1.83e-04 9.40e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 170  1.3969744e+04 8.41e-01 8.52e+02  -1.0 1.28e+01   1.9 3.85e-04 8.87e-05h  1
 171  1.3967146e+04 8.41e-01 4.30e+03  -1.0 1.94e+01   2.4 4.91e-04 1.08e-04h  1
 172  1.3955001e+04 8.41e-01 5.46e+04  -1.0 3.55e+01   1.9 9.47e-03 2.89e-04f  1
 173  1.3949766e+04 8.40e-01 1.04e+05  -1.0 3.72e+01   2.3 3.35e-03 1.54e-04h  1
 174  1.3863244e+04 8.39e-01 1.14e+05  -1.0 3.77e+01   1.8 3.77e-03 1.91e-03f  1
 175  1.3833141e+04 8.38e-01 2.11e+05  -1.0 3.64e+01   2.3 7.16e-03 8.22e-04f  1
 176  1.3357871e+04 8.30e-01 2.05e+05  -1.0 3.48e+01   1.8 8.68e-03 9.42e-03f  1
 177  1.3320786e+04 8.30e-01 5.30e+05  -1.0 4.34e+01   2.2 1.63e-02 7.80e-04f  1
 178  1.3217149e+04 8.27e-01 5.44e+05  -1.0 8.11e+01   1.7 4.39e-03 3.02e-03f  1
 179  1.3122416e+04 8.25e-01 4.80e+05  -1.0 7.21e+01   2.2 6.94e-05 2.23e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 180  1.2575655e+04 8.19e-01 4.26e+05  -1.0 4.99e+01   1.7 8.50e-04 7.12e-03f  1
 181  1.2544656e+04 8.19e-01 5.43e+05  -1.0 6.65e+01   2.1 3.90e-03 3.21e-04f  1
 182  1.1871275e+04 8.15e-01 8.18e+05  -1.0 6.36e+01   1.6 2.81e-02 5.11e-03f  1
 183  1.1642917e+04 8.13e-01 1.09e+06  -1.0 6.02e+01   2.1 8.18e-03 2.35e-03f  1
 184  1.1369317e+04 8.13e-01 1.59e+06  -1.0 3.12e+02   1.6 3.68e-03 4.90e-04f  1
 185  1.1365417e+04 8.13e-01 2.59e+06  -1.0 4.15e+02   2.0 1.38e-03 2.32e-05h  1
 186  1.1135657e+04 8.13e-01 2.59e+06  -1.0 7.59e+02   1.5 1.52e-04 1.12e-04f  1
 187  1.1134556e+04 8.13e-01 2.76e+06  -1.0 4.36e+02   2.0 2.06e-04 1.16e-05h  1
 188  1.1131865e+04 8.12e-01 2.65e+06  -1.0 3.98e+02   2.4 1.21e-05 6.10e-05h  1
 189  1.1112279e+04 8.12e-01 3.17e+06  -1.0 4.42e+02   1.9 8.71e-04 2.27e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 190  1.1097214e+04 8.12e-01 2.57e+06  -1.0 4.11e+02   2.3 3.47e-06 2.89e-04f  1
 191  1.0223885e+04 8.09e-01 4.56e+05  -1.0 4.18e+02   1.9 2.36e-05 3.93e-03f  1
 192  1.0139937e+04 8.09e-01 5.80e+05  -1.0 5.54e+02   2.3 3.75e-04 3.28e-04f  1
 193r 1.0139937e+04 8.09e-01 1.00e+03  -0.1 0.00e+00   1.8 0.00e+00 4.01e-07R  3
 194r 9.7695272e+03 7.82e-01 9.98e+02  -0.1 7.02e+01    -  4.39e-03 1.29e-03f  1
 195r 7.6903932e+03 5.92e-01 9.99e+02  -0.1 6.41e+01    -  3.22e-03 7.88e-03f  1
 196  7.6896191e+03 5.92e-01 8.49e+01  -1.0 3.27e+00   1.3 1.35e-03 6.23e-05f  1
 197  7.6832311e+03 5.91e-01 2.22e+02  -1.0 2.20e+00   1.8 1.69e-03 5.86e-04f  1
 198  7.6798499e+03 5.91e-01 1.43e+03  -1.0 3.82e+00   2.2 1.59e-03 3.54e-04h  1
 199  7.6760193e+03 5.91e-01 7.13e+03  -1.0 7.98e+00   1.7 1.37e-03 3.05e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 200  7.6745020e+03 5.91e-01 2.86e+04  -1.0 1.04e+01   2.1 5.25e-04 1.20e-04h  1
 201  7.6744339e+03 5.91e-01 2.44e+04  -1.0 8.96e+01   1.7 1.90e-05 2.97e-05h  1
 202  7.6744895e+03 5.91e-01 1.03e+05  -1.0 6.40e+01   2.1 1.34e-04 2.85e-05h  1
 203  7.6752064e+03 5.91e-01 4.04e+05  -1.0 5.41e+02   1.6 1.34e-04 1.19e-05h  1
 204r 7.6752064e+03 5.91e-01 9.99e+02  -0.2 0.00e+00   2.0 0.00e+00 3.75e-07R  3
 205r 6.7834822e+03 4.83e-01 1.00e+03  -0.2 3.48e+01    -  1.75e-03 7.36e-03f  1
 206  6.7830933e+03 4.83e-01 1.13e+03  -1.0 2.79e+00   1.6 2.23e-02 3.58e-05f  1
 207  6.7566705e+03 4.81e-01 4.57e+03  -1.0 1.75e+00   2.0 9.36e-03 3.31e-03f  1
 208  6.7488845e+03 4.81e-01 3.49e+04  -1.0 2.58e+00   1.5 3.07e-02 7.66e-04f  1
 209  6.6858852e+03 4.78e-01 2.54e+05  -1.0 2.15e+00   1.9 5.34e-02 7.25e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 210  6.6631577e+03 4.76e-01 1.18e+06  -1.0 1.17e+01   1.5 1.64e-02 3.07e-03h  1
 211  6.6605936e+03 4.74e-01 3.51e+06  -1.0 2.36e+01   1.9 1.03e-02 3.81e-03h  1
 212  6.5010476e+03 4.64e-01 4.21e+06  -1.0 1.08e+01   1.4 3.46e-02 2.14e-02f  1
 213  6.2509288e+03 4.63e-01 1.28e+07  -1.0 3.55e+02   1.8 2.38e-04 1.83e-03f  1
 214  6.1978702e+03 4.63e-01 1.72e+07  -1.0 2.21e+02   2.3 2.82e-05 5.37e-04f  1
 215  6.1664452e+03 4.63e-01 1.33e+07  -1.0 2.41e+02   1.8 1.54e-03 3.96e-04f  1
 216  6.1522395e+03 4.63e-01 1.42e+07  -1.0 4.79e+01   2.2 2.96e-05 5.59e-04f  1
 217  6.0600048e+03 4.56e-01 1.41e+07  -1.0 9.91e+00   1.7 2.43e-05 1.33e-02f  1
 218  6.0030058e+03 4.49e-01 1.39e+07  -1.0 1.49e+01   2.1 1.26e-02 1.66e-02f  1
 219  5.9840258e+03 4.47e-01 1.37e+07  -1.0 1.85e+01   1.7 1.44e-04 4.26e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 220  5.9929713e+03 4.43e-01 1.47e+07  -1.0 1.42e+01   2.1 4.48e-02 7.92e-03h  1
 221  5.9422449e+03 4.32e-01 1.37e+07  -1.0 1.53e+01   1.6 9.61e-03 2.58e-02f  1
 222  6.0132630e+03 4.25e-01 1.34e+07  -1.0 1.76e+01   2.0 1.28e-02 1.56e-02h  1
 223  6.0732684e+03 4.02e-01 1.10e+07  -1.0 1.88e+01   1.6 2.46e-03 5.38e-02h  1
 224  6.1875585e+03 3.97e-01 1.22e+07  -1.0 2.12e+01   2.0 9.24e-02 1.38e-02h  1
 225  6.2751809e+03 3.88e-01 1.23e+07  -1.0 2.12e+01   1.5 4.23e-02 2.28e-02h  1
 226  6.2963952e+03 3.87e-01 1.36e+07  -1.0 2.16e+01   1.9 1.35e-01 2.52e-03h  1
 227  6.5608661e+03 3.58e-01 1.25e+07  -1.0 2.16e+01   1.5 6.21e-02 7.39e-02h  1
 228  6.7794852e+03 3.49e-01 1.21e+07  -1.0 2.18e+01   1.9 3.79e-03 2.70e-02h  1
 229  6.7861023e+03 3.48e-01 1.21e+07  -1.0 4.02e+01   1.4 3.27e-03 8.07e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 230  6.8244536e+03 3.48e-01 1.00e+07  -1.0 4.95e+01   1.8 1.20e-01 2.29e-03h  1
 231  6.9654847e+03 3.43e-01 9.99e+06  -1.0 4.95e+01   1.4 5.67e-03 1.18e-02h  1
 232  6.9574102e+03 3.43e-01 9.75e+06  -1.0 2.22e+02   1.8 4.06e-04 1.56e-04f  1
 233  6.9070915e+03 3.43e-01 1.01e+07  -1.0 6.80e+02   1.3 3.65e-06 3.26e-04f  1
 234  6.5394553e+03 3.33e-01 1.05e+07  -1.0 3.64e+01   1.7 8.77e-05 2.93e-02f  1
 235  6.3153476e+03 3.29e-01 1.02e+07  -1.0 4.41e+01   1.3 1.81e-02 1.20e-02f  1
 236  5.9646137e+03 3.20e-01 1.07e+07  -1.0 4.19e+01   1.7 4.35e-03 2.94e-02f  1
 237  5.7492673e+03 3.14e-01 1.10e+07  -1.0 4.25e+01   1.2 2.29e-04 1.70e-02f  1
 238  5.7289233e+03 3.14e-01 1.08e+07  -1.0 4.59e+01   1.6 6.45e-03 1.76e-03f  1
 239  5.7279913e+03 3.14e-01 1.08e+07  -1.0 4.46e+01   1.2 1.16e-03 5.33e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 240  5.5921887e+03 3.11e-01 1.04e+07  -1.0 4.72e+01   1.6 1.33e-02 6.58e-03f  1
 241  5.5909845e+03 3.11e-01 1.01e+07  -1.0 5.56e+01   1.1 8.47e-03 7.24e-05h  1
 242  5.5161049e+03 3.10e-01 1.03e+07  -1.0 5.01e+01   1.5 2.71e-04 5.22e-03f  1
 243  5.5118026e+03 3.10e-01 1.02e+07  -1.0 5.26e+01   1.1 3.37e-03 9.54e-04f  1
 244  5.4770576e+03 3.08e-01 1.04e+07  -1.0 4.50e+01   1.5 3.51e-05 4.80e-03f  1
 245  5.2746905e+03 2.98e-01 1.01e+07  -1.0 1.62e+01   1.0 1.29e-03 3.29e-02f  1
 246  5.2008680e+03 2.90e-01 9.94e+06  -1.0 1.67e+01   1.4 7.75e-03 2.51e-02f  1
 247  5.2005926e+03 2.90e-01 9.90e+06  -1.0 1.69e+01   1.0 1.14e-02 8.47e-05h  1
 248  5.0693583e+03 2.82e-01 9.61e+06  -1.0 1.69e+01   1.4 2.71e-02 2.99e-02f  1
 249  5.0453510e+03 2.81e-01 9.60e+06  -1.0 5.19e+01   0.9 8.93e-04 1.11e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 250  5.0353308e+03 2.81e-01 9.41e+06  -1.0 1.96e+01   1.3 3.05e-02 2.40e-03f  1
 251  4.8504788e+03 2.63e-01 9.22e+06  -1.0 1.96e+01   1.8 3.39e-03 6.34e-02f  1
 252  4.8457321e+03 2.63e-01 8.96e+06  -1.0 2.01e+01   1.3 4.52e-02 1.39e-03f  1
 253  4.8462694e+03 2.62e-01 8.95e+06  -1.0 1.86e+01   1.7 1.36e-03 9.31e-04h  1
 254  4.5541640e+03 2.44e-01 8.59e+06  -1.0 1.41e+01   1.2 3.27e-05 6.83e-02f  1
 255  4.5525604e+03 2.44e-01 8.53e+06  -1.0 2.22e+01   1.7 3.80e-02 3.51e-04h  1
 256  4.5372574e+03 2.44e-01 8.47e+06  -1.0 1.37e+01   1.2 1.47e-02 3.37e-03f  1
 257  4.5327514e+03 2.43e-01 8.45e+06  -1.0 3.59e+01   1.6 1.16e-03 4.99e-04f  1
 258  4.4723225e+03 2.41e-01 8.44e+06  -1.0 2.94e+01   1.1 7.56e-05 8.59e-03f  1
 259  4.4447814e+03 2.40e-01 8.34e+06  -1.0 2.97e+01   1.6 1.27e-02 5.34e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 260  4.1765099e+03 2.30e-01 8.22e+06  -1.0 2.97e+01   1.1 5.08e-03 4.35e-02f  1
 261  4.1457664e+03 2.28e-01 8.14e+06  -1.0 3.01e+01   1.5 1.09e-02 6.06e-03f  1
 262  4.1445353e+03 2.28e-01 8.03e+06  -1.0 3.01e+01   1.0 1.70e-02 2.40e-04h  1
 263  4.0329129e+03 2.21e-01 8.00e+06  -1.0 3.01e+01   1.5 2.01e-04 3.02e-02f  1
 264  3.8459139e+03 2.13e-01 7.70e+06  -1.0 3.03e+01   1.0 3.57e-02 3.85e-02f  1
 265  3.8444575e+03 2.13e-01 7.64e+06  -1.0 3.05e+01   1.4 1.02e-02 4.02e-04h  1
 266  3.8390852e+03 2.12e-01 7.55e+06  -1.0 6.86e+01   0.9 1.33e-02 2.58e-03f  1
 267  3.8368499e+03 2.12e-01 7.55e+06  -1.0 6.20e+01   1.3 4.58e-04 2.48e-03h  1
 268  3.8278827e+03 2.11e-01 7.34e+06  -1.0 6.56e+01   0.9 2.79e-02 4.26e-03h  1
 269  3.8308820e+03 2.11e-01 7.35e+06  -1.0 1.88e+02   1.3 5.73e-04 6.58e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 270  3.8307023e+03 2.11e-01 7.38e+06  -1.0 7.80e+00   0.8 2.28e-05 3.94e-05h  1
 271  3.7577003e+03 2.07e-01 7.49e+06  -1.0 1.07e+01   1.2 3.08e-05 1.65e-02f  1
 272  3.7203780e+03 2.05e-01 7.40e+06  -1.0 1.06e+01   1.7 3.57e-02 9.49e-03f  1
 273  3.1299314e+03 1.77e-01 6.41e+06  -1.0 1.06e+01   1.2 2.16e-02 1.37e-01f  1
 274  3.0952142e+03 1.77e-01 6.40e+06  -1.0 1.06e+02   0.7 2.76e-03 1.80e-03f  1
 275  2.9549063e+03 1.69e-01 6.15e+06  -1.0 9.94e+00   1.1 6.31e-03 4.14e-02f  1
 276  2.9465264e+03 1.69e-01 6.08e+06  -1.0 9.71e+00   1.6 5.58e-02 3.11e-03f  1
 277  2.9448021e+03 1.69e-01 5.70e+06  -1.0 9.65e+00   1.1 3.04e-02 5.56e-04h  1
 278  2.9422252e+03 1.68e-01 6.06e+06  -1.0 5.26e+00   1.5 1.21e-05 1.16e-03f  1
 279  2.9128033e+03 1.66e-01 5.99e+06  -1.0 9.19e+00   1.0 9.90e-04 1.26e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 280  2.9124790e+03 1.66e-01 5.93e+06  -1.0 7.97e+00   1.5 5.03e-02 1.67e-04h  1
 281  2.8343855e+03 1.59e-01 5.72e+06  -1.0 1.06e+01   1.0 1.28e-03 4.29e-02f  1
 282  2.8030604e+03 1.55e-01 5.60e+06  -1.0 9.05e+00   1.4 4.30e-03 2.64e-02f  1
 283  2.5342991e+03 1.37e-01 5.03e+06  -1.0 7.31e+00   0.9 3.17e-03 1.16e-01f  1
 284  2.4423377e+03 1.30e-01 4.78e+06  -1.0 5.88e+00   1.4 6.01e-02 4.84e-02f  1
 285  2.3314510e+03 1.23e-01 4.55e+06  -1.0 4.50e+00   0.9 2.27e-03 5.29e-02f  1
 286  2.3304816e+03 1.23e-01 4.51e+06  -1.0 2.96e+00   1.3 8.49e-02 5.70e-04h  1
 287  2.3292719e+03 1.23e-01 4.51e+06  -1.0 2.84e+01   0.8 1.74e-04 5.71e-04h  1
 288  2.2950164e+03 1.21e-01 4.50e+06  -1.0 1.98e+01   1.3 6.34e-04 1.47e-02f  1
 289  2.2876610e+03 1.21e-01 4.46e+06  -1.0 3.22e+01   0.8 1.12e-02 3.65e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 290  2.2613300e+03 1.20e-01 4.43e+06  -1.0 2.05e+01   1.2 5.52e-03 1.07e-02f  1
 291  2.2597179e+03 1.20e-01 4.42e+06  -1.0 1.71e+01   0.7 4.05e-03 5.49e-04h  1
 292  1.5926791e+03 8.40e-02 3.17e+06  -1.0 1.16e+01   1.2 4.81e-04 2.98e-01f  1
 293  1.5828887e+03 8.30e-02 3.16e+06  -1.0 9.68e+00   0.7 7.49e-02 1.23e-02f  1
 294  1.5750095e+03 8.19e-02 3.11e+06  -1.0 8.07e+00   1.1 1.35e-02 1.34e-02f  1
 295  1.5716441e+03 8.16e-02 3.11e+06  -1.0 1.78e+01   0.6 1.68e-02 2.77e-03f  1
 296  1.4611428e+03 7.22e-02 2.75e+06  -1.0 9.10e+00   1.1 4.66e-02 1.16e-01f  1
 297  1.4596649e+03 7.21e-02 2.75e+06  -1.0 8.86e+00   0.6 1.50e-01 1.45e-03h  1
 298  1.4000929e+03 6.72e-02 2.57e+06  -1.0 1.06e+01   1.0 1.94e-02 6.80e-02f  1
 299  1.3993248e+03 6.71e-02 2.47e+06  -1.0 9.78e+00   0.5 7.78e-02 7.33e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 300  1.3718820e+03 6.51e-02 2.51e+06  -1.0 2.77e+00   1.0 2.63e-04 3.10e-02f  1
 301  8.2835544e+02 1.77e-02 6.83e+05  -1.0 1.12e+00   0.5 1.95e-01 7.28e-01f  1
 302  7.1469953e+02 1.11e-02 4.29e+05  -1.0 1.42e+00   0.0 2.38e-01 3.71e-01f  1
 303  6.3489718e+02 7.78e-03 3.01e+05  -1.0 1.57e+00  -0.5 2.95e-01 2.99e-01f  1
 304  4.9498464e+02 3.53e-03 1.36e+05  -1.0 2.57e+00  -1.0 3.80e-01 5.46e-01f  1
 305  4.4971280e+02 0.00e+00 6.12e+04  -1.0 3.97e-01   0.4 4.96e-01 1.00e+00f  1
 306  3.7412203e+02 0.00e+00 2.25e+04  -1.0 1.56e+00  -0.1 6.33e-01 1.00e+00f  1
 307  3.3589271e+02 2.92e-03 1.94e+04  -1.0 1.60e+00  -0.6 1.37e-01 8.74e-01f  1
 308  3.1737279e+02 0.00e+00 1.32e+04  -1.0 4.31e-01   0.8 3.21e-01 1.00e+00f  1
 309  2.7419093e+02 0.00e+00 1.07e+04  -1.0 5.56e+00    -  1.91e-01 2.08e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 310  2.2582989e+02 0.00e+00 8.30e+03  -1.0 4.33e+00    -  2.21e-01 2.47e-01f  1
 311  1.8796288e+02 0.00e+00 5.84e+03  -1.0 2.88e+00    -  2.95e-01 4.52e-01f  1
 312  1.5397269e+02 0.00e+00 5.12e+03  -1.0 8.90e+00    -  1.22e-01 3.08e-01f  1
 313  9.2264613e+01 0.00e+00 4.03e+03  -1.0 5.25e+00    -  2.09e-01 7.14e-01f  1
 314  7.2820117e+01 0.00e+00 2.75e+03  -1.0 3.07e+00    -  3.17e-01 6.87e-01f  1
 315  7.3744148e+01 0.00e+00 7.63e+02  -1.0 7.65e-01   0.3 7.23e-01 1.00e+00f  1
 316  4.1945859e+01 0.00e+00 6.65e+02  -1.0 1.91e+00    -  6.98e-02 1.00e+00f  1
 317  3.2420910e+01 0.00e+00 1.81e+02  -1.0 6.51e-01  -0.2 7.27e-01 1.00e+00f  1
 318  1.3327571e+01 0.00e+00 6.88e+01  -1.0 6.17e+00    -  5.97e-01 7.92e-01f  1
 319  1.0475082e+01 0.00e+00 2.82e+01  -1.0 2.65e+00    -  5.70e-01 1.00e+00f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 320  3.9588469e+00 0.00e+00 1.79e+03  -1.7 6.57e-01    -  8.02e-01 1.00e+00f  1
 321  1.7034086e+00 0.00e+00 4.25e+02  -1.7 2.58e+00    -  7.62e-01 1.00e+00f  1
 322  1.4580379e+00 0.00e+00 1.45e-02  -1.7 7.96e-01    -  1.00e+00 1.00e+00h  1
 323  4.1898712e-01 0.00e+00 3.37e+02  -3.8 2.87e-01    -  8.49e-01 1.00e+00f  1
 324  5.0136065e-01 0.00e+00 8.84e+01  -3.8 5.09e-01    -  7.38e-01 1.00e+00H  1
 325  1.9478104e-01 0.00e+00 4.52e-01  -3.8 1.46e-02  -0.7 9.95e-01 1.00e+00f  1
 326  1.5841939e-01 0.00e+00 1.29e-01  -3.8 8.64e-01    -  1.00e+00 2.50e-01h  3
 327  1.3957131e-01 0.00e+00 1.49e-02  -3.8 2.12e-02  -1.2 1.00e+00 1.00e+00h  1
 328  1.3003884e-01 0.00e+00 7.27e-03  -3.8 4.84e-02  -1.6 1.00e+00 1.00e+00h  1
 329  1.1151865e-01 0.00e+00 1.52e-02  -3.8 1.15e-01  -2.1 1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 330  1.0857298e-01 0.00e+00 2.12e-01  -3.8 1.83e-01  -2.6 1.00e+00 1.00e+00H  1
 331  8.4106371e-02 0.00e+00 6.89e-04  -3.8 1.57e-03  -0.4 1.00e+00 1.00e+00h  1
 332  7.1960525e-02 0.00e+00 7.77e+00  -5.7 4.18e-01    -  7.15e-01 2.50e-01h  3
 333  6.5501938e-02 0.00e+00 7.05e-04  -5.7 4.81e-03  -0.8 1.00e+00 1.00e+00h  1
 334  6.1234695e-02 0.00e+00 7.93e-02  -5.7 6.09e-01    -  9.31e-01 9.26e-02h  4
 335  5.5843731e-02 0.00e+00 4.37e-03  -5.7 1.35e-02  -1.3 1.00e+00 1.00e+00h  1
 336  5.2282553e-02 0.00e+00 9.01e-03  -5.7 3.57e-02  -1.8 1.00e+00 1.00e+00h  1
 337  4.8150395e-02 0.00e+00 8.40e-02  -5.7 8.62e-02  -2.3 1.00e+00 1.00e+00h  1
 338  4.4623593e-02 0.00e+00 4.92e-04  -5.7 4.24e-03  -0.9 1.00e+00 1.00e+00h  1
 339  4.1077264e-02 0.00e+00 3.79e-02  -5.7 4.97e-01    -  1.00e+00 8.72e-02h  4
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 340  3.9427110e-02 0.00e+00 5.88e-04  -5.7 9.99e-03  -1.4 1.00e+00 1.00e+00h  1
 341  3.8746325e-02 0.00e+00 9.97e-02  -5.7 4.48e-01    -  1.00e+00 1.74e-01h  3
 342  3.2437575e-02 0.00e+00 3.29e-04  -5.7 3.20e-03  -1.0 1.00e+00 1.00e+00h  1
 343  3.0462029e-02 0.00e+00 2.68e-02  -5.7 3.67e-01    -  1.00e+00 7.44e-02h  4
 344  2.9608424e-02 0.00e+00 5.47e-04  -5.7 8.13e-03  -1.5 1.00e+00 1.00e+00h  1
 345  2.7367754e-02 0.00e+00 4.69e-02  -5.7 3.34e-01    -  1.00e+00 1.54e-01h  3
 346  2.5957668e-02 0.00e+00 2.41e-04  -5.7 2.63e-03  -1.0 1.00e+00 1.00e+00h  1
 347  2.4886323e-02 0.00e+00 5.49e-02  -5.7 2.80e-01    -  1.00e+00 1.29e-01h  3
 348  2.3222602e-02 0.00e+00 2.60e-04  -5.7 6.29e-03  -1.5 1.00e+00 1.00e+00h  1
 349  2.2026078e-02 0.00e+00 3.48e-02  -5.7 2.38e-01    -  1.00e+00 1.27e-01h  3
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 350  2.1405957e-02 0.00e+00 1.69e-04  -5.7 2.08e-03  -1.1 1.00e+00 1.00e+00h  1
 351  2.0433107e-02 0.00e+00 2.89e-02  -5.7 2.06e-01    -  1.00e+00 1.23e-01h  3
 352  1.9898396e-02 0.00e+00 2.70e-04  -5.7 4.99e-03  -1.6 1.00e+00 1.00e+00h  1
 353  1.9034985e-02 0.00e+00 2.21e-02  -5.7 1.76e-01    -  1.00e+00 1.42e-01h  3
 354  1.8494176e-02 0.00e+00 7.31e-04  -5.7 1.06e-02  -2.0 1.00e+00 1.00e+00h  1
 355  1.7817167e-02 0.00e+00 2.87e-02  -5.7 1.42e-01    -  1.00e+00 2.10e-01h  3
 356  1.7442539e-02 0.00e+00 1.67e-04  -5.7 2.98e-03  -1.6 1.00e+00 1.00e+00h  1
 357  1.7137518e-02 0.00e+00 3.92e-02  -5.7 1.08e-01    -  1.00e+00 2.49e-01h  3
 358  1.6622637e-02 0.00e+00 5.45e-05  -5.7 8.48e-04  -1.2 1.00e+00 1.00e+00h  1
 359  7.1052071e-02 0.00e+00 4.31e-01  -5.7 7.84e-02    -  1.00e+00 1.00e+00H  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 360  1.5220339e-02 0.00e+00 4.59e-04  -5.7 2.02e-03  -0.8 1.00e+00 1.00e+00f  1
 361  1.5272332e-02 0.00e+00 3.18e-04  -5.7 5.10e-03    -  1.00e+00 1.00e+00h  1
 362  1.5290739e-02 0.00e+00 9.76e-05  -5.7 5.07e-03    -  1.00e+00 1.00e+00h  1
 363  1.5290697e-02 0.00e+00 1.94e-06  -5.7 3.90e-04    -  1.00e+00 1.00e+00h  1
 364  1.5219756e-02 0.00e+00 4.50e-02  -8.6 2.89e-02    -  9.63e-01 7.46e-01h  1
 365  1.5058163e-02 0.00e+00 1.37e-03  -8.6 1.43e-03  -1.2 8.61e-01 1.00e+00h  1
 366  1.5003961e-02 0.00e+00 1.98e-03  -8.6 2.28e-02    -  9.09e-01 3.19e-01h  1
 367  1.4986817e-02 0.00e+00 4.77e-04  -8.6 1.30e-03  -1.7 8.90e-01 7.61e-01h  1
 368  1.4979087e-02 0.00e+00 1.12e-03  -8.6 1.00e-02    -  1.00e+00 2.44e-01f  1
 369  1.4970522e-02 0.00e+00 8.23e-04  -8.6 7.58e-03    -  4.77e-01 7.21e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 370  1.4969188e-02 0.00e+00 3.58e-04  -8.6 2.11e-03    -  1.00e+00 6.74e-01f  1
 371  1.4968800e-02 0.00e+00 7.37e-05  -8.6 1.01e-03    -  1.00e+00 1.00e+00f  1
 372  1.4968790e-02 0.00e+00 2.84e-06  -8.6 1.75e-04    -  1.00e+00 1.00e+00h  1
 373  1.4968790e-02 0.00e+00 3.13e-09  -8.6 5.94e-06    -  1.00e+00 1.00e+00h  1

Number of Iterations....: 373

                                   (scaled)                 (unscaled)
Objective...............:   1.7096839389252009e-03    1.4968790057554486e-02
Dual infeasibility......:   3.1299796266758926e-09    2.7403900129978350e-08
Constraint violation....:   0.0000000000000000e+00    0.0000000000000000e+00
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   2.5059223584011551e-09    2.1940093621643247e-08
Overall NLP error.......:   3.1299796266758926e-09    2.7403900129978350e-08


Number of objective function evaluations             = 462
Number of objective gradient evaluations             = 368
Number of equality constraint evaluations            = 0
Number of inequality constraint evaluations          = 462
Number of equality constraint Jacobian evaluations   = 0
Number of inequality constraint Jacobian evaluations = 379
Number of Lagrangian Hessian evaluations             = 373
Total seconds in IPOPT                               = 3.069

EXIT: Optimal Solution Found.
step_index = 30 pose_last= [ 0.43412055 -0.28696196  1.3177172 ]
This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3.

Number of nonzeros in equality constraint Jacobian...:        0
Number of nonzeros in inequality constraint Jacobian.:     5153
Number of nonzeros in Lagrangian Hessian.............:     2467

Total number of variables............................:     1984
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     1984
                     variables with only upper bounds:        0
Total number of equality constraints.................:        0
Total number of inequality constraints...............:     1407
        inequality constraints with only lower bounds:        0
   inequality constraints with lower and upper bounds:     1407
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  2.7759233e+04 1.91e+00 1.06e+02  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  2.7750791e+04 1.91e+00 1.06e+02  -1.0 1.94e+00   2.0 5.73e-04 1.99e-04f  1
   2  2.7709813e+04 1.91e+00 1.06e+02  -1.0 1.88e+00   2.4 1.02e-03 1.34e-03f  1
   3  2.7590587e+04 1.90e+00 1.06e+02  -1.0 2.03e+00   1.9 3.99e-03 2.72e-03f  1
   4  2.7521303e+04 1.90e+00 1.05e+02  -1.0 1.87e+00   2.4 8.86e-03 2.09e-03f  1
   5  2.7519615e+04 1.90e+00 6.74e+02  -1.0 2.09e+01   1.9 1.60e-03 3.62e-05h  1
   6  2.7506287e+04 1.90e+00 1.26e+02  -1.0 4.84e+01   2.3 1.22e-04 4.17e-04f  1
   7  2.7459451e+04 1.90e+00 2.71e+02  -1.0 4.97e+01   1.8 7.77e-04 9.45e-04f  1
   8  2.7457453e+04 1.90e+00 3.21e+03  -1.0 4.94e+01   2.3 1.51e-03 4.79e-05h  1
   9  2.7442155e+04 1.89e+00 4.65e+03  -1.0 4.94e+01   1.8 1.89e-03 2.86e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  2.7410431e+04 1.89e+00 3.10e+03  -1.0 4.93e+01   2.2 2.02e-05 6.85e-04f  1
  11  2.7409893e+04 1.89e+00 1.37e+04  -1.0 4.90e+01   2.6 1.61e-03 1.28e-05h  1
  12  2.7326873e+04 1.89e+00 9.94e+03  -1.0 4.90e+01   2.2 1.53e-04 1.71e-03f  1
  13  2.7278118e+04 1.89e+00 3.18e+03  -1.0 4.86e+01   2.6 2.11e-05 1.13e-03f  1
  14  2.7276817e+04 1.89e+00 8.92e+03  -1.0 4.83e+01   2.1 2.58e-03 2.52e-05h  1
  15  2.7207512e+04 1.88e+00 2.30e+04  -1.0 4.82e+01   2.5 3.66e-03 1.49e-03f  1
  16  2.6837097e+04 1.87e+00 8.77e+03  -1.0 4.77e+01   2.1 1.13e-04 6.89e-03f  1
  17  2.6498640e+04 1.86e+00 2.62e+04  -1.0 4.60e+01   2.5 4.43e-04 7.17e-03f  1
  18  2.5269646e+04 1.82e+00 5.41e+04  -1.0 4.36e+01   2.0 4.56e-03 2.32e-02f  1
  19  2.4971144e+04 1.80e+00 6.97e+04  -1.0 3.76e+01   2.4 2.16e-03 6.83e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  2.4454327e+04 1.78e+00 7.17e+04  -1.0 3.28e+01   2.0 7.50e-03 1.07e-02f  1
  21  2.4448472e+04 1.78e+00 5.43e+04  -1.0 2.93e+01   2.4 3.39e-03 1.20e-04f  1
  22  2.4300427e+04 1.78e+00 6.09e+04  -1.0 1.24e+02   1.9 7.70e-04 1.93e-03f  1
  23  2.4001736e+04 1.78e+00 1.01e+05  -1.0 1.01e+02   2.3 8.82e-04 2.69e-03f  1
  24  2.3913476e+04 1.77e+00 1.02e+05  -1.0 1.05e+02   1.9 3.19e-03 1.51e-03f  1
  25  2.3911476e+04 1.77e+00 9.47e+04  -1.0 8.75e+01   2.3 6.56e-04 1.99e-05h  1
  26  2.3896623e+04 1.77e+00 7.67e+04  -1.0 8.77e+01   2.7 5.45e-04 1.18e-04f  1
  27  2.3236674e+04 1.76e+00 1.23e+05  -1.0 9.23e+01   2.2 1.26e-03 6.50e-03f  1
  28  2.3144833e+04 1.76e+00 1.22e+05  -1.0 6.90e+01   2.7 1.09e-03 1.02e-03f  1
  29  2.3115889e+04 1.76e+00 1.22e+05  -1.0 7.12e+01   2.2 1.05e-04 4.01e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  2.3101761e+04 1.76e+00 1.22e+05  -1.0 6.66e+01   2.6 2.17e-04 1.72e-04f  1
  31  2.2965487e+04 1.75e+00 1.22e+05  -1.0 7.08e+01   2.1 1.69e-03 1.99e-03f  1
  32  2.2928298e+04 1.75e+00 1.21e+05  -1.0 6.28e+01   2.6 5.62e-04 4.93e-04f  1
  33  2.2865231e+04 1.75e+00 1.20e+05  -1.0 6.57e+01   2.1 6.73e-03 1.06e-03f  1
  34  2.2841541e+04 1.75e+00 1.13e+05  -1.0 5.70e+01   2.5 1.06e-03 4.33e-04f  1
  35  2.2839600e+04 1.75e+00 1.08e+05  -1.0 6.62e+01   2.0 2.52e-03 7.14e-04h  1
  36  2.2819011e+04 1.75e+00 1.33e+05  -1.0 6.47e+01   2.5 7.54e-04 2.42e-03f  1
  37  2.2825051e+04 1.74e+00 1.31e+05  -1.0 6.16e+01   2.0 3.96e-03 1.70e-03h  1
  38  2.2815844e+04 1.74e+00 1.38e+05  -1.0 5.86e+01   2.4 7.72e-04 1.45e-03f  1
  39  2.2826296e+04 1.74e+00 1.35e+05  -1.0 5.58e+01   1.9 4.06e-03 1.16e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  2.2816543e+04 1.74e+00 1.39e+05  -1.0 5.16e+01   2.4 7.60e-04 1.06e-03f  1
  41  2.2874248e+04 1.73e+00 1.45e+05  -1.0 8.71e+01   1.9 6.02e-04 1.70e-03h  1
  42  2.2853028e+04 1.73e+00 1.08e+05  -1.0 1.55e+02   2.3 1.11e-03 3.72e-04f  1
  43  2.2979628e+04 1.73e+00 1.08e+05  -1.0 2.48e+02   1.8 1.90e-04 1.46e-04h  1
  44  2.2936050e+04 1.73e+00 7.68e+04  -1.0 2.18e+02   2.3 1.03e-03 5.18e-04f  1
  45  2.2901151e+04 1.73e+00 8.71e+04  -1.0 2.14e+02   2.7 2.16e-04 2.77e-04f  1
  46  2.2863356e+04 1.73e+00 7.75e+04  -1.0 2.15e+02   2.2 6.36e-04 4.51e-04f  1
  47  2.2840589e+04 1.73e+00 4.12e+04  -1.0 2.11e+02   2.6 4.19e-04 1.76e-04f  1
  48  2.2772016e+04 1.73e+00 7.98e+04  -1.0 2.13e+02   2.2 1.90e-05 9.10e-04f  1
  49  2.2765657e+04 1.73e+00 2.44e+04  -1.0 2.06e+02   2.6 8.79e-04 5.25e-05f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  2.2689824e+04 1.73e+00 1.79e+04  -1.0 2.09e+02   2.1 2.63e-05 1.23e-03f  1
  51  2.2686931e+04 1.73e+00 1.51e+05  -1.0 2.03e+02   2.5 1.61e-03 2.59e-05h  1
  52  2.2621515e+04 1.72e+00 1.11e+05  -1.0 2.08e+02   2.1 4.30e-05 1.39e-03f  1
  53  2.2535093e+04 1.72e+00 3.38e+04  -1.0 1.98e+02   2.5 2.85e-04 1.15e-03f  1
  54  2.2520002e+04 1.72e+00 8.07e+04  -1.0 3.90e+02   2.0 2.87e-04 4.14e-05f  1
  55  2.2482061e+04 1.72e+00 1.20e+05  -1.0 5.44e+02   2.4 1.37e-04 8.33e-05f  1
  56  2.2282031e+04 1.72e+00 5.51e+04  -1.0 5.07e+02   1.9 2.89e-05 3.33e-04f  1
  57  2.2251237e+04 1.72e+00 1.17e+05  -1.0 5.20e+02   2.4 1.70e-04 6.76e-05f  1
  58  2.2216624e+04 1.72e+00 1.45e+05  -1.0 4.71e+02   1.9 2.12e-04 4.82e-05f  1
  59  2.2139163e+04 1.72e+00 1.88e+05  -1.0 5.13e+02   2.3 2.56e-04 1.75e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  2.1952188e+04 1.72e+00 1.80e+05  -1.0 5.17e+02   1.8 4.37e-05 1.10e-04f  1
  61  2.1903528e+04 1.72e+00 2.36e+05  -1.0 4.96e+02   2.3 2.34e-04 1.10e-04f  1
  62  2.1830603e+04 1.72e+00 5.10e+04  -1.0 5.03e+02   2.7 4.33e-06 1.54e-04f  1
  63  2.1766545e+04 1.72e+00 1.90e+05  -1.0 4.75e+02   2.2 5.20e-04 1.44e-04f  1
  64  2.1764799e+04 1.72e+00 3.35e+05  -1.0 4.91e+02   2.6 1.41e-04 3.80e-06f  2
  65  2.1130115e+04 1.72e+00 1.08e+05  -1.0 4.63e+02   2.2 4.58e-06 1.42e-03f  1
  66  2.1057739e+04 1.72e+00 1.21e+04  -1.0 4.31e+02   2.6 3.11e-04 1.64e-04f  1
  67  2.0241990e+04 1.71e+00 3.23e+05  -1.0 3.92e+02   2.1 9.94e-06 1.76e-03f  1
  68  2.0234383e+04 1.71e+00 3.19e+05  -1.0 3.52e+02   2.5 2.61e-05 1.91e-05f  1
  69  2.0230124e+04 1.71e+00 2.33e+05  -1.0 4.93e+02   2.1 8.82e-04 8.79e-06f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  2.0187569e+04 1.71e+00 1.60e+05  -1.0 3.66e+02   2.5 8.89e-04 9.95e-05f  1
  71  1.9841237e+04 1.71e+00 1.38e+05  -1.0 5.90e+02   2.0 2.77e-04 6.31e-04f  1
  72  1.9649748e+04 1.71e+00 2.77e+05  -1.0 3.35e+02   2.4 7.98e-04 4.65e-04f  1
  73  1.9557791e+04 1.71e+00 2.59e+05  -1.0 7.10e+02   2.0 4.69e-05 1.41e-04f  1
  74  1.9550527e+04 1.71e+00 6.68e+05  -1.0 1.51e+03   2.4 4.28e-05 4.19e-06f  1
  75  1.9399537e+04 1.71e+00 4.18e+05  -1.0 3.13e+03   1.9 2.72e-05 5.97e-05f  1
  76  1.9286475e+04 1.71e+00 1.98e+06  -1.0 3.13e+03   2.3 1.15e-04 3.65e-05f  1
  77  1.8298870e+04 1.71e+00 7.00e+05  -1.0 3.24e+03   1.9 6.31e-05 4.40e-04f  1
  78  1.7862086e+04 1.71e+00 7.99e+06  -1.0 3.36e+03   2.3 6.10e-04 1.61e-04f  1
  79  1.7839659e+04 1.71e+00 8.99e+06  -1.0 5.02e+03   1.8 2.06e-05 2.65e-06f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  1.7807093e+04 1.71e+00 4.50e+07  -1.0 1.13e+04   2.2 1.54e-04 4.90e-06f  1
  81  1.7388190e+04 1.71e+00 6.09e+07  -1.0 1.17e+04   2.7 7.92e-05 5.23e-05f  1
  82  1.7379395e+04 1.71e+00 1.03e+08  -1.0 1.74e+04   2.2 4.37e-05 9.21e-07f  1
  83  1.6838482e+04 1.71e+00 6.73e+07  -1.0 1.77e+04   2.6 2.65e-05 4.76e-05f  1
  84  1.6615135e+04 1.71e+00 2.19e+08  -1.0 5.65e+04   2.1 1.48e-05 7.84e-06f  1
  85r 1.6615135e+04 1.71e+00 1.00e+03   0.2 0.00e+00   2.6 0.00e+00 1.15e-07R  2
  86r 1.6129115e+04 1.67e+00 1.02e+03   0.2 1.11e+02    -  4.29e-03 8.18e-04f  1
  87r 1.4403680e+04 1.54e+00 1.08e+03   0.2 5.58e+01    -  1.12e-02 2.35e-03f  1
  88  1.4403122e+04 1.54e+00 1.09e+02  -1.0 2.47e+00   2.1 3.05e-04 2.55e-05f  1
  89  1.4402445e+04 1.54e+00 1.09e+02  -1.0 6.48e+00   2.5 1.07e-04 4.01e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  1.4401900e+04 1.54e+00 2.34e+02  -1.0 2.26e+01   2.0 1.55e-04 2.56e-05h  1
  91  1.4401600e+04 1.54e+00 1.54e+03  -1.0 2.18e+01   2.5 1.04e-04 1.71e-05h  1
  92r 1.4401600e+04 1.54e+00 9.99e+02   0.2 0.00e+00   2.0 0.00e+00 4.79e-07R  5
  93r 1.4274399e+04 1.53e+00 9.99e+02   0.2 4.79e+01    -  5.16e-03 1.85e-04f  1
  94r 1.1684991e+04 1.34e+00 9.94e+02   0.2 4.81e+01    -  4.62e-03 5.13e-03f  1
  95  1.1682850e+04 1.34e+00 1.13e+02  -1.0 1.29e+00   2.4 5.12e-03 1.48e-04h  1
  96  1.1679479e+04 1.34e+00 1.01e+03  -1.0 1.33e+01   1.9 2.73e-03 1.77e-04h  1
  97  1.1672883e+04 1.34e+00 2.25e+03  -1.0 1.81e+01   2.4 1.51e-03 6.49e-04h  1
  98  1.1671787e+04 1.34e+00 6.13e+03  -1.0 2.60e+01   1.9 3.58e-03 6.30e-05h  1
  99  1.1662946e+04 1.34e+00 1.41e+04  -1.0 2.59e+01   2.3 3.65e-03 9.91e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  1.1618904e+04 1.34e+00 2.34e+04  -1.0 2.76e+01   1.8 1.01e-02 1.68e-03f  1
 101  1.1612556e+04 1.33e+00 4.79e+04  -1.0 2.84e+01   2.3 8.12e-03 4.86e-04h  1
 102  1.1595159e+04 1.33e+00 7.43e+04  -1.0 2.88e+01   1.8 9.86e-03 4.88e-04f  1
 103  1.1586187e+04 1.33e+00 7.63e+04  -1.0 2.94e+01   2.2 5.28e-04 4.35e-04f  1
 104  1.1580459e+04 1.33e+00 7.36e+04  -1.0 3.02e+01   1.7 7.06e-05 1.62e-04h  1
 105  1.1580234e+04 1.33e+00 1.39e+05  -1.0 2.84e+01   2.2 5.61e-04 5.27e-05h  1
 106  1.1580759e+04 1.33e+00 2.73e+05  -1.0 2.76e+01   2.6 8.18e-04 3.24e-04h  1
 107  1.1598730e+04 1.33e+00 2.22e+06  -1.0 1.46e+02   2.1 2.77e-03 3.85e-04h  1
 108  1.1685153e+04 1.33e+00 2.58e+06  -1.0 3.34e+02   2.5 5.75e-04 5.05e-04h  1
 109  1.1849717e+04 1.33e+00 1.03e+06  -1.0 4.41e+02   2.0 1.35e-04 9.73e-04h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 110  1.1855737e+04 1.33e+00 9.86e+06  -1.0 8.58e+02   2.5 2.59e-04 1.34e-05h  1
 111  1.2030937e+04 1.33e+00 3.03e+07  -1.0 8.95e+02   2.0 1.21e-03 4.96e-04h  1
 112  1.1986355e+04 1.33e+00 2.71e+07  -1.0 5.74e+03   2.4 1.43e-05 1.52e-05h  1
 113r 1.1986355e+04 1.33e+00 9.99e+02   0.1 0.00e+00   1.9 0.00e+00 4.60e-07R  4
 114r 9.3534132e+03 1.06e+00 9.95e+02   0.1 5.37e+01    -  7.48e-03 6.91e-03f  1
 115  9.3508405e+03 1.06e+00 1.13e+02  -1.0 1.00e+00   2.4 6.07e-04 2.52e-04f  1
 116  9.3476529e+03 1.06e+00 1.13e+02  -1.0 3.25e+00   1.9 4.66e-04 2.25e-04f  1
 117  9.3454253e+03 1.06e+00 5.35e+02  -1.0 2.89e+00   2.3 1.73e-03 2.26e-04h  1
 118  9.3342312e+03 1.06e+00 8.52e+02  -1.0 8.43e+00   1.8 1.49e-03 7.32e-04f  1
 119  9.3211485e+03 1.06e+00 1.18e+03  -1.0 8.16e+00   2.3 1.66e-03 1.37e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 120  9.1409441e+03 1.05e+00 2.92e+03  -1.0 8.84e+00   1.8 1.43e-02 1.00e-02f  1
 121  9.0352208e+03 1.03e+00 5.67e+03  -1.0 8.44e+00   2.2 1.43e-02 1.16e-02f  1
 122  8.9418474e+03 1.03e+00 1.88e+04  -1.0 7.88e+00   1.7 4.57e-02 5.96e-03f  1
 123  8.9133433e+03 1.02e+00 3.48e+04  -1.0 7.89e+00   2.2 2.11e-02 3.21e-03f  1
 124  8.4115699e+03 9.94e-01 2.91e+04  -1.0 7.35e+00   1.7 1.19e-02 2.97e-02f  1
 125  8.4028406e+03 9.93e-01 5.25e+04  -1.0 6.45e+00   2.1 3.39e-02 9.76e-04f  1
 126  7.4798095e+03 9.40e-01 3.99e+04  -1.0 5.88e+00   1.6 3.28e-03 5.30e-02f  1
 127  7.4395229e+03 9.35e-01 7.67e+04  -1.0 5.87e+00   2.1 6.76e-02 5.73e-03f  1
 128  6.9270957e+03 9.00e-01 8.51e+04  -1.0 7.91e+00   1.6 1.14e-01 3.72e-02f  1
 129  6.9186447e+03 8.99e-01 1.36e+05  -1.0 6.10e+00   2.0 9.18e-02 1.16e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 130  5.9478070e+03 8.37e-01 1.20e+05  -1.0 6.34e+00   1.5 1.67e-03 6.87e-02f  1
 131  5.6926983e+03 8.06e-01 1.08e+05  -1.0 3.54e+00   2.0 2.45e-03 3.74e-02f  1
 132  5.4958339e+03 7.89e-01 1.06e+05  -1.0 3.86e+00   1.5 1.91e-01 2.12e-02f  1
 133  5.0935167e+03 7.37e-01 9.78e+04  -1.0 4.13e+00   1.9 6.28e-02 6.54e-02f  1
 134  3.0411685e+03 5.33e-01 1.13e+05  -1.0 1.05e+00   1.4 4.84e-02 2.78e-01f  1
 135  2.6007856e+03 4.95e-01 1.86e+05  -1.0 1.17e+01   1.9 2.07e-02 7.14e-02f  1
 136  2.5872464e+03 4.93e-01 1.71e+05  -1.0 1.31e+01   1.4 2.39e-02 2.82e-03f  1
 137  2.3898714e+03 4.74e-01 2.16e+05  -1.0 1.18e+01   1.8 2.90e-03 3.97e-02f  1
 138  2.3487096e+03 4.69e-01 1.99e+05  -1.0 1.16e+01   1.3 3.58e-02 9.53e-03f  1
 139  2.2470777e+03 4.56e-01 2.14e+05  -1.0 5.99e+00   1.8 6.34e-04 2.85e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 140  2.1396359e+03 4.42e-01 2.04e+05  -1.0 8.16e+00   1.3 4.04e-02 3.03e-02f  1
 141  1.8732016e+03 4.05e-01 2.21e+05  -1.0 5.79e+00   1.7 1.20e-02 8.28e-02f  1
 142  1.1277320e+03 2.97e-01 2.16e+05  -1.0 6.91e+00   1.2 4.09e-02 2.66e-01f  1
 143  9.8801232e+02 2.72e-01 2.12e+05  -1.0 5.82e+00   1.7 3.98e-02 8.66e-02f  1
 144  8.7469880e+02 2.52e-01 1.85e+05  -1.0 6.39e+00   1.2 1.45e-01 7.26e-02f  1
 145  8.0344241e+02 2.37e-01 1.66e+05  -1.0 5.38e+00   1.6 9.25e-02 5.87e-02f  1
 146  6.9497381e+02 2.18e-01 1.50e+05  -1.0 5.69e+00   1.1 1.09e-01 8.21e-02f  1
 147  4.8272174e+02 1.66e-01 1.40e+05  -1.0 3.20e+00   1.6 5.16e-02 2.39e-01f  1
 148  4.6987379e+02 1.63e-01 1.36e+05  -1.0 4.23e+00   1.1 5.59e-02 1.62e-02f  1
 149  3.7553961e+02 1.36e-01 1.10e+05  -1.0 3.39e+00   1.5 1.96e-01 1.65e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 150  3.1777524e+02 1.22e-01 9.94e+04  -1.0 3.61e+00   1.0 7.37e-02 1.01e-01f  1
 151  2.9442838e+02 1.15e-01 9.62e+04  -1.0 2.37e+00   1.5 1.54e-02 6.18e-02f  1
 152  4.0939777e+01 3.08e-04 7.45e+03  -1.0 8.76e-01   1.0 3.56e-02 1.00e+00f  1
 153  2.2414477e+01 0.00e+00 2.34e+03  -1.0 2.52e-01   0.5 7.42e-01 1.00e+00f  1
 154  1.2958551e+01 0.00e+00 1.11e+03  -1.0 3.69e-01   0.0 5.25e-01 1.00e+00f  1
 155  7.8099159e+00 0.00e+00 2.90e+02  -1.0 4.95e-01  -0.5 7.39e-01 1.00e+00f  1
 156  9.1110751e+00 0.00e+00 2.57e+01  -1.0 4.91e-01  -0.9 9.11e-01 1.00e+00f  1
 157  3.7996311e+00 0.00e+00 1.75e-01  -1.7 7.03e-02   0.4 1.00e+00 1.00e+00f  1
 158  1.3814049e+00 0.00e+00 1.79e+00  -3.8 8.32e-01    -  6.45e-01 1.00e+00f  1
 159  1.2545505e+00 0.00e+00 1.09e-01  -3.8 3.20e-02  -0.1 8.88e-01 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 160  6.7271237e-01 0.00e+00 5.23e-01  -3.8 1.93e+00    -  1.49e-01 5.00e-01f  2
 161  5.3601219e-01 0.00e+00 1.20e-02  -3.8 4.33e-02  -0.6 1.00e+00 1.00e+00h  1
 162  2.4331300e-01 0.00e+00 3.90e-01  -3.8 1.94e+00    -  3.18e-01 5.00e-01f  2
 163  1.6844593e-01 0.00e+00 6.91e-03  -3.8 9.38e-03  -0.1 1.00e+00 1.00e+00h  1
 164  5.3310248e-02 0.00e+00 2.26e-01  -3.8 1.11e+00    -  1.00e+00 1.00e+00f  1
 165  2.4464935e-02 0.00e+00 1.01e-03  -3.8 4.11e-03  -0.6 1.00e+00 1.00e+00h  1
 166  1.1604110e-01 0.00e+00 4.14e-01  -5.7 1.79e-01    -  8.37e-01 1.00e+00H  1
 167  1.3758327e-02 0.00e+00 1.35e-03  -5.7 1.92e-03  -0.2 9.38e-01 1.00e+00f  1
 168  1.3520796e-02 0.00e+00 2.75e-02  -5.7 3.02e-01    -  8.38e-01 6.25e-02h  5
 169  1.3275019e-02 0.00e+00 1.27e-04  -5.7 5.83e-04  -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
 170  1.8413647e-01 0.00e+00 7.55e-01  -5.7 2.53e-01    -  1.00e+00 1.00e+00H  1
 171  1.0013028e-02 0.00e+00 2.72e-03  -5.7 4.38e-03  -0.2 1.00e+00 1.00e+00f  1
 172  9.8854877e-03 0.00e+00 1.34e-04  -5.7 7.65e-04  -0.7 1.00e+00 1.00e+00h  1
 173  9.9006878e-03 0.00e+00 2.28e-04  -5.7 1.37e-02    -  1.00e+00 1.00e+00h  1
 174  9.9012331e-03 0.00e+00 2.67e-06  -5.7 3.48e-04    -  1.00e+00 1.00e+00h  1
 175  9.8682806e-03 0.00e+00 1.95e-03  -8.6 2.89e-02    -  9.86e-01 1.00e+00h  1
 176  9.8633595e-03 0.00e+00 2.99e-05  -8.6 7.07e-05  -1.2 7.46e-01 1.00e+00h  1
 177  9.8547936e-03 0.00e+00 6.90e-07  -8.6 7.49e-03    -  1.00e+00 1.00e+00h  1
 178  9.8508012e-03 0.00e+00 7.73e-09  -8.6 1.40e-04    -  1.00e+00 1.00e+00h  1

Number of Iterations....: 178

                                   (scaled)                 (unscaled)
Objective...............:   1.1251473356492486e-03    9.8508011544257389e-03
Dual infeasibility......:   7.7251830430344255e-09    6.7634912893040622e-08
Constraint violation....:   0.0000000000000000e+00    0.0000000000000000e+00
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   2.8336672426206785e-09    2.4809099804479302e-08
Overall NLP error.......:   7.7251830430344255e-09    6.7634912893040622e-08


Number of objective function evaluations             = 212
Number of objective gradient evaluations             = 177
Number of equality constraint evaluations            = 0
Number of inequality constraint evaluations          = 212
Number of equality constraint Jacobian evaluations   = 0
Number of inequality constraint Jacobian evaluations = 182
Number of Lagrangian Hessian evaluations             = 178
Total seconds in IPOPT                               = 1.449

EXIT: Optimal Solution Found.
step_index = 45 pose_last= [ 0.43412055 -0.28696196  1.3177172 ]
This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3.

Number of nonzeros in equality constraint Jacobian...:        0
Number of nonzeros in inequality constraint Jacobian.:     5153
Number of nonzeros in Lagrangian Hessian.............:     2467

Total number of variables............................:     1984
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     1984
                     variables with only upper bounds:        0
Total number of equality constraints.................:        0
Total number of inequality constraints...............:     1407
        inequality constraints with only lower bounds:        0
   inequality constraints with lower and upper bounds:     1407
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  2.8463257e+04 1.91e+00 1.05e+02  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  2.8454788e+04 1.91e+00 1.05e+02  -1.0 1.94e+00   2.0 6.70e-04 1.99e-04f  1
   2  2.8405640e+04 1.91e+00 1.05e+02  -1.0 1.88e+00   2.4 1.14e-03 1.53e-03f  1
   3  2.8260833e+04 1.90e+00 1.05e+02  -1.0 2.01e+00   1.9 4.20e-03 3.22e-03f  1
   4  2.8208398e+04 1.90e+00 1.04e+02  -1.0 1.87e+00   2.4 1.17e-02 1.51e-03f  1
   5  2.8206599e+04 1.90e+00 5.00e+02  -1.0 2.89e+01   1.9 7.03e-04 3.78e-05h  1
   6  2.8190967e+04 1.90e+00 1.04e+02  -1.0 4.74e+01   2.3 2.93e-04 4.59e-04f  1
   7  2.8146312e+04 1.89e+00 1.12e+02  -1.0 4.85e+01   1.8 9.12e-04 8.76e-04f  1
   8  2.8145277e+04 1.89e+00 5.05e+03  -1.0 4.82e+01   2.3 2.08e-03 2.36e-05h  1
   9  2.8093819e+04 1.89e+00 5.00e+03  -1.0 4.81e+01   1.8 8.87e-04 9.37e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  2.8092582e+04 1.89e+00 1.01e+04  -1.0 4.78e+01   2.2 2.01e-03 2.52e-05h  1
  11  2.8001590e+04 1.89e+00 3.55e+03  -1.0 4.78e+01   2.6 1.23e-05 2.00e-03f  1
  12  2.7999948e+04 1.89e+00 1.72e+03  -1.0 4.72e+01   2.2 2.20e-03 3.09e-05h  1
  13  2.7936289e+04 1.89e+00 8.79e+03  -1.0 4.71e+01   2.6 2.29e-03 1.32e-03f  1
  14  2.7333983e+04 1.87e+00 1.65e+04  -1.0 4.66e+01   2.1 8.04e-05 1.08e-02f  1
  15  2.7046933e+04 1.86e+00 4.43e+04  -1.0 4.35e+01   2.5 6.33e-04 5.65e-03f  1
  16  2.5389582e+04 1.80e+00 6.87e+04  -1.0 4.09e+01   2.1 1.38e-02 2.95e-02f  1
  17  2.4982757e+04 1.78e+00 8.77e+04  -1.0 3.18e+01   2.5 3.11e-03 9.22e-03f  1
  18  2.4761226e+04 1.78e+00 8.60e+04  -1.0 3.39e+01   2.0 6.17e-03 4.12e-03f  1
  19  2.4756201e+04 1.78e+00 7.75e+04  -1.0 5.14e+01   2.4 8.49e-04 6.98e-05f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  2.4340791e+04 1.77e+00 8.82e+04  -1.0 9.18e+01   2.0 1.08e-03 5.41e-03f  1
  21  2.4069063e+04 1.76e+00 1.07e+05  -1.0 6.84e+01   2.4 1.48e-03 3.34e-03f  1
  22  2.3835387e+04 1.75e+00 1.07e+05  -1.0 6.54e+01   1.9 4.71e-03 3.66e-03f  1
  23  2.3832574e+04 1.75e+00 4.64e+04  -1.0 5.50e+01   2.3 1.19e-02 3.97e-05h  1
  24  2.3760725e+04 1.75e+00 4.54e+04  -1.0 5.90e+01   1.9 1.96e-03 2.90e-03f  1
  25  2.3706571e+04 1.75e+00 3.04e+04  -1.0 5.36e+01   2.3 4.89e-03 8.16e-04f  1
  26  2.3677071e+04 1.75e+00 3.62e+04  -1.0 5.14e+01   2.7 3.21e-05 4.19e-04f  1
  27  2.3615953e+04 1.75e+00 3.75e+04  -1.0 5.15e+01   2.2 5.07e-04 1.01e-03f  1
  28  2.3578880e+04 1.74e+00 1.99e+04  -1.0 4.94e+01   2.7 2.03e-03 5.59e-04f  1
  29  2.3479438e+04 1.74e+00 2.17e+04  -1.0 4.82e+01   2.2 1.15e-03 2.01e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  2.3477192e+04 1.74e+00 3.16e+04  -1.0 4.73e+01   2.6 3.21e-03 1.73e-04h  1
  31  2.3444999e+04 1.73e+00 3.22e+04  -1.0 5.05e+01   2.1 5.08e-03 4.69e-03f  1
  32  2.3439110e+04 1.73e+00 4.19e+04  -1.0 4.49e+01   2.6 1.59e-03 7.25e-04h  1
  33  2.3425626e+04 1.73e+00 4.84e+04  -1.0 4.44e+01   2.1 4.82e-03 1.71e-03f  1
  34  2.3406880e+04 1.73e+00 5.25e+04  -1.0 4.31e+01   2.5 2.13e-03 1.74e-03f  1
  35  2.3383314e+04 1.72e+00 7.20e+04  -1.0 5.78e+01   2.0 5.35e-03 6.62e-04f  1
  36  2.3219084e+04 1.72e+00 6.92e+04  -1.0 5.96e+01   2.5 3.25e-03 3.41e-03f  1
  37  2.3164381e+04 1.72e+00 6.39e+04  -1.0 5.18e+01   2.0 1.07e-04 1.91e-03f  1
  38  2.3124330e+04 1.71e+00 3.13e+04  -1.0 4.80e+01   2.4 6.97e-05 3.95e-03f  1
  39  2.3134409e+04 1.71e+00 3.37e+04  -1.0 5.35e+01   1.9 2.65e-03 1.32e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  2.3115639e+04 1.71e+00 8.34e+04  -1.0 8.35e+01   2.4 2.51e-03 6.73e-04f  1
  41  2.3226822e+04 1.70e+00 9.31e+04  -1.0 1.47e+02   1.9 2.24e-03 1.34e-03h  1
  42  2.3175502e+04 1.70e+00 3.10e+05  -1.0 1.35e+02   2.3 6.97e-03 1.03e-03f  1
  43  2.3079463e+04 1.70e+00 3.00e+05  -1.0 1.34e+02   2.7 1.24e-03 1.34e-03f  1
  44  2.2918693e+04 1.69e+00 1.97e+05  -1.0 1.34e+02   2.3 7.32e-05 3.67e-03f  1
  45  2.2905890e+04 1.69e+00 2.47e+05  -1.0 1.22e+02   2.7 8.62e-04 2.07e-04f  1
  46  2.2800135e+04 1.69e+00 2.32e+05  -1.0 1.22e+02   2.2 2.23e-03 2.89e-03f  1
  47  2.2793081e+04 1.69e+00 4.68e+05  -1.0 1.41e+02   2.6 1.05e-03 5.43e-05f  1
  48  2.2602290e+04 1.69e+00 3.49e+05  -1.0 2.89e+02   2.2 9.40e-05 8.62e-04f  1
  49  2.2470480e+04 1.68e+00 1.89e+05  -1.0 2.80e+02   2.6 1.97e-04 5.95e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  2.2439961e+04 1.68e+00 1.90e+05  -1.0 2.69e+02   2.1 1.39e-04 1.35e-04f  1
  51  2.2431470e+04 1.68e+00 4.93e+05  -1.0 2.79e+02   2.5 9.15e-04 3.92e-05f  1
  52  2.2360800e+04 1.68e+00 4.65e+05  -1.0 2.70e+02   2.1 2.11e-05 3.00e-04f  1
  53  2.2128714e+04 1.68e+00 1.48e+05  -1.0 2.74e+02   2.5 2.41e-05 1.09e-03f  1
  54  2.2120094e+04 1.68e+00 2.23e+05  -1.0 2.48e+02   2.0 1.11e-03 3.13e-05f  1
  55  2.2080652e+04 1.68e+00 6.04e+05  -1.0 2.72e+02   2.4 1.71e-03 1.87e-04f  1
  56  2.1787831e+04 1.68e+00 5.61e+05  -1.0 2.37e+02   1.9 4.70e-05 8.08e-04f  1
  57  2.1773293e+04 1.68e+00 6.27e+05  -1.0 2.56e+02   2.4 3.87e-04 7.12e-05f  1
  58  2.1599395e+04 1.68e+00 6.33e+05  -1.0 3.72e+02   1.9 4.41e-04 2.57e-04f  1
  59  2.1566190e+04 1.68e+00 7.68e+05  -1.0 2.65e+02   2.3 8.72e-04 1.55e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  2.1559933e+04 1.68e+00 8.53e+05  -1.0 2.71e+02   2.7 1.84e-04 2.87e-05f  1
  61  2.1437106e+04 1.68e+00 8.44e+05  -1.0 2.62e+02   2.3 5.35e-04 5.84e-04f  1
  62  2.1429258e+04 1.68e+00 1.12e+06  -1.0 2.64e+02   2.7 6.29e-04 3.66e-05f  1
  63  2.1216763e+04 1.68e+00 9.85e+05  -1.0 2.51e+02   2.2 1.90e-05 1.01e-03f  1
  64  2.0940865e+04 1.67e+00 4.69e+05  -1.0 2.49e+02   2.6 2.36e-05 1.37e-03f  1
  65  2.0822821e+04 1.67e+00 5.12e+05  -1.0 2.11e+02   2.2 1.05e-03 5.32e-04f  1
  66  2.0647978e+04 1.67e+00 4.28e+05  -1.0 2.24e+02   2.6 7.33e-04 1.00e-03f  1
  67  2.0567553e+04 1.67e+00 4.18e+05  -1.0 6.58e+02   2.1 9.26e-05 1.74e-04f  1
  68  2.0558086e+04 1.67e+00 7.97e+05  -1.0 6.10e+02   2.5 3.25e-04 2.99e-05f  1
  69  2.0145225e+04 1.67e+00 7.85e+05  -1.0 6.70e+02   2.1 5.49e-05 8.10e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  1.9996473e+04 1.67e+00 4.30e+05  -1.0 5.07e+02   2.5 4.18e-05 5.17e-04f  1
  71  1.9905799e+04 1.67e+00 2.34e+05  -1.0 5.08e+02   2.0 3.59e-03 2.08e-04f  1
  72  1.9905002e+04 1.67e+00 5.42e+05  -1.0 1.08e+03   2.4 6.15e-05 2.45e-06f  2
  73  1.9835198e+04 1.67e+00 5.81e+04  -1.0 1.16e+03   2.0 2.52e-06 2.71e-04f  1
  74  1.9827479e+04 1.67e+00 3.24e+05  -1.0 1.15e+03   2.4 8.29e-05 2.62e-05f  1
  75  1.9798118e+04 1.67e+00 1.26e+05  -1.0 1.16e+03   1.9 1.60e-06 1.29e-04f  1
  76  1.9794146e+04 1.67e+00 5.17e+05  -1.0 1.15e+03   2.3 1.12e-04 1.58e-05f  1
  77  1.9764186e+04 1.67e+00 3.54e+05  -1.0 1.16e+03   1.9 2.41e-06 1.25e-04f  1
  78  1.9742485e+04 1.67e+00 4.79e+04  -1.0 1.15e+03   2.3 1.59e-05 1.04e-04f  1
  79  1.9719642e+04 1.67e+00 8.14e+05  -1.0 1.14e+03   2.7 4.70e-06 9.75e-05f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  1.9699053e+04 1.67e+00 1.21e+06  -1.0 1.15e+03   2.2 1.25e-05 1.43e-04f  1
  81  1.9696125e+04 1.67e+00 1.30e+06  -1.0 1.14e+03   2.7 7.20e-06 1.75e-05h  1
  82  1.9682138e+04 1.67e+00 1.62e+06  -1.0 1.15e+03   2.2 1.09e-05 1.34e-04f  1
  83  1.9681501e+04 1.67e+00 1.57e+06  -1.0 1.14e+03   2.6 1.24e-05 4.70e-06f  2
  84  1.9656279e+04 1.67e+00 2.25e+06  -1.0 1.15e+03   2.1 6.31e-07 2.90e-04f  1
  85  1.9653472e+04 1.67e+00 2.12e+06  -1.0 1.13e+03   2.6 4.70e-05 2.65e-05h  1
  86  1.9653446e+04 1.67e+00 2.12e+06  -1.0 9.73e+02   2.1 9.55e-07 7.70e-08f  3
  87  1.9653374e+04 1.67e+00 1.85e+06  -1.0 1.04e+03   2.5 2.02e-05 1.29e-07f  2
  88  1.9629074e+04 1.67e+00 4.91e+05  -1.0 3.12e+03   2.0 1.14e-04 1.28e-05f  1
  89  1.9512750e+04 1.67e+00 1.61e+06  -1.0 3.10e+03   2.5 1.78e-05 4.97e-05f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  1.9233222e+04 1.67e+00 3.17e+06  -1.0 3.16e+03   2.0 2.85e-05 1.57e-04f  1
  91  1.8898450e+04 1.67e+00 7.58e+06  -1.0 3.15e+03   2.4 1.31e-05 1.51e-04f  1
  92  1.8606888e+04 1.67e+00 8.99e+06  -1.0 3.19e+03   1.9 6.21e-05 1.88e-04f  1
  93  1.8604854e+04 1.67e+00 6.92e+06  -1.0 3.17e+03   2.4 2.67e-04 9.44e-07f  2
  94  1.8560853e+04 1.67e+00 7.35e+07  -1.0 2.60e+04   1.9 2.23e-05 2.46e-06f  1
  95  1.8420319e+04 1.67e+00 2.24e+08  -1.0 6.35e+04   2.3 1.02e-05 3.61e-06f  1
  96r 1.8420319e+04 1.67e+00 1.00e+03   0.2 0.00e+00   2.7 0.00e+00 3.25e-07R  3
  97r 1.7350109e+04 1.60e+00 1.00e+03   0.2 9.29e+01    -  2.68e-04 1.17e-03f  1
  98r 1.6326202e+04 1.55e+00 1.02e+03   0.2 9.29e+01    -  5.62e-03 1.01e-03f  1
  99r 1.4115307e+04 1.37e+00 1.04e+03   0.2 6.18e+01    -  6.69e-03 3.12e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  1.4114321e+04 1.37e+00 1.04e+02  -1.0 1.79e+00   2.3 2.04e-04 5.76e-05f  1
 101  1.4110184e+04 1.37e+00 1.20e+02  -1.0 7.13e+00   1.8 9.60e-04 1.13e-04f  1
 102  1.4108068e+04 1.37e+00 4.24e+02  -1.0 1.14e+01   2.2 5.04e-04 1.21e-04h  1
 103  1.4105882e+04 1.37e+00 1.16e+03  -1.0 1.18e+01   2.6 4.79e-04 2.02e-04h  1
 104  1.4095130e+04 1.37e+00 7.56e+02  -1.0 1.88e+01   2.2 7.07e-04 9.73e-04f  1
 105  1.4094277e+04 1.37e+00 5.80e+02  -1.0 2.03e+01   2.6 4.50e-04 4.92e-04h  1
 106  1.4012860e+04 1.36e+00 8.63e+03  -1.0 2.17e+01   2.1 1.82e-03 8.07e-03f  1
 107  1.4011229e+04 1.36e+00 3.07e+04  -1.0 2.16e+01   2.5 1.08e-02 5.68e-04h  1
 108  1.3988750e+04 1.35e+00 4.74e+04  -1.0 2.26e+01   2.0 1.43e-02 1.87e-03f  1
 109  1.3983010e+04 1.35e+00 8.84e+04  -1.0 2.25e+01   2.5 1.24e-02 1.08e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 110  1.3900187e+04 1.35e+00 8.32e+04  -1.0 2.36e+01   2.0 1.37e-03 5.39e-03f  1
 111  1.3899304e+04 1.35e+00 9.54e+04  -1.0 2.30e+01   2.4 3.83e-03 8.82e-05h  1
 112  1.3822916e+04 1.34e+00 9.01e+04  -1.0 2.29e+01   1.9 1.65e-04 4.80e-03f  1
 113  1.3820437e+04 1.34e+00 1.34e+05  -1.0 2.17e+01   2.4 1.52e-02 4.99e-04h  1
 114  1.3476628e+04 1.31e+00 1.09e+05  -1.0 2.21e+01   1.9 4.21e-04 2.41e-02f  1
 115  1.3421020e+04 1.30e+00 1.08e+05  -1.0 2.03e+01   2.3 7.42e-03 7.27e-03f  1
 116  1.3267978e+04 1.28e+00 1.13e+05  -1.0 1.82e+01   1.8 1.80e-02 1.06e-02f  1
 117  1.3275183e+04 1.28e+00 1.94e+05  -1.0 2.07e+01   2.3 2.16e-02 7.22e-04h  1
 118  1.3254531e+04 1.28e+00 2.16e+05  -1.0 2.26e+01   1.8 1.89e-02 5.35e-03f  1
 119  1.3335666e+04 1.27e+00 2.58e+05  -1.0 2.37e+01   2.2 1.44e-02 5.65e-03h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 120  1.3335653e+04 1.27e+00 2.58e+05  -1.0 2.92e+01   1.7 1.65e-04 3.16e-04h  1
 121  1.3375149e+04 1.26e+00 2.44e+05  -1.0 2.87e+01   2.2 4.94e-04 3.43e-03h  1
 122  1.3397475e+04 1.26e+00 2.36e+05  -1.0 2.71e+01   2.6 3.00e-04 9.19e-04h  1
 123  1.3511069e+04 1.24e+00 1.75e+05  -1.0 3.08e+01   2.1 6.78e-04 1.50e-02h  1
 124  1.3522212e+04 1.24e+00 3.62e+05  -1.0 2.86e+01   2.5 1.87e-02 5.72e-04h  1
 125  1.3600844e+04 1.21e+00 4.12e+05  -1.0 2.99e+01   2.1 4.23e-02 2.37e-02h  1
 126  1.3615765e+04 1.21e+00 1.28e+06  -1.0 2.33e+01   2.5 7.13e-02 7.73e-04h  1
 127  1.3701866e+04 1.19e+00 1.42e+06  -1.0 3.27e+01   2.0 5.24e-02 1.67e-02h  1
 128  1.4070390e+04 1.17e+00 2.27e+06  -1.0 3.39e+01   2.4 7.42e-02 1.41e-02h  1
 129  1.4030244e+04 1.16e+00 2.24e+06  -1.0 3.66e+01   2.0 1.31e-02 1.33e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 130  1.4015640e+04 1.15e+00 2.37e+06  -1.0 5.18e+01   2.4 9.95e-03 3.93e-03f  1
 131  1.3951069e+04 1.15e+00 2.35e+06  -1.0 5.30e+01   1.9 8.09e-03 7.71e-03f  1
 132  1.4008768e+04 1.14e+00 2.59e+06  -1.0 7.14e+01   2.3 7.00e-03 1.76e-03h  1
 133  1.4020108e+04 1.14e+00 2.60e+06  -1.0 7.77e+01   1.9 3.14e-03 1.92e-03h  1
 134  1.4064030e+04 1.14e+00 2.84e+06  -1.0 7.07e+01   2.3 7.20e-03 1.26e-03h  1
 135  1.4062376e+04 1.14e+00 2.90e+06  -1.0 7.44e+01   1.8 7.90e-03 1.85e-03h  1
 136  1.4077959e+04 1.14e+00 3.18e+06  -1.0 7.79e+01   2.2 6.12e-03 4.24e-04h  1
 137  1.4006880e+04 1.13e+00 3.20e+06  -1.0 9.48e+01   1.8 5.58e-03 3.02e-03f  1
 138  1.4022065e+04 1.13e+00 4.23e+06  -1.0 9.82e+01   2.2 1.97e-02 4.39e-04h  1
 139  1.3496674e+04 1.13e+00 4.20e+06  -1.0 1.18e+02   1.7 8.71e-04 2.39e-03f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 140  1.3614885e+04 1.13e+00 6.27e+06  -1.0 9.75e+01   2.1 5.08e-02 3.54e-03h  1
 141  1.3128300e+04 1.13e+00 6.22e+06  -1.0 3.29e+03   1.7 2.20e-04 3.80e-05f  1
 142  1.3347885e+04 1.12e+00 6.30e+06  -1.0 9.63e+01   2.1 9.92e-03 6.36e-03h  1
 143  1.3351905e+04 1.12e+00 6.39e+06  -1.0 9.45e+01   1.6 6.00e-03 2.57e-04h  1
 144  1.3640400e+04 1.11e+00 6.31e+06  -1.0 9.30e+01   2.0 5.50e-03 6.46e-03h  1
 145  1.3809194e+04 1.10e+00 6.32e+06  -1.0 8.71e+01   1.6 1.54e-02 1.12e-02h  1
 146  1.3793597e+04 1.10e+00 7.40e+06  -1.0 9.35e+01   2.0 6.76e-03 1.24e-03f  1
 147  1.3745966e+04 1.10e+00 8.19e+06  -1.0 1.11e+02   2.4 2.37e-03 1.34e-03f  1
 148  1.3468746e+04 1.10e+00 1.33e+07  -1.0 6.46e+02   1.9 2.89e-03 7.07e-04f  1
 149  1.3465549e+04 1.10e+00 7.51e+07  -1.0 2.80e+02   2.4 3.47e-04 1.63e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 150  1.3465524e+04 1.10e+00 2.44e+08  -1.0 4.77e+01   1.9 1.28e-04 3.62e-05h  1
 151r 1.3465524e+04 1.10e+00 1.00e+03   0.0 0.00e+00   2.3 0.00e+00 4.98e-07R  5
 152r 1.1158264e+04 9.12e-01 1.06e+03   0.0 5.92e+01    -  1.19e-02 3.11e-03f  1
 153  1.1157805e+04 9.12e-01 2.81e+02  -1.0 5.49e+00   1.8 4.32e-03 2.73e-05f  1
 154  1.1151258e+04 9.12e-01 1.49e+02  -1.0 6.73e+00   2.3 8.59e-05 4.31e-04f  1
 155  1.1147704e+04 9.11e-01 3.03e+03  -1.0 1.14e+01   1.8 1.69e-03 2.29e-04h  1
 156  1.1145595e+04 9.11e-01 8.37e+03  -1.0 2.17e+01   2.2 6.38e-04 2.59e-04h  1
 157  1.1137253e+04 9.10e-01 2.37e+03  -1.0 4.99e+01   1.7 5.06e-05 7.04e-04h  1
 158  1.1135035e+04 9.10e-01 1.81e+05  -1.0 4.87e+01   2.2 8.28e-03 2.94e-04h  1
 159  1.1135135e+04 9.10e-01 2.80e+05  -1.0 4.39e+01   1.7 2.41e-03 3.85e-05h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 160  1.1161298e+04 9.09e-01 2.96e+05  -1.0 4.64e+01   2.1 1.30e-03 1.16e-03h  1
 161  1.1169868e+04 9.08e-01 6.29e+05  -1.0 7.72e+01   1.6 6.18e-03 1.11e-03h  1
 162  1.1215573e+04 9.07e-01 1.01e+06  -1.0 7.50e+01   2.0 3.77e-03 1.47e-03h  1
 163  1.1228731e+04 9.05e-01 1.09e+06  -1.0 7.52e+01   1.6 3.63e-03 2.40e-03h  1
 164  1.1259714e+04 9.03e-01 1.03e+06  -1.0 7.19e+01   2.0 9.62e-04 1.31e-03h  1
 165  1.1248057e+04 9.02e-01 1.01e+06  -1.0 9.24e+01   1.5 1.42e-03 1.65e-03f  1
 166  1.1250777e+04 9.01e-01 1.51e+06  -1.0 1.02e+02   1.9 2.95e-03 7.95e-04h  1
 167  1.1247232e+04 9.01e-01 1.83e+06  -1.0 1.06e+02   1.5 3.76e-03 3.77e-04h  1
 168  1.1258648e+04 9.00e-01 2.11e+06  -1.0 1.02e+02   1.9 1.73e-03 7.18e-04h  1
 169  1.1248479e+04 9.00e-01 2.06e+06  -1.0 1.32e+02   1.4 4.27e-05 3.94e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 170  1.1220993e+04 8.98e-01 1.72e+06  -1.0 1.28e+02   1.8 1.38e-03 2.53e-03f  1
 171  1.1119458e+04 8.96e-01 1.87e+06  -1.0 1.36e+02   1.4 3.25e-03 2.12e-03f  1
 172  1.1132309e+04 8.95e-01 4.21e+06  -1.0 2.18e+02   1.8 2.75e-03 3.29e-04h  1
 173  1.1125736e+04 8.95e-01 4.55e+06  -1.0 3.33e+02   1.3 1.06e-03 2.90e-04h  1
 174  1.1231371e+04 8.94e-01 3.34e+06  -1.0 3.20e+02   1.7 3.84e-04 1.38e-03h  1
 175  1.1303979e+04 8.93e-01 3.76e+06  -1.0 3.00e+02   2.2 7.23e-04 5.82e-04h  1
 176  1.1630111e+04 8.89e-01 6.83e+05  -1.0 2.98e+02   1.7 1.20e-03 4.54e-03h  1
 177  1.1644586e+04 8.89e-01 2.82e+07  -1.0 3.09e+02   2.1 9.19e-03 8.02e-05h  1
 178  1.1822949e+04 8.89e-01 5.29e+07  -1.0 5.14e+02   1.6 9.25e-03 7.54e-04h  1
 179r 1.1822949e+04 8.89e-01 1.00e+03  -0.1 0.00e+00   2.1 0.00e+00 3.03e-07R  6
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 180r 1.1230604e+04 8.43e-01 1.00e+03  -0.1 4.88e+01    -  2.82e-03 1.01e-03f  1
 181r 9.2764324e+03 7.59e-01 1.01e+03  -0.1 4.70e+01    -  7.72e-03 3.72e-03f  1
 182  9.2759692e+03 7.59e-01 9.58e+01  -1.0 5.39e+00   1.6 4.62e-04 3.11e-05f  1
 183  9.2714796e+03 7.59e-01 9.58e+01  -1.0 2.58e+00   2.0 1.53e-04 3.60e-04f  1
 184  9.2548528e+03 7.58e-01 9.57e+01  -1.0 2.94e+00   1.5 8.81e-04 1.14e-03f  1
 185  9.2370637e+03 7.57e-01 2.20e+02  -1.0 2.28e+00   2.0 3.42e-03 1.40e-03f  1
 186  9.0850504e+03 7.48e-01 5.48e+02  -1.0 2.76e+00   1.5 5.81e-03 1.09e-02f  1
 187  8.9163467e+03 7.38e-01 1.28e+03  -1.0 2.13e+00   1.9 7.56e-03 1.38e-02f  1
 188  8.6792963e+03 7.25e-01 1.25e+03  -1.0 1.77e+00   1.4 1.86e-02 1.72e-02f  1
 189  8.6720660e+03 7.25e-01 1.30e+03  -1.0 3.02e+00   1.9 7.24e-03 6.09e-04f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 190  8.1490923e+03 6.98e-01 8.94e+02  -1.0 2.65e+00   1.4 1.09e-02 3.71e-02f  1
 191  7.4167125e+03 6.49e-01 2.01e+03  -1.0 2.61e+00   1.8 1.58e-02 6.98e-02f  1
 192  7.2315462e+03 6.39e-01 1.78e+03  -1.0 2.26e+00   1.3 2.04e-02 1.59e-02f  1
 193  6.4570242e+03 5.90e-01 4.38e+03  -1.0 2.21e+00   1.8 1.32e-02 7.67e-02f  1
 194  5.7065041e+03 5.48e-01 4.07e+03  -1.0 1.76e+00   1.3 1.14e-01 7.19e-02f  1
 195  4.5023855e+03 4.60e-01 3.43e+03  -1.0 1.40e+00   1.7 8.94e-02 1.59e-01f  1
 196  2.3409462e+03 3.08e-01 2.30e+03  -1.0 1.24e+00   1.2 1.31e-01 3.31e-01f  1
 197  1.3648406e+03 1.94e-01 1.45e+03  -1.0 7.55e-01   1.7 3.67e-01 3.69e-01f  1
 198  1.3543903e+03 1.93e-01 1.36e+03  -1.0 8.17e-01   1.2 3.85e-01 5.34e-03f  1
 199  1.1377328e+03 1.85e-01 1.13e+03  -1.0 8.23e+00   0.7 2.13e-02 4.42e-02f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 200  8.8289669e+02 1.57e-01 2.89e+03  -1.0 2.46e+00   1.1 6.69e-02 1.53e-01f  1
 201  6.2704096e+02 1.31e-01 2.72e+03  -1.0 2.55e+00   0.7 1.06e-01 1.66e-01f  1
 202  1.1378122e+02 2.19e-03 3.56e+02  -1.0 9.62e-01   1.1 1.87e-01 1.00e+00f  1
 203  4.3480220e+01 1.42e-04 2.00e+03  -1.0 3.13e-01   0.6 4.59e-01 1.00e+00f  1
 204  5.7567630e+01 5.95e-02 1.46e+03  -1.0 1.77e+00    -  2.92e-01 1.00e+00F  1
 205  1.7793155e+01 0.00e+00 1.53e+00  -1.0 1.31e-01   1.0 9.99e-01 1.00e+00f  1
 206  7.0732800e+00 0.00e+00 4.22e+00  -2.5 5.38e-02   0.5 7.24e-01 1.00e+00f  1
 207  4.4958926e+00 0.00e+00 8.05e-01  -2.5 1.11e-01   0.1 8.97e-01 1.00e+00f  1
 208  3.0048321e+00 0.00e+00 2.27e+00  -2.5 1.89e-01  -0.4 7.16e-01 1.00e+00f  1
 209  2.1124000e+00 0.00e+00 3.06e-02  -2.5 2.34e-01  -0.9 1.00e+00 1.00e+00f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 210  2.0950400e+00 0.00e+00 1.01e+00  -2.5 1.93e+00    -  4.28e-01 1.25e-01f  4
 211  1.6399787e+00 0.00e+00 2.53e-02  -2.5 6.96e-02  -0.5 1.00e+00 1.00e+00h  1
 212  1.3811038e+00 0.00e+00 1.68e-01  -3.8 1.26e-01  -0.9 8.61e-01 1.00e+00h  1
 213  6.3548584e-01 0.00e+00 7.66e-01  -3.8 1.78e+00    -  4.20e-01 5.00e-01f  2
 214  4.4275607e-01 0.00e+00 8.52e-03  -3.8 2.75e-02  -0.5 1.00e+00 1.00e+00h  1
 215  2.0771133e-01 0.00e+00 3.34e-01  -3.8 1.01e+00    -  3.25e-01 5.00e-01f  2
 216  1.4605526e-01 0.00e+00 4.68e-03  -3.8 5.65e-03  -0.1 1.00e+00 1.00e+00h  1
 217  1.2625872e-01 0.00e+00 2.66e-01  -3.8 6.43e-01    -  1.00e+00 2.50e-01f  3
 218  9.3101352e-02 0.00e+00 2.88e-03  -3.8 1.04e-02  -0.6 1.00e+00 1.00e+00h  1
 219  4.9963971e-02 0.00e+00 1.21e-01  -3.8 4.40e-01    -  1.00e+00 5.00e-01f  2
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 220  4.2543836e-02 0.00e+00 1.33e-03  -3.8 1.45e-02  -1.0 1.00e+00 1.00e+00h  1
 221  3.4508703e-02 0.00e+00 7.65e-02  -5.7 3.05e-01    -  8.16e-01 2.50e-01f  3
 222  2.9049694e-02 0.00e+00 7.58e-04  -5.7 2.47e-02  -1.5 1.00e+00 1.00e+00h  1
 223  1.3268871e+00 0.00e+00 1.75e+00  -5.7 5.33e-01    -  1.00e+00 1.00e+00H  1
 224  9.6240561e-03 0.00e+00 3.40e-02  -5.7 1.98e-02  -0.2 1.00e+00 1.00e+00f  1
 225  8.6554742e-03 0.00e+00 3.24e-04  -5.7 1.58e-03  -0.7 1.00e+00 1.00e+00h  1
 226  8.7085413e-03 0.00e+00 1.20e-02  -5.7 2.94e-02    -  1.00e+00 1.00e+00H  1
 227  8.6336497e-03 0.00e+00 2.01e-05  -5.7 2.66e-04  -1.1 1.00e+00 1.00e+00h  1
 228  8.6356325e-03 0.00e+00 1.08e-03  -5.7 4.32e-03    -  1.00e+00 1.00e+00h  1
 229  8.6353623e-03 0.00e+00 3.38e-07  -5.7 8.10e-05    -  1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 230  8.6017975e-03 0.00e+00 1.50e-03  -8.6 2.88e-02    -  9.51e-01 1.00e+00h  1

Number of Iterations....: 231

Number of objective function evaluations             = 286
Number of objective gradient evaluations             = 229
Number of equality constraint evaluations            = 0
Number of inequality constraint evaluations          = 286
Number of equality constraint Jacobian evaluations   = 0
Number of inequality constraint Jacobian evaluations = 234
Number of Lagrangian Hessian evaluations             = 231
Total seconds in IPOPT                               = 1.817

EXIT: Invalid number in NLP function or derivative detected.
optimize cost time:  8.856515169143677
optimize_result 51

CasADi - 2025-04-24 15:03:12 WARNING("solver:nlp_grad_f failed: NaN detected for output grad_f_x, at (row 1280, col 0).") [.../casadi/core/oracle_function.cpp:408]
CasADi - 2025-04-24 15:03:12 WARNING("solver:nlp_grad failed: NaN detected for output grad_gamma_p, at (row 307, col 0).") [.../casadi/core/oracle_function.cpp:408]
CasADi - 2025-04-24 15:03:12 WARNING("Failed to calculate multipliers") [.../casadi/core/nlpsol.cpp:758]

[jcarpent]

The issue with CasADi is that it might reorder the operations internally, affecting the numerical stability.
We have already encountered this issue for complex computational graphs.
On Pinocchio's side, together with @ManifoldFR, we have tried to make the graph of computation for CasADi and other AD tools very robust, but it is hard to guarantee it for all scenarios.

[jcarpent]

@Zkjoker Could you please make a concise summary of what works and what does not work out of your previous comments?
(Your comments are very long, making them hard to follow)

[Zkjoker]

@jcarpent
Apologies for the complexity. I’ll briefly summarize my understanding:

1. When calculating the error between two orientations, if we first convert the two rotation matrices into vectors via log3, then compute the vector error, CasADi has the capability to perform optimal control based on this error metric. However, the results are highly unstable and sensitive to seemingly unrelated parameters and settings. This leads to unintuitive issues for the same optimization task and data.

2. If instead, we first compute the relative rotation matrix between the two orientations, then apply log3 to obtain a vector, and use its magnitude as the error value, this error metric proves more stable.

3. Using Pinocchio’s log3 function generates NaN-related warnings. However, in my specific case, these warnings have not affected the computational results so far—possibly due to internal optimizations in Pinocchio or CasADi to handle such issues.

4. By replacing the implementation with the gtsam_logmap(R) function from (Rotation cost leading to NaN values casadi/casadi#3871), the NaN-related warnings disappear. This suggests that this approach effectively addresses NaN-related problems and may offer value compared to existing log3 implementations.

[jcarpent]

Very clear @Zkjoker. Thank you.
I will close the issue, as it seems you have found a fix.
On our side, we will investigate a solution to be implemented within Pinocchio.

[Zkjoker]

In other tasks, I’ve also observed that using gtsam_logmap achieves higher precision.
If possible, could you analyze how its implementation differs from our current approach? It seems to be modified based on GTSAM. It seems that Taylor expansions are applied to angles at the boundaries (e.g., near 0 or π radians) to ensure numerical stability.

By the way, I’ve used GTSAM before and found it very suitable for large-scale nonlinear least-squares problems.
However, when it comes to incorporating hard inequality constraints, casadi still seems more convenient.

Do we have plans to develop interface compatibility with GTSAM?

[jcarpent]

Do we have plans to develop interface compatibility with GTSAM?

Good suggestion.
@dellaert We might be able to discuss this point during your visit to Paris.

[jcarpent]

If possible, could you analyze how its implementation differs from our current approach? It seems to be modified based on GTSAM. It seems that Taylor expansions are applied to angles at the boundaries (e.g., near 0 or π radians) to ensure numerical stability.

We have the same approach in our codebase:

pinocchio/include/pinocchio/spatial/log.hxx

Lines 61 to 144 in 7338916

	static void run(
	const Eigen::MatrixBase<Matrix3Like> & R,
	typename Matrix3Like::Scalar & theta,
	const Eigen::MatrixBase<Vector3Out> & angle_axis)
	{
	PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix3Like, R, 3, 3);
	PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector3Out, angle_axis, 3, 1);
	using namespace internal;
	typedef typename Matrix3Like::Scalar Scalar;
	typedef Eigen::Matrix<Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> Vector3;
	static const Scalar eps = Eigen::NumTraits<Scalar>::epsilon();
	const static Scalar PI_value = PI<Scalar>();
	Vector3Out & angle_axis_ = angle_axis.const_cast_derived();
	typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) Matrix3;
	const Matrix3 Rnormed = renormalize_rotation_matrix(R);
	const Scalar tr = Rnormed.trace();
	const Scalar cos_value = (tr - Scalar(1)) / Scalar(2);
	const Scalar prec = TaylorSeriesExpansion<Scalar>::template precision<2>();
	// Singular cases when theta == PI
	Vector3 angle_axis_singular;
	Scalar theta_singular;
	{
	Vector3 val_singular;
	val_singular.array() = 2 * Rnormed.diagonal().array() - tr + Scalar(1);
	Vector3 axis_0, axis_1, axis_2;
	Scalar theta_0, theta_1, theta_2;
	internal::compute_theta_axis<0>(val_singular[0], Rnormed, theta_0, axis_0);
	internal::compute_theta_axis<1>(val_singular[1], Rnormed, theta_1, axis_1);
	internal::compute_theta_axis<2>(val_singular[2], Rnormed, theta_2, axis_2);
	theta_singular = if_then_else(
	GE, val_singular[0], val_singular[1],
	if_then_else(GE, val_singular[0], val_singular[2], theta_0, theta_2),
	if_then_else(GE, val_singular[1], val_singular[2], theta_1, theta_2));
	for (int k = 0; k < 3; ++k)
	angle_axis_singular[k] = if_then_else(
	GE, val_singular[0], val_singular[1],
	if_then_else(GE, val_singular[0], val_singular[2], axis_0[k], axis_2[k]),
	if_then_else(GE, val_singular[1], val_singular[2], axis_1[k], axis_2[k]));
	}
	const Scalar acos_expansion = math::sqrt(2 * (1 - cos_value) + eps * eps);
	const Scalar theta_nominal = if_then_else(
	LE, tr, static_cast<Scalar>(Scalar(3) - prec),
	if_then_else(
	GE, tr, static_cast<Scalar>(Scalar(-1) + prec),
	math::acos(cos_value), // then
	static_cast<Scalar>(PI_value - acos_expansion) // else
	),
	static_cast<Scalar>(acos_expansion) // else
	);
	assert(
	check_expression_if_real<Scalar>(theta_nominal == theta_nominal)
	&& "theta contains some NaN"); // theta != NaN
	Vector3 antisymmetric_R;
	unSkew(Rnormed, antisymmetric_R);
	const Scalar norm_antisymmetric_R_squared = antisymmetric_R.squaredNorm();
	const Scalar t = if_then_else(
	GE, theta_nominal, prec,
	static_cast<Scalar>(theta_nominal / sin(theta_nominal)), // then
	static_cast<Scalar>(
	Scalar(1.) + norm_antisymmetric_R_squared / Scalar(6)
	+ norm_antisymmetric_R_squared * norm_antisymmetric_R_squared * Scalar(3)
	/ Scalar(40)) // else
	);
	theta = if_then_else(
	GE, cos_value, static_cast<Scalar>(Scalar(-1.) + prec), theta_nominal, theta_singular);
	for (int k = 0; k < 3; ++k)
	angle_axis_[k] = if_then_else(
	GE, cos_value, static_cast<Scalar>(Scalar(-1.) + prec),
	static_cast<Scalar>(t * antisymmetric_R[k]),
	static_cast<Scalar>(theta_singular * angle_axis_singular[k]));
	}

, but using an angle-axis representation. I will take inspiration from GTSAM codebase then.

[Zkjoker]

Thank you for your reply. Hope everything goes well with your tasks.

[cmastalli]

Do we have plans to develop interface compatibility with GTSAM?

@Zkjoker --

We are planning to release our optimal estimation framework integrated within Crocoddyl. Our initial approach, as described in https://arxiv.org/pdf/2403.17161, already demonstrates promising results. Unlike existing solutions such as CasADi, our framework is built around CppADCodeGen, enabling significantly more efficient algorithmic differentiation and code generation.

In contrast to GTSAM, which uses custom solvers for factor graph optimization, our framework naturally exploits the Markovian structure of optimal control problems. This allows us to achieve high computational efficiency using Riccati-based recursions, rather than relying on sparse linear solvers or symbolic reordering heuristics.

Furthermore, our solver will natively support constraints in a more scalable and principled way compared to CasADi-based solutions, which often require relaxation or generic NLP approaches. This design also facilitates a seamless extension to System Identification (SysID) problems, where efficient handling of structured dynamics and measurements is crucial.

If this topic is interesting for you, stay tuned for future releases in Crocoddyl. We are currently hard to make the framework more versatile and simple to use.

[dellaert]

In other tasks, I’ve also observed that using gtsam_logmap achieves higher precision. If possible, could you analyze how its implementation differs from our current approach? It seems to be modified based on GTSAM. It seems that Taylor expansions are applied to angles at the boundaries (e.g., near 0 or π radians) to ensure numerical stability.

Logmap and its derivatives are tricky to get right. We do indeed do Taylor expansions at zero, and I recently added Taylor expansion at pi as well, for its Jacobians. See borglab/gtsam#2099

And it’s still not perfect, see borglab/gtsam#2106, but that is a very small error so we might ignore it.