This is MadNLP version v0.12.0, running with cuDSS v1.0.0 Number of nonzeros in constraint Jacobian............: 0 Number of nonzeros in Lagrangian Hessian.............: 2112 Total number of variables............................: 7 variables with only lower bounds: 0 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 0 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.4897862e+02 0.00e+00 1.00e+02 0.00e+00 -1.0 - 0.00e+00 0 0 1 2.7207157e+02 0.00e+00 7.21e+02 0.00e+00 -1.0 0.0 1.00e+00 1 1f 2 1.8762396e+02 0.00e+00 3.39e+02 0.00e+00 -1.0 -0.5 1.00e+00 1 1f 3 1.4188614e+02 0.00e+00 1.85e+02 0.00e+00 -1.0 -1.0 1.00e+00 1 1f 4 1.2076152e+02 0.00e+00 1.06e+02 0.00e+00 -1.0 -0.5 1.00e+00 1 1f 5 1.0930394e+02 0.00e+00 6.08e+01 0.00e+00 -1.0 -1.0 1.00e+00 1 1f 6 9.6612958e+01 0.00e+00 3.84e+01 0.00e+00 -1.0 - 1.00e+00 1 1f 7 9.6480807e+01 0.00e+00 2.50e+00 0.00e+00 -1.0 -1.5 1.00e+00 1 1f 8 9.6448957e+01 0.00e+00 5.98e-01 0.00e+00 -1.0 -2.0 1.00e+00 1 1f 9 9.6381711e+01 0.00e+00 1.62e+00 0.00e+00 -1.7 -2.4 1.00e+00 1 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 9.6346084e+01 0.00e+00 1.17e+00 0.00e+00 -1.7 -2.0 1.00e+00 1 1f 11 9.6328306e+01 0.00e+00 4.90e-01 0.00e+00 -1.7 -1.6 1.00e+00 1 1f 12 9.6289767e+01 0.00e+00 4.39e+00 0.00e+00 -1.7 -2.1 5.00e-01 1 2f 13 9.6132351e+01 0.00e+00 2.91e+01 0.00e+00 -1.7 - 1.00e+00 1 1f 14 9.5966555e+01 0.00e+00 1.15e+00 0.00e+00 -1.7 - 1.00e+00 1 1f 15 9.5940681e+01 0.00e+00 5.54e+00 0.00e+00 -1.7 - 1.00e+00 1 1f 16 9.5923115e+01 0.00e+00 1.21e+00 0.00e+00 -1.7 - 1.00e+00 1 1f 17 9.5913367e+01 0.00e+00 2.50e+00 0.00e+00 -1.7 - 1.00e+00 1 1f 18 9.5907018e+01 0.00e+00 9.37e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 19 9.5903121e+01 0.00e+00 1.39e+00 0.00e+00 -1.7 - 1.00e+00 1 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 9.5900530e+01 0.00e+00 6.52e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 21 9.5898882e+01 0.00e+00 8.59e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 22 9.5897757e+01 0.00e+00 4.42e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 23 9.5897025e+01 0.00e+00 5.68e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 24 9.5896511e+01 0.00e+00 2.97e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 25 9.5896172e+01 0.00e+00 3.97e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 26 9.5895926e+01 0.00e+00 1.99e-01 0.00e+00 -1.7 - 1.00e+00 1 1f 27 9.5895763e+01 0.00e+00 2.92e-01 0.00e+00 -2.5 - 1.00e+00 1 1f 28 9.5895640e+01 0.00e+00 1.31e-01 0.00e+00 -2.5 - 1.00e+00 1 1f 29 9.5895559e+01 0.00e+00 2.27e-01 0.00e+00 -2.5 - 1.00e+00 1 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 9.5895494e+01 0.00e+00 8.23e-02 0.00e+00 -2.5 - 1.00e+00 1 1f 31 9.5895455e+01 0.00e+00 1.91e-01 0.00e+00 -2.5 - 1.00e+00 1 1f 32 9.5895418e+01 0.00e+00 4.76e-02 0.00e+00 -2.5 - 1.00e+00 1 1f 33 9.5895400e+01 0.00e+00 1.78e-01 0.00e+00 -2.5 - 1.00e+00 1 1f 34 9.5895376e+01 0.00e+00 2.35e-02 0.00e+00 -2.5 - 1.00e+00 1 1f 35 9.5895372e+01 0.00e+00 1.85e-01 0.00e+00 -3.8 - 1.00e+00 1 1f 36 9.5895353e+01 0.00e+00 9.29e-03 0.00e+00 -3.8 - 1.00e+00 1 1f 37 9.5895347e+01 0.00e+00 6.25e-02 0.00e+00 -3.8 - 5.00e-01 1 2f 38 9.5895341e+01 0.00e+00 2.89e-02 0.00e+00 -3.8 - 1.00e+00 1 1f 39 9.5895337e+01 0.00e+00 5.75e-02 0.00e+00 -3.8 - 1.00e+00 1 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 9.5895333e+01 0.00e+00 1.66e-02 0.00e+00 -3.8 - 1.00e+00 1 1f 41 9.5895332e+01 0.00e+00 6.50e-02 0.00e+00 -3.8 - 1.00e+00 1 1f 42 9.5895329e+01 0.00e+00 6.64e-03 0.00e+00 -3.8 - 1.00e+00 1 1f 43 9.5895328e+01 0.00e+00 3.04e-02 0.00e+00 -3.8 - 5.00e-01 1 2f 44 9.5895326e+01 0.00e+00 1.15e-02 0.00e+00 -3.8 - 1.00e+00 1 1f 45 9.5895326e+01 0.00e+00 5.04e-02 0.00e+00 -3.8 - 1.00e+00 1 1f 46 9.5895324e+01 0.00e+00 3.15e-03 0.00e+00 -3.8 - 1.00e+00 1 1f 47 9.5895324e+01 0.00e+00 3.07e-02 0.00e+00 -3.8 - 5.00e-01 1 2f 48 9.5895324e+01 0.00e+00 3.95e-02 0.00e+00 -3.8 - 5.00e-01 1 2f 49 9.5895323e+01 0.00e+00 2.66e-03 0.00e+00 -3.8 - 1.00e+00 1 1f iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 9.5895323e+01 0.00e+00 9.11e-08 0.00e+00 -3.8 -2.5 1.00e+00 1 1f 51 9.5895323e+01 0.00e+00 2.59e-08 0.00e+00 -8.6 -3.0 1.00e+00 1 1f 52 9.5895323e+01 0.00e+00 3.70e-09 0.00e+00 -8.6 -3.5 1.00e+00 1 1f Number of Iterations....: 52 (scaled) (unscaled) Objective...............: 1.8859706377725741e-01 9.5895322982627235e+01 Dual infeasibility......: 3.7041048125269319e-09 1.8834138784805821e-06 Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00 Overall NLP error.......: 7.2848525854837132e-12 3.7041048125269319e-09 Number of objective function evaluations = 78 Number of objective gradient evaluations = 53 Number of constraint evaluations = 78 Number of constraint Jacobian evaluations = 53 Number of Lagrangian Hessian evaluations = 52 Number of KKT factorizations = 71 Number of KKT backsolves = 72 Total wall secs in initialization = 0.013 s Total wall secs in linear solver = 0.027 s Total wall secs in NLP function evaluations = 0.011 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.026 s Total wall secs = 0.077 s EXIT: Optimal Solution Found (tol = 1.0e-08).