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Investigate the differences in the output of the planner when it is executed on different machines #13

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rob-mau opened this issue Feb 28, 2024 · 1 comment
Open

Investigate the differences in the output of the planner when it is executed on different machines #13

rob-mau opened this issue Feb 28, 2024 · 1 comment
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rob-mau commented Feb 28, 2024 •
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I am opening this issue to report the different behavior obtained when running the trajectory planner provided by hippopt on different machines (specifically, mine and Stefano's). I have created a conda environment in which I installed hippopt following the instructions provided in the README.md file:

conda install -c conda-forge -c robotology python=3.11 casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib resolve-robotics-uri-py
pip install --no-deps -e .[all]

I activated it and I ran the command:
OMP_NUM_THREADS=1 python main_walking_on_stairs.py. The output of the planner is reported below.

Planner EXIT

On my machine (Ubuntu 22.04), the solver converges to a point of local infeasibility, while on Stefano's machine, an acceptable solution is found for the exact same problem.

click here to show the ipopt output. 
Starting the planner...
This is Ipopt version 3.14.14, running with linear solver MUMPS 5.6.2.

Number of nonzeros in equality constraint Jacobian...:    63396
Number of nonzeros in inequality constraint Jacobian.:    10800
Number of nonzeros in Lagrangian Hessian.............:        0

Total number of variables............................:     9294
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     4804
                     variables with only upper bounds:        0
Total number of equality constraints.................:     7015
Total number of inequality constraints...............:     1723
        inequality constraints with only lower bounds:     1674
   inequality constraints with lower and upper bounds:       49
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  5.1824477e+00 1.23e+00 1.80e+00   0.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  5.4009957e+00 1.22e+00 1.83e+00  -1.5 7.91e+00    -  7.08e-02 4.84e-03f  1
   2  5.6277542e+00 1.21e+00 1.83e+00  -1.6 7.42e+00    -  8.49e-03 6.19e-03h  1
   3  2.0807857e+01 1.17e+00 8.35e+00  -0.8 8.09e+00    -  3.27e-02 3.32e-02f  1
   4  2.2030481e+01 1.17e+00 9.52e+00  -1.5 7.92e+00    -  5.67e-03 5.97e-03f  1
   5  2.2918507e+01 1.16e+00 9.68e+00  -1.5 6.40e+00    -  7.21e-03 3.10e-03f  1
   6  2.5539919e+01 1.15e+00 1.03e+01  -1.5 7.16e+00    -  1.22e-02 6.39e-03h  1
   7  2.9663109e+01 1.14e+00 1.14e+01  -1.5 7.12e+00    -  6.91e-03 9.17e-03h  1
   8  3.7708657e+01 1.13e+00 1.74e+01  -1.5 7.01e+00    -  1.84e-02 1.45e-02h  1
   9  5.3103779e+01 1.10e+00 3.04e+01  -1.5 8.14e+00    -  3.20e-03 2.22e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  5.4833445e+01 1.10e+00 3.24e+01  -1.5 8.35e+00    -  2.85e-02 3.72e-03h  1
  11  7.1281873e+01 1.08e+00 4.62e+01  -1.5 8.71e+00    -  2.15e-02 1.82e-02h  1
  12  7.7752902e+01 1.07e+00 5.94e+01  -1.5 1.03e+01    -  1.43e-02 8.22e-03h  1
  13  8.2041863e+01 1.06e+00 2.12e+02  -3.1 9.92e+00    -  2.27e-02 4.67e-03h  1
  14  1.0145890e+02 1.04e+00 5.44e+02  -0.8 9.97e+00    -  5.24e-02 1.81e-02h  1
  15  1.3585543e+02 1.02e+00 7.57e+02  -1.4 9.88e+00    -  6.44e-02 2.80e-02h  1
  16  1.6503387e+02 9.93e-01 7.20e+02  -0.9 1.01e+01    -  1.61e-02 2.26e-02h  1
  17  1.9868034e+02 9.71e-01 7.75e+02  -0.8 1.01e+01    -  5.04e-02 2.12e-02h  1
  18  2.6328216e+02 9.34e-01 7.57e+02  -1.3 9.33e+00    -  4.48e-02 3.88e-02h  1
  19  3.6592378e+02 8.85e-01 7.55e+02  -2.1 8.76e+00    -  7.82e-02 5.25e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  4.6277168e+02 8.47e-01 7.49e+02  -0.3 9.50e+00    -  7.24e-02 4.32e-02h  1
  21  6.7582067e+02 7.79e-01 8.27e+02  -0.4 9.17e+00    -  1.39e-01 7.92e-02h  1
  22  8.4506960e+02 1.92e+00 2.10e+03  -1.0 8.29e+00    -  1.44e-01 6.64e-02h  1
  23  1.0342836e+03 1.77e+00 1.82e+03  -0.7 6.70e+00    -  1.53e-01 6.47e-02h  1
  24  1.1891391e+03 1.62e+00 1.38e+03  -0.0 6.34e+00    -  1.40e-01 4.89e-02h  1
  25  1.4334677e+03 1.44e+00 1.62e+03  -1.9 6.97e+00    -  1.56e-01 7.42e-02h  1
  26  1.6579038e+03 6.44e-01 1.94e+03   0.2 6.81e+01    -  2.05e-01 5.93e-02h  1
  27  2.0662469e+03 5.04e-01 2.56e+03   0.1 8.89e+00    -  2.10e-01 1.07e-01h  1
  28  2.6400863e+03 4.81e+00 3.37e+04   0.7 6.97e+00    -  4.53e-01 9.60e-02f  1
  29  2.7439301e+03 4.46e+00 3.59e+04   0.4 4.42e+00    -  5.07e-02 4.56e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  3.1102827e+03 3.61e+00 4.13e+04   0.4 4.44e+00    -  3.24e-01 9.73e-02h  1
  31  4.1832807e+03 2.01e+00 1.44e+04  -5.6 5.56e+00    -  7.31e-02 2.93e-01h  1
  32  4.8542484e+03 1.30e+00 2.54e+04   0.7 4.13e+00    -  3.72e-01 2.00e-01h  1
  33  5.3170159e+03 7.96e-01 9.93e+04   0.7 3.04e+00    -  5.06e-01 1.72e-01h  1
  34  5.8486309e+03 8.71e-01 5.45e+04   0.7 4.61e+00    -  3.62e-01 1.71e-01h  1
  35  6.0481554e+03 7.82e-01 2.52e+04   0.2 3.67e+00    -  2.96e-01 1.03e-01h  1
  36  6.3445433e+03 7.42e-01 3.78e+04   1.0 5.59e+00    -  5.08e-03 5.26e-02H  1
  37  6.7743486e+03 5.83e-01 4.02e+04   0.6 4.54e+00    -  3.53e-01 2.04e-01h  1
  38  6.7359904e+03 5.24e-01 2.34e+04  -0.3 5.08e+00    -  2.85e-01 9.31e-02f  1
  39  7.1657506e+03 5.27e-01 6.63e+04   0.5 2.13e+00    -  3.47e-01 3.52e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  7.2256599e+03 4.49e-01 6.97e+04   0.7 4.05e+00    -  2.59e-01 1.63e-01h  1
  41  7.8212386e+03 1.52e+00 6.04e+04   1.0 3.40e+00    -  3.16e-01 3.64e-01f  1
  42  7.8560598e+03 1.33e+00 3.94e+04   0.7 3.68e+00    -  5.54e-01 3.96e-01h  1
  43  7.8937154e+03 2.00e+00 2.24e+04   0.9 4.13e+00    -  2.17e-01 3.74e-01H  1
  44  7.9055738e+03 1.33e+00 3.24e+04   0.7 1.97e+00    -  9.59e-01 3.37e-01h  1
  45  7.9948344e+03 9.29e-01 3.94e+04   1.0 2.48e+00    -  8.76e-01 3.01e-01f  1
  46  8.3021854e+03 3.81e-01 4.06e+04   1.0 1.04e+00    -  8.73e-01 5.90e-01f  1
  47  8.3191246e+03 1.34e-01 2.34e+04   0.7 6.55e-01    -  1.00e+00 6.48e-01h  1
  48  8.2440478e+03 3.75e-02 1.18e+04   0.4 4.24e-01    -  6.91e-01 7.21e-01h  1
  49  8.2689355e+03 1.56e-02 2.45e+04   0.9 3.90e-01    -  1.00e+00 5.83e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  8.3197995e+03 2.76e-03 6.83e+03   0.7 9.16e-01    -  1.00e+00 8.61e-01h  1
  51  8.3270988e+03 1.48e-03 2.06e+04   0.1 1.64e-01    -  1.00e+00 5.29e-01h  1
  52  8.3829970e+03 1.60e-03 3.89e+04  -0.1 4.60e-01    -  8.74e-01 4.30e-01H  1
  53  8.4436247e+03 1.24e-03 4.81e+04   0.1 4.47e-01    -  9.71e-01 2.56e-01H  1
  54  8.7782084e+03 2.72e-02 3.09e+04   0.6 7.12e-01    -  8.50e-01 7.23e-01f  1
  55  8.9478726e+03 1.01e-02 3.31e+04   0.4 3.64e-01    -  8.40e-01 7.65e-01h  1
  56  8.9421512e+03 7.69e-03 2.23e+04   0.4 8.20e-01    -  5.63e-01 6.07e-01h  1
  57  8.9488814e+03 3.30e-03 1.34e+04   0.4 3.52e-01    -  1.00e+00 7.80e-01h  1
  58  9.0188461e+03 1.62e-03 7.89e+03   0.4 2.40e-01    -  1.00e+00 1.00e+00h  1
  59  9.0492671e+03 7.01e-04 7.80e+03  -0.1 9.36e-01    -  9.72e-01 6.64e-01H  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  9.0888451e+03 5.84e-04 5.94e+03  -0.4 9.69e-02    -  1.00e+00 5.96e-01h  1
  61  9.1724863e+03 5.78e-03 1.25e+04   0.0 9.06e-01    -  1.00e+00 1.00e+00f  1
  62  9.2060996e+03 3.11e-03 3.14e+04  -0.1 1.01e+00    -  9.20e-01 1.00e+00h  1
  63  9.1976491e+03 3.91e-03 2.35e+04  -0.1 1.07e-01    -  5.47e-01 6.46e-01f  1
  64  9.2059143e+03 1.03e-03 3.25e+03  -0.1 3.93e-01    -  7.82e-01 1.00e+00f  1
  65  9.2396746e+03 1.31e-03 6.88e+03   0.1 3.21e-01    -  1.00e+00 1.00e+00f  1
  66  9.2798964e+03 1.80e-03 2.34e+04  -0.0 8.62e-01    -  1.00e+00 7.08e-01H  1
  67  9.3223384e+03 3.04e-02 5.30e+04   0.1 5.10e-01    -  1.00e+00 6.23e-01f  1
  68  9.3329336e+03 2.97e-02 6.11e+04  -0.0 1.28e+00    -  3.99e-01 3.40e-01h  1
  69  9.3434672e+03 8.03e-03 1.64e+04  -0.0 3.02e-01    -  1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  9.3696101e+03 2.31e-03 9.88e+03  -0.0 5.88e-01    -  1.00e+00 8.50e-01h  1
  71  9.3648130e+03 1.10e-03 8.17e+03  -0.0 1.54e-01    -  4.33e-01 5.22e-01f  1
  72  9.3596353e+03 1.25e-04 2.88e+03  -0.0 2.97e-01    -  1.00e+00 1.00e+00f  1
  73  9.3618237e+03 7.32e-04 5.11e+03  -0.0 2.47e-01    -  1.00e+00 1.00e+00h  1
  74  9.3576262e+03 1.38e-03 6.74e+03   0.4 2.61e-01    -  9.96e-01 1.00e+00f  1
  75  9.3559795e+03 4.19e-04 8.49e+03   0.3 2.13e-01    -  1.00e+00 1.00e+00h  1
  76  9.3503411e+03 3.09e-04 3.89e+03   0.3 6.58e-02    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=77] New best intermediate variables
  77  9.3502509e+03 3.04e-04 2.74e+03   0.3 7.08e-02    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=78] New best intermediate variables
  78  9.3493519e+03 1.09e-04 4.29e+03  -0.2 1.09e-01    -  9.95e-01 9.41e-01H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=79] New best intermediate variables
  79  9.3417523e+03 4.96e-05 3.75e+03  -0.9 1.36e-01    -  9.03e-01 8.67e-01H  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  9.3316152e+03 4.68e-04 1.84e+04   0.0 3.33e-01    -  1.00e+00 2.97e-01f  1
  81  9.3081603e+03 4.56e-03 9.84e+03  -0.4 3.22e-01    -  1.00e+00 1.00e+00f  1
  82  9.2748779e+03 2.65e-02 2.85e+04  -0.5 1.55e+00    -  3.74e-01 4.20e-01f  1
  83  9.2478302e+03 2.58e-02 3.10e+04  -0.5 1.10e+00    -  4.87e-01 2.08e-01f  1
  84  9.2002904e+03 1.83e-02 2.45e+04  -0.5 1.70e+00    -  2.30e-01 2.89e-01f  1
  85  9.1723160e+03 1.44e-02 1.90e+04  -0.5 3.88e-01    -  1.82e-01 2.14e-01f  1
  86  9.1450347e+03 1.05e-02 2.59e+04  -0.5 2.59e+00    -  9.77e-01 2.76e-01f  1
  87  9.1148530e+03 3.35e-03 1.15e+04  -0.5 1.59e-01    -  5.52e-01 6.82e-01f  1
  88  9.0923266e+03 2.42e-03 1.11e+04  -0.5 5.66e-01    -  7.07e-01 2.78e-01f  1
  89  9.0451729e+03 2.55e-03 8.49e+03  -0.5 1.01e-01    -  1.00e+00 8.42e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  9.0670816e+03 4.64e-04 3.73e+03  -0.2 2.16e-01    -  1.00e+00 9.97e-01f  1
  91  9.0848919e+03 6.38e-05 8.44e+03  -0.3 2.55e-01    -  1.00e+00 6.31e-01H  1
  92  9.1011136e+03 2.50e-03 1.32e+04   0.5 4.33e-01    -  8.91e-01 1.00e+00f  1
  93  9.0648685e+03 9.59e-04 4.96e+03   0.3 3.21e-01    -  1.00e+00 1.00e+00h  1
  94  9.0547431e+03 1.14e-03 4.90e+03   0.3 3.14e-01    -  1.00e+00 1.00e+00f  1
  95  9.0665887e+03 4.14e-04 2.91e+03   0.3 3.12e-01    -  1.00e+00 1.00e+00h  1
  96  9.0713197e+03 6.43e-05 3.22e+03   0.3 1.55e-01    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=97] New best intermediate variables
  97  9.0712264e+03 5.45e-05 2.69e+03  -0.5 6.13e-02    -  9.84e-01 1.00e+00H  1
  98  9.0679442e+03 4.34e-04 3.86e+03  -0.1 3.14e-01    -  1.00e+00 6.22e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=99] New best intermediate variables
  99  9.0524814e+03 7.10e-04 2.13e+03  -0.8 5.16e-02    -  1.00e+00 9.96e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  9.0453711e+03 3.53e-04 7.52e+03   0.2 7.63e-01    -  9.70e-01 5.78e-01f  1
 101  9.0464143e+03 6.72e-05 1.27e+03  -0.2 1.66e-01    -  1.00e+00 1.00e+00h  1
 102  9.0439065e+03 3.71e-04 8.97e+03  -0.0 7.47e-01    -  1.00e+00 9.95e-01f  1
 103  9.0380800e+03 7.77e-05 3.05e+03   0.2 6.02e-01    -  1.00e+00 1.00e+00f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=104] New best intermediate variables
 104  9.0377103e+03 7.67e-05 2.42e+03  -0.6 1.65e-01    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=105] New best intermediate variables
 105  9.0355302e+03 2.46e-04 3.44e+03  -0.7 5.42e-02    -  9.99e-01 6.27e-01h  1
 106  9.0332930e+03 1.05e-03 1.21e+04  -0.4 6.23e-01    -  1.00e+00 3.31e-01f  1
 107  9.0403591e+03 2.79e-04 7.65e+03  -0.5 1.24e-01    -  1.00e+00 7.08e-01H  1
 108  9.0459069e+03 1.87e-04 7.73e+03  -0.6 9.52e-02    -  2.16e-01 3.77e-01h  1
 109  9.0475335e+03 2.19e-04 4.24e+03  -0.6 4.82e-01    -  1.00e+00 9.20e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 110  9.0509682e+03 4.84e-04 1.55e+03  -0.1 6.38e-02    -  1.00e+00 1.00e+00f  1
 111  9.0547539e+03 9.44e-05 8.09e+02  -0.1 6.18e-02    -  1.00e+00 1.00e+00h  1
 112  9.0603974e+03 1.01e-04 1.62e+03  -0.3 2.11e-01    -  1.00e+00 9.30e-01H  1
 113  9.0624179e+03 4.83e-05 1.11e+03  -1.2 3.32e-02    -  8.83e-01 8.31e-01H  1
 114  9.0620371e+03 1.39e-03 3.18e+04   0.4 3.98e-01    -  8.55e-01 3.43e-01f  1
 115  9.0680651e+03 3.92e-04 5.50e+03   0.3 2.57e-01    -  8.50e-01 7.18e-01f  1
 116  9.0636314e+03 7.33e-05 2.52e+03   0.3 1.47e-01    -  1.00e+00 1.00e+00f  1
 117  9.0627305e+03 6.22e-05 2.31e+03   0.3 1.71e-01    -  1.00e+00 1.00e+00h  1
 118  9.0614764e+03 6.39e-05 1.11e+03   0.3 6.47e-02    -  1.00e+00 1.00e+00h  1
 119  9.0548734e+03 5.60e-05 1.99e+03   0.3 6.32e-02    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=120] New best intermediate variables
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 120  9.0146237e+03 1.14e-04 5.98e+03   0.3 6.84e-02    -  1.00e+00 1.00e+00H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=121] New best intermediate variables
 121  9.0052410e+03 3.71e-04 3.77e+04   0.2 1.65e-01    -  1.00e+00 6.27e-01H  1
 122  9.0318654e+03 3.23e-05 5.39e+03   0.1 1.25e-01    -  1.00e+00 1.00e+00H  1
 123  9.0319624e+03 3.22e-05 5.86e+03  -0.4 4.44e-01    -  1.00e+00 3.12e-02h  6
 124  9.0312848e+03 8.59e-05 9.73e+02  -1.0 7.04e-02    -  1.00e+00 1.00e+00s 22
 125  9.0256834e+03 1.17e-04 3.77e+03  -1.0 3.59e-02    -  6.33e-01 3.94e-01h  1
 126  9.0197242e+03 2.61e-04 1.27e+04  -1.0 8.42e-02    -  8.76e-01 2.31e-01f  1
 127  9.0079253e+03 7.77e-04 1.50e+04  -1.0 1.48e-01    -  7.70e-01 2.26e-01f  1
 128  8.9941476e+03 6.36e-04 1.35e+04  -1.0 1.68e-01    -  4.89e-01 1.89e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=129] New best intermediate variables
 129  8.9705079e+03 1.15e-04 1.99e+03  -0.5 3.51e-02    -  1.00e+00 1.00e+00f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 130  8.9763216e+03 8.48e-05 1.12e+03  -0.3 8.19e-02    -  1.00e+00 1.00e+00f  1
 131  8.9812657e+03 8.81e-05 3.79e+03  -0.7 2.77e-02    -  8.74e-01 1.00e+00H  1
 132  8.9746338e+03 3.22e-05 1.37e+03  -1.0 1.24e-01    -  9.19e-01 1.00e+00H  1
 133  8.9711710e+03 2.86e-05 1.43e+03  -1.3 3.45e-02    -  9.68e-01 7.69e-01h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=134] New best intermediate variables
 134  8.9654570e+03 2.14e-05 1.70e+03  -1.4 1.24e-02    -  1.00e+00 8.20e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=135] New best intermediate variables
 135  8.9441395e+03 6.38e-05 1.03e+04  -0.9 1.10e-01    -  1.00e+00 3.41e-01f  1
 136  8.9240131e+03 7.23e-05 5.63e+03  -1.1 1.37e-01    -  1.00e+00 3.80e-01f  1
 137  8.8798350e+03 7.28e-04 5.07e+03  -0.6 1.31e-01    -  1.00e+00 6.37e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=138] New best intermediate variables
 138  8.8910309e+03 9.32e-05 1.65e+03  -0.7 1.49e-01    -  1.00e+00 8.77e-01h  1
 139  8.9184241e+03 3.93e-04 3.53e+03   0.1 4.68e-01    -  9.93e-01 8.05e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 140  8.9235781e+03 9.09e-05 1.92e+03  -0.0 3.04e-01    -  1.00e+00 1.00e+00h  1
 141  8.9062399e+03 1.70e-04 1.89e+03  -0.0 3.50e-02    -  1.00e+00 1.00e+00h  1
 142  8.9149574e+03 2.93e-05 1.04e+03  -0.6 1.50e-01    -  9.62e-01 1.00e+00H  1
 143  8.9181032e+03 2.75e-05 1.91e+03  -0.7 2.94e-02    -  8.09e-01 1.00e+00H  1
 144  8.9160889e+03 2.84e-05 3.96e+02  -0.4 9.20e-02    -  1.00e+00 1.00e+00f  1
 145  8.9158763e+03 2.24e-05 2.66e+02  -1.3 3.82e-02    -  9.74e-01 1.00e+00H  1
 146  8.9155243e+03 2.16e-05 5.74e+03  -1.3 3.22e-02    -  1.00e+00 9.77e-02h  3
 147  8.9101511e+03 3.55e-05 5.24e+03  -1.5 3.35e-02    -  1.00e+00 4.76e-01H  1
 148  8.8988858e+03 6.99e-05 5.49e+03  -1.2 7.57e-02    -  1.00e+00 2.77e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=149] New best intermediate variables
 149  8.8684009e+03 2.63e-04 6.60e+03  -0.5 1.06e-01    -  1.00e+00 4.87e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 150  8.8080468e+03 1.31e-03 4.92e+03  -0.5 4.66e-01    -  8.35e-01 7.77e-01f  1
 151  8.8450960e+03 6.08e-04 1.73e+03  -0.5 2.91e-01    -  8.83e-01 8.33e-01h  1
 152  8.8850760e+03 1.83e-03 1.84e+04   0.6 1.54e+00    -  5.52e-01 2.86e-01f  1
 153  8.8873551e+03 1.43e-03 1.61e+04   0.3 3.94e-01    -  3.59e-01 2.09e-01H  1
 154  8.8611476e+03 3.54e-04 6.12e+03   0.3 1.75e-01    -  9.63e-01 1.00e+00h  1
 155  8.8468158e+03 6.72e-05 5.06e+03   0.3 1.93e-01    -  1.00e+00 1.00e+00h  1
 156  8.8442208e+03 1.61e-04 3.72e+03  -0.4 3.94e-02    -  1.00e+00 1.00e+00h  1
 157  8.8520201e+03 2.18e-04 1.25e+04  -0.1 7.66e-01    -  1.00e+00 1.00e+00f  1
 158  8.8479035e+03 3.50e-05 1.64e+03  -0.2 6.03e-01    -  9.72e-01 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=159] New best intermediate variables
 159  8.8470566e+03 4.00e-05 1.38e+03  -1.2 1.39e-01    -  1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 160  8.8489039e+03 9.57e-05 6.98e+03  -0.8 8.19e-02    -  1.00e+00 5.62e-01f  1
 161  8.8538972e+03 7.99e-05 6.52e+03  -1.2 3.66e-02    -  9.46e-01 4.87e-01H  1
 162  8.8572263e+03 1.85e-04 7.02e+03  -0.8 1.44e-01    -  1.00e+00 3.71e-01f  1
 163  8.8592756e+03 1.59e-04 1.75e+03  -1.0 1.47e-01    -  8.10e-01 1.00e+00H  1
 164  8.8581187e+03 9.48e-05 3.99e+03  -1.1 2.04e-02    -  1.00e+00 4.03e-01h  1
 165  8.8563679e+03 2.00e-05 1.89e+03  -1.4 1.42e-01    -  1.00e+00 7.86e-01h  1
 166  8.8539151e+03 1.87e-05 3.14e+02  -1.1 9.77e-03    -  1.00e+00 1.00e+00f  1
 167  8.8486302e+03 6.70e-05 2.94e+03  -1.5 6.63e-02    -  7.37e-01 1.00e+00H  1
 168  8.8368762e+03 1.15e-04 2.79e+03  -0.7 1.83e-01    -  1.00e+00 8.08e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=169] New best intermediate variables
 169  8.8454495e+03 2.69e-05 4.78e+02  -1.4 2.41e-02    -  1.00e+00 1.00e+00h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 170  8.8500516e+03 2.04e-05 7.34e+02  -1.0 1.68e-01    -  1.00e+00 8.79e-01f  1
 171  8.8485387e+03 2.07e-05 1.98e+03  -1.1 2.71e-02    -  1.00e+00 5.00e-01f  2
 172  8.8468817e+03 2.04e-05 4.36e+02  -1.6 5.19e-02    -  9.36e-01 1.00e+00H  1
 173  8.8476629e+03 2.27e-05 4.58e+02  -1.8 8.21e-03    -  1.00e+00 1.00e+00h  1
 174  8.8493533e+03 1.71e-05 6.94e+02  -1.6 1.34e-01    -  1.00e+00 8.90e-01f  1
 175  8.8521377e+03 1.63e-05 3.88e+03  -1.7 2.25e-02    -  6.09e-01 1.00e+00H  1
 176  8.8525989e+03 1.67e-05 6.03e+02  -1.2 1.04e-01    -  1.00e+00 1.00e+00f  1
 177  8.8524779e+03 1.79e-05 2.35e+02  -1.2 2.57e-02    -  1.00e+00 1.00e+00h  1
 178  8.8533538e+03 2.17e-05 6.76e+02  -1.2 9.99e-02    -  1.00e+00 9.20e-01H  1
 179  8.8534143e+03 1.57e-05 2.89e+02  -1.2 4.85e-02    -  1.00e+00 1.00e+00F  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 180  8.8535615e+03 1.41e-05 4.03e+03  -1.7 8.52e-02    -  6.61e-01 9.72e-01H  1
 181  8.8528326e+03 1.36e-05 2.82e+03  -2.0 2.45e-02    -  7.41e-01 9.89e-01H  1
 182  8.8514275e+03 6.99e-05 1.51e+03  -1.6 5.32e-02    -  1.00e+00 7.72e-01f  1
 183  8.8514087e+03 6.84e-05 7.89e+03  -1.7 3.82e-02    -  1.00e+00 2.41e-02f  6
 184  8.8528157e+03 8.54e-04 6.41e+03  -1.7 2.96e-01    -  1.88e-01 1.88e-01s 20
 185  8.8543612e+03 1.06e-03 3.92e+03  -1.7 8.82e-02    -  3.89e-01 3.89e-01s 20
 186  8.8547765e+03 1.07e-03 3.45e+03  -1.7 1.35e-01    -  1.19e-01 1.19e-01s 20
 187  8.8545020e+03 9.82e-04 2.94e+03  -1.7 2.55e-01    -  1.47e-01 1.47e-01s 20
 188  8.8543896e+03 8.37e-04 2.32e+03  -1.7 7.30e-02    -  2.11e-01 2.11e-01s 20
 189  8.8550834e+03 1.30e-03 2.11e+03  -1.7 1.09e-01    -  2.23e-01 2.23e-01s 20
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 190r 8.8550834e+03 1.30e-03 1.00e+03  -1.7 0.00e+00    -  0.00e+00 0.00e+00R  1
 191r 8.8551263e+03 4.56e-04 7.42e+02  -1.7 1.77e-01    -  8.52e-01 1.12e-02f  1
 192r 8.8833302e+03 4.62e-04 4.36e+02  -2.6 2.07e-01    -  5.44e-01 3.67e-01f  1
 193r 8.9108022e+03 1.36e-03 2.08e+02  -2.5 1.68e-01    -  4.73e-01 5.83e-01f  1
 194r 8.9260366e+03 8.18e-04 7.31e+01  -3.0 5.67e-02    -  6.66e-01 6.34e-01f  1
 195r 8.9368547e+03 5.59e-04 4.45e+01  -3.1 3.32e-02    -  4.72e-01 5.18e-01f  1
 196r 8.9853543e+03 1.50e-03 2.09e+01  -2.4 6.76e-02    -  5.29e-01 5.30e-01f  1

Number of Iterations....: 196

                                   (scaled)                 (unscaled)
Objective...............:   9.0158188394176195e+03    9.0158188394176195e+03
Dual infeasibility......:   6.5832243965048337e+03    6.5832243965048337e+03
Constraint violation....:   4.6523887723744217e-04    4.6523887723744217e-04
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   5.5921448725116951e-03    5.5921448725116951e-03
Overall NLP error.......:   6.5832243965048337e+03    6.5832243965048337e+03


Number of objective function evaluations             = 312
Number of objective gradient evaluations             = 192
Number of equality constraint evaluations            = 312
Number of inequality constraint evaluations          = 312
Number of equality constraint Jacobian evaluations   = 199
Number of inequality constraint Jacobian evaluations = 199
Number of Lagrangian Hessian evaluations             = 0
Total seconds in IPOPT                               = 142.397

EXIT: Converged to a point of local infeasibility. Problem may be infeasible.
      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval
callback_fun  |  15.56 s ( 81.91ms)  15.56 s ( 81.91ms)       190
       nlp_f  | 107.06ms (343.14us) 107.23ms (343.69us)       312
       nlp_g  |   1.64 s (  5.24ms)   1.64 s (  5.24ms)       312
  nlp_grad_f  | 202.89ms (  1.05ms) 202.94ms (  1.05ms)       194
   nlp_jac_g  |   4.64 s ( 23.19ms)   4.64 s ( 23.20ms)       200
       total  | 142.49 s (142.49 s) 142.50 s (142.50 s)         1
WARNING:[hippopt::OptiSolver]:Opti failed to solve the problem, but the callback managed to save an intermediate solution at iteration 169.
Press [Enter] to visualize the solution.

Generated trajectory

humanoid_walking_step.1.1.mp4

Complementarity

Left Foot

left_foot_complementarity

Right Foot

right_foot_complementarity

Packages installed in my conda environment

I report here the current status of my conda environment:

click here to show the output of conda list. 
(hippopt) roberto@IITICUBLAP277:~$ conda list
# packages in environment at /home/roberto/miniforge3/envs/hippopt:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
adam-robotics             0.1.0              pyh2965483_0    conda-forge
alsa-lib                  1.2.10               hd590300_0    conda-forge
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
aom                       3.8.1                h59595ed_0    conda-forge
assimp                    5.3.1                hfb0e8fe_2    conda-forge
asttokens                 2.4.1              pyhd8ed1ab_0    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
brotli                    1.1.0                hd590300_1    conda-forge
brotli-bin                1.1.0                hd590300_1    conda-forge
bzip2                     1.0.8                hd590300_5    conda-forge
ca-certificates           2024.2.2             hbcca054_0    conda-forge
cairo                     1.18.0               h3faef2a_0    conda-forge
casadi                    3.6.3           py311h0fd60a5_5    conda-forge
certifi                   2024.2.2           pyhd8ed1ab_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
contourpy                 1.2.0           py311h9547e67_0    conda-forge
cycler                    0.12.1             pyhd8ed1ab_0    conda-forge
dav1d                     1.2.1                hd590300_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
eigen                     3.4.0                h00ab1b0_0    conda-forge
exceptiongroup            1.2.0              pyhd8ed1ab_2    conda-forge
executing                 2.0.1              pyhd8ed1ab_0    conda-forge
expat                     2.5.0                hcb278e6_1    conda-forge
ffmpeg                    6.1.1           gpl_h8007c5b_104    conda-forge
ffmpeg-python             0.2.0                      py_0    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 h77eed37_1    conda-forge
fontconfig                2.14.2               h14ed4e7_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.49.0          py311h459d7ec_0    conda-forge
freetype                  2.12.1               h267a509_2    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
future                    1.0.0              pyhd8ed1ab_0    conda-forge
gettext                   0.21.1               h27087fc_0    conda-forge
glfw                      3.4                  hd590300_0    conda-forge
glib                      2.78.4               hfc55251_0    conda-forge
glib-tools                2.78.4               hfc55251_0    conda-forge
gmp                       6.3.0                h59595ed_0    conda-forge
gnutls                    3.7.9                hb077bed_0    conda-forge
graphite2                 1.3.13            h58526e2_1001    conda-forge
gst-plugins-base          1.22.9               h8e1006c_0    conda-forge
gstreamer                 1.22.9               h98fc4e7_0    conda-forge
harfbuzz                  8.3.0                h3d44ed6_0    conda-forge
hippopt                   0.1.dev368               pypi_0    pypi
icu                       73.2                 h59595ed_0    conda-forge
idyntree                  10.3.0          py311ha885c8a_0    conda-forge
iniconfig                 2.0.0              pyhd8ed1ab_0    conda-forge
ipopt                     3.14.14              h04b96a2_1    conda-forge
ipython                   8.22.1             pyh707e725_0    conda-forge
irrlicht                  1.8.5                h2a6caf8_4    conda-forge
jedi                      0.19.1             pyhd8ed1ab_0    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.5           py311h9547e67_1    conda-forge
krb5                      1.21.2               h659d440_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
lcms2                     2.16                 hb7c19ff_0    conda-forge
ld_impl_linux-64          2.40                 h41732ed_0    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libabseil                 20240116.1      cxx17_h59595ed_1    conda-forge
libass                    0.17.1               h8fe9dca_1    conda-forge
libblas                   3.9.0           21_linux64_openblas    conda-forge
libboost                  1.82.0               h6fcfa73_6    conda-forge
libbrotlicommon           1.1.0                hd590300_1    conda-forge
libbrotlidec              1.1.0                hd590300_1    conda-forge
libbrotlienc              1.1.0                hd590300_1    conda-forge
libcap                    2.69                 h0f662aa_0    conda-forge
libcblas                  3.9.0           21_linux64_openblas    conda-forge
libclang                  15.0.7          default_hb11cfb5_4    conda-forge
libclang13                15.0.7          default_ha2b6cf4_4    conda-forge
libcups                   2.3.3                h4637d8d_4    conda-forge
libdeflate                1.19                 hd590300_0    conda-forge
libdrm                    2.4.120              hd590300_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libevent                  2.1.12               hf998b51_1    conda-forge
libexpat                  2.5.0                hcb278e6_1    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.4.3                h59595ed_0    conda-forge
libgcc-ng                 13.2.0               h807b86a_5    conda-forge
libgcrypt                 1.10.3               hd590300_0    conda-forge
libgfortran-ng            13.2.0               h69a702a_5    conda-forge
libgfortran5              13.2.0               ha4646dd_5    conda-forge
libglib                   2.78.4               h783c2da_0    conda-forge
libglu                    9.0.0             hac7e632_1003    conda-forge
libgomp                   13.2.0               h807b86a_5    conda-forge
libgpg-error              1.48                 h71f35ed_0    conda-forge
libhwloc                  2.9.3           default_h554bfaf_1009    conda-forge
libiconv                  1.17                 hd590300_2    conda-forge
libidn2                   2.3.7                hd590300_0    conda-forge
libjpeg-turbo             3.0.0                hd590300_1    conda-forge
liblapack                 3.9.0           21_linux64_openblas    conda-forge
libllvm15                 15.0.7               hb3ce162_4    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopenblas               0.3.26          pthreads_h413a1c8_0    conda-forge
libopenvino               2023.3.0             h2e90f83_2    conda-forge
libopenvino-auto-batch-plugin 2023.3.0             hd5fc58b_2    conda-forge
libopenvino-auto-plugin   2023.3.0             hd5fc58b_2    conda-forge
libopenvino-hetero-plugin 2023.3.0             h3ecfda7_2    conda-forge
libopenvino-intel-cpu-plugin 2023.3.0             h2e90f83_2    conda-forge
libopenvino-intel-gpu-plugin 2023.3.0             h2e90f83_2    conda-forge
libopenvino-ir-frontend   2023.3.0             h3ecfda7_2    conda-forge
libopenvino-onnx-frontend 2023.3.0             h469e5c9_2    conda-forge
libopenvino-paddle-frontend 2023.3.0             h469e5c9_2    conda-forge
libopenvino-pytorch-frontend 2023.3.0             h59595ed_2    conda-forge
libopenvino-tensorflow-frontend 2023.3.0             he1e0747_2    conda-forge
libopenvino-tensorflow-lite-frontend 2023.3.0             h59595ed_2    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libosqp                   0.6.3                h59595ed_0    conda-forge
libpciaccess              0.18                 hd590300_0    conda-forge
libpng                    1.6.43               h2797004_0    conda-forge
libpq                     16.2                 h33b98f1_0    conda-forge
libprotobuf               4.25.2               h08a7969_1    conda-forge
libqdldl                  0.1.5                h27087fc_1    conda-forge
libscotch                 7.0.4                h91e35bf_1    conda-forge
libsndfile                1.2.2                hc60ed4a_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libspral                  2023.09.07           h6aa6db2_2    conda-forge
libsqlite                 3.45.1               h2797004_0    conda-forge
libstdcxx-ng              13.2.0               h7e041cc_5    conda-forge
libsystemd0               255                  h3516f8a_0    conda-forge
libtasn1                  4.19.0               h166bdaf_0    conda-forge
libtiff                   4.6.0                ha9c0a0a_2    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libva                     2.20.0               hd590300_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.13.1               h59595ed_0    conda-forge
libwebp-base              1.3.2                hd590300_0    conda-forge
libxcb                    1.15                 h0b41bf4_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libxkbcommon              1.6.0                hd429924_1    conda-forge
libxml2                   2.12.5               h232c23b_0    conda-forge
libxslt                   1.1.39               h76b75d6_0    conda-forge
libzlib                   1.2.13               hd590300_5    conda-forge
liecasadi                 0.0.6              pyhd8ed1ab_0    conda-forge
lxml                      5.1.0           py311h9691dec_0    conda-forge
lz4-c                     1.9.4                hcb278e6_0    conda-forge
matplotlib                3.8.3           py311h38be061_0    conda-forge
matplotlib-base           3.8.3           py311h54ef318_0    conda-forge
matplotlib-inline         0.1.6              pyhd8ed1ab_0    conda-forge
meshcat-python            0.3.2              pyhd8ed1ab_0    conda-forge
metis                     5.1.0             h59595ed_1007    conda-forge
mpg123                    1.32.4               h59595ed_0    conda-forge
mumps-include             5.6.2                ha770c72_4    conda-forge
mumps-seq                 5.6.2                hfef103a_4    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mysql-common              8.0.33               hf1915f5_6    conda-forge
mysql-libs                8.0.33               hca2cd23_6    conda-forge
ncurses                   6.4                  h59595ed_2    conda-forge
nettle                    3.9.1                h7ab15ed_0    conda-forge
nspr                      4.35                 h27087fc_0    conda-forge
nss                       3.98                 h1d7d5a4_0    conda-forge
numpy                     1.26.4          py311h64a7726_0    conda-forge
ocl-icd                   2.3.2                hd590300_0    conda-forge
openh264                  2.4.1                h59595ed_0    conda-forge
openjpeg                  2.5.0                h488ebb8_3    conda-forge
openssl                   3.2.1                hd590300_0    conda-forge
osqp-eigen                0.8.1                hdd734ac_0    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
packaging                 23.2               pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
pcre2                     10.42                hcad00b1_0    conda-forge
pexpect                   4.9.0              pyhd8ed1ab_0    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    10.2.0          py311ha6c5da5_0    conda-forge
pip                       24.0               pyhd8ed1ab_0    conda-forge
pixman                    0.43.2               h59595ed_0    conda-forge
pluggy                    1.4.0              pyhd8ed1ab_0    conda-forge
ply                       3.11                       py_1    conda-forge
prettytable               3.10.0             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.42             pyha770c72_0    conda-forge
proxsuite                 0.6.3           py311h9547e67_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pugixml                   1.14                 h59595ed_0    conda-forge
pulseaudio-client         16.1                 hb77b528_5    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
pygments                  2.17.2             pyhd8ed1ab_0    conda-forge
pyngrok                   7.1.2              pyhd8ed1ab_0    conda-forge
pyparsing                 3.1.1              pyhd8ed1ab_0    conda-forge
pyqt                      5.15.9          py311hf0fb5b6_5    conda-forge
pyqt5-sip                 12.12.2         py311hb755f60_5    conda-forge
pytest                    8.0.2              pyhd8ed1ab_0    conda-forge
python                    3.11.8          hab00c5b_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python_abi                3.11                    4_cp311    conda-forge
pyyaml                    6.0.1           py311h459d7ec_1    conda-forge
pyzmq                     25.1.2          py311h34ded2d_0    conda-forge
qt-main                   5.15.8              h5810be5_19    conda-forge
readline                  8.2                  h8228510_1    conda-forge
resolve-robotics-uri-py   0.1.0              pyhd8ed1ab_0    conda-forge
scipy                     1.12.0          py311h64a7726_2    conda-forge
scotch                    7.0.4                h23d43cc_1    conda-forge
sdl                       1.2.68               h293081c_0    conda-forge
sdl2                      2.28.5               h77f46ba_0    conda-forge
setuptools                69.1.1             pyhd8ed1ab_0    conda-forge
simde                     0.7.6                h00ab1b0_0    conda-forge
sip                       6.7.12          py311hb755f60_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
snappy                    1.1.10               h9fff704_0    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
svt-av1                   1.8.0                h59595ed_0    conda-forge
tbb                       2021.11.0            h00ab1b0_1    conda-forge
tinyxml2                  10.0.0               h59595ed_0    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tornado                   6.4             py311h459d7ec_0    conda-forge
traitlets                 5.14.1             pyhd8ed1ab_0    conda-forge
typing_extensions         4.10.0             pyha770c72_0    conda-forge
tzdata                    2024a                h0c530f3_0    conda-forge
u-msgpack-python          2.8.0              pyhd8ed1ab_0    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urdfdom-py                1.2.1           py311h38be061_3    conda-forge
wayland                   1.22.0               h8c25dac_1    conda-forge
wcwidth                   0.2.13             pyhd8ed1ab_0    conda-forge
wheel                     0.42.0             pyhd8ed1ab_0    conda-forge
x264                      1!164.3095           h166bdaf_2    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.0                hd590300_1    conda-forge
xcb-util-image            0.4.0                h8ee46fc_1    conda-forge
xcb-util-keysyms          0.4.0                h8ee46fc_1    conda-forge
xcb-util-renderutil       0.3.9                hd590300_1    conda-forge
xcb-util-wm               0.4.1                h8ee46fc_1    conda-forge
xkeyboard-config          2.41                 hd590300_0    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.1.1                hd590300_0    conda-forge
xorg-libsm                1.2.4                h7391055_0    conda-forge
xorg-libx11               1.8.7                h8ee46fc_0    conda-forge
xorg-libxau               1.0.11               hd590300_0    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h0b41bf4_2    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxinerama          1.1.5                h27087fc_0    conda-forge
xorg-libxrender           0.9.11               hd590300_0    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-xextproto            7.3.0             h0b41bf4_1003    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
zeromq                    4.3.5                h59595ed_0    conda-forge
zlib                      1.2.13               hd590300_5    conda-forge
zstd                      1.5.5                hfc55251_0    conda-forge

cc: @S-Dafarra
@rob-mau rob-mau added the bug Something isn't working label Feb 28, 2024
@rob-mau rob-mau self-assigned this Feb 28, 2024
@S-Dafarra
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On my machine, in Ubuntu 22.04 (WSL) I have the following output

ipopt output 
Starting the planner...
This is Ipopt version 3.14.14, running with linear solver MUMPS 5.6.2.

Number of nonzeros in equality constraint Jacobian...:    63396
Number of nonzeros in inequality constraint Jacobian.:    10800
Number of nonzeros in Lagrangian Hessian.............:        0

Total number of variables............................:     9294
                     variables with only lower bounds:        0
                variables with lower and upper bounds:     4804
                     variables with only upper bounds:        0
Total number of equality constraints.................:     7015
Total number of inequality constraints...............:     1723
        inequality constraints with only lower bounds:     1674
   inequality constraints with lower and upper bounds:       49
        inequality constraints with only upper bounds:        0

iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
   0  5.1824477e+00 1.23e+00 1.80e+00   0.0 0.00e+00    -  0.00e+00 0.00e+00   0
   1  5.4009957e+00 1.22e+00 1.83e+00  -1.5 7.91e+00    -  7.08e-02 4.84e-03f  1
   2  5.6277542e+00 1.21e+00 1.83e+00  -1.6 7.42e+00    -  8.49e-03 6.19e-03h  1
   3  2.0807856e+01 1.17e+00 8.35e+00  -0.8 8.09e+00    -  3.27e-02 3.32e-02f  1
   4  2.2030481e+01 1.17e+00 9.52e+00  -1.5 7.92e+00    -  5.67e-03 5.97e-03f  1
   5  2.2918507e+01 1.16e+00 9.68e+00  -1.5 6.40e+00    -  7.21e-03 3.10e-03f  1
   6  2.5539919e+01 1.15e+00 1.03e+01  -1.5 7.16e+00    -  1.22e-02 6.39e-03h  1
   7  2.9663109e+01 1.14e+00 1.14e+01  -1.5 7.12e+00    -  6.91e-03 9.17e-03h  1
   8  3.7708657e+01 1.13e+00 1.74e+01  -1.5 7.01e+00    -  1.84e-02 1.45e-02h  1
   9  5.3103780e+01 1.10e+00 3.04e+01  -1.5 8.14e+00    -  3.20e-03 2.22e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  10  5.4833445e+01 1.10e+00 3.24e+01  -1.5 8.35e+00    -  2.85e-02 3.72e-03h  1
  11  7.1281879e+01 1.08e+00 4.62e+01  -1.5 8.71e+00    -  2.15e-02 1.82e-02h  1
  12  7.7753059e+01 1.07e+00 5.94e+01  -1.5 1.03e+01    -  1.43e-02 8.22e-03h  1
  13  8.2041910e+01 1.06e+00 2.12e+02  -3.1 9.92e+00    -  2.27e-02 4.67e-03h  1
  14  1.0145895e+02 1.04e+00 5.44e+02  -0.8 9.97e+00    -  5.24e-02 1.81e-02h  1
  15  1.3585538e+02 1.02e+00 7.57e+02  -1.4 9.88e+00    -  6.44e-02 2.80e-02h  1
  16  1.6503625e+02 9.93e-01 7.20e+02  -0.9 1.01e+01    -  1.61e-02 2.26e-02h  1
  17  1.9868050e+02 9.71e-01 7.75e+02  -0.8 1.01e+01    -  5.04e-02 2.12e-02h  1
  18  2.6328304e+02 9.34e-01 7.57e+02  -1.3 9.33e+00    -  4.48e-02 3.88e-02h  1
  19  3.6592825e+02 8.85e-01 7.55e+02  -2.1 8.76e+00    -  7.82e-02 5.25e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  20  4.6277574e+02 8.47e-01 7.49e+02  -0.3 9.50e+00    -  7.24e-02 4.32e-02h  1
  21  6.7582207e+02 7.79e-01 8.27e+02  -0.4 9.17e+00    -  1.39e-01 7.92e-02h  1
  22  8.4506881e+02 1.92e+00 2.10e+03  -1.0 8.29e+00    -  1.44e-01 6.64e-02h  1
  23  1.0342853e+03 1.77e+00 1.82e+03  -0.7 6.70e+00    -  1.53e-01 6.47e-02h  1
  24  1.1891388e+03 1.62e+00 1.38e+03  -0.0 6.34e+00    -  1.40e-01 4.89e-02h  1
  25  1.4334685e+03 1.44e+00 1.62e+03  -1.9 6.97e+00    -  1.56e-01 7.42e-02h  1
  26  1.6577225e+03 6.44e-01 1.94e+03   0.2 6.81e+01    -  2.05e-01 5.93e-02h  1
  27  2.0661520e+03 5.04e-01 2.56e+03   0.1 8.88e+00    -  2.10e-01 1.07e-01h  1
  28  2.6414316e+03 4.85e+00 3.22e+04   0.7 6.96e+00    -  4.53e-01 9.62e-02f  1
  29  2.7447608e+03 4.49e+00 3.46e+04   0.4 4.42e+00    -  5.08e-02 4.56e-02h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  30  3.1036442e+03 3.63e+00 4.10e+04   0.4 4.43e+00    -  3.25e-01 9.57e-02h  1
  31  4.1784004e+03 1.99e+00 1.33e+04  -5.6 5.55e+00    -  6.87e-02 2.93e-01h  1
  32  4.8646244e+03 1.22e+00 2.48e+04   0.8 4.71e+00    -  3.63e-01 2.01e-01h  1
  33  5.2796838e+03 8.35e-01 7.56e+04   0.6 2.97e+00    -  5.37e-01 1.64e-01h  1
  34  5.7852977e+03 9.09e-01 3.95e+04   0.8 5.20e+00    -  3.54e-01 1.55e-01h  1
  35  5.9303939e+03 8.34e-01 3.49e+04  -0.9 3.45e+00    -  3.02e-01 8.25e-02h  1
  36  6.6094003e+03 1.33e+00 4.93e+04   0.4 5.53e+00    -  1.03e-01 2.35e-01h  1
  37  7.2990934e+03 1.01e+00 2.00e+05   0.9 2.09e+00    -  4.17e-01 2.38e-01h  1
  38  7.3235786e+03 8.51e-01 1.24e+05  -0.7 4.49e+00    -  2.15e-01 1.58e-01h  1
  39  8.2738152e+03 4.85e+00 2.51e+05   1.4 4.88e+00    -  2.61e-01 1.54e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  40  8.5037320e+03 6.27e-01 6.01e+05   0.9 1.49e+00    -  5.63e-01 5.88e-01h  1
  41  8.0243302e+03 2.78e-01 2.02e+05   0.5 1.32e+00    -  5.51e-01 6.00e-01h  1
  42  8.0715919e+03 1.74e-01 6.69e+04  -5.3 7.89e-01    -  3.29e-01 3.80e-01h  1
  43  8.2688151e+03 1.24e-01 4.17e+04   0.6 9.56e-01    -  4.28e-01 2.87e-01h  1
  44  8.4482438e+03 2.23e-01 8.73e+04   0.3 1.23e+00    -  4.46e-01 4.58e-01h  1
  45  8.5293281e+03 6.00e-02 3.62e+04   0.2 2.01e+00    -  7.54e-01 4.36e-01h  1
  46  8.5952899e+03 1.04e-01 4.74e+04   0.2 1.12e+00    -  6.04e-01 3.98e-01h  1
  47  8.6587515e+03 4.54e-02 6.78e+04   0.2 1.37e+00    -  5.62e-01 5.02e-01h  1
  48  8.6607749e+03 4.28e-02 6.90e+04   0.3 8.05e-01    -  4.86e-01 1.49e-01f  1
  49  8.6496358e+03 9.09e-02 6.49e+04   0.1 1.07e+01    -  7.67e-02 9.33e-02h  3
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  50  8.6157406e+03 1.44e-01 4.52e+04  -5.8 1.38e+00    -  3.06e-01 3.26e-01f  1
  51  8.5850372e+03 1.79e-01 3.67e+04  -0.0 3.16e+00    -  5.28e-01 1.78e-01f  1
  52  8.5339770e+03 4.52e-01 3.24e+04  -0.3 3.90e+00    -  3.81e-01 1.32e-01f  1
  53  8.4893406e+03 5.00e-01 3.56e+04   0.5 5.45e+00    -  3.00e-01 2.57e-01f  1
  54  8.6830141e+03 8.01e-01 6.50e+04   0.7 2.56e+00    -  4.65e-01 5.86e-01f  1
  55  8.5370696e+03 1.28e-01 3.94e+04   0.4 5.99e-01    -  1.00e+00 7.17e-01h  1
  56  8.5259538e+03 4.37e-02 5.60e+04   0.4 3.87e-01    -  7.76e-01 4.78e-01h  1
  57  8.6572331e+03 4.76e-02 5.58e+04   1.1 1.10e+00    -  7.25e-01 4.32e-01f  1
  58  8.8428574e+03 1.45e-02 2.02e+04   0.9 5.66e-01    -  1.00e+00 1.00e+00h  1
  59  8.7070303e+03 5.14e-03 1.29e+04   0.8 2.96e-01    -  1.00e+00 8.33e-01h  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  60  8.6194957e+03 8.39e-03 1.58e+04  -0.9 5.39e-01    -  6.88e-01 6.05e-01f  1
  61  8.6295561e+03 8.99e-03 2.01e+04  -0.4 6.02e-01    -  7.11e-01 3.98e-01H  1
  62  8.6964229e+03 6.08e-03 2.56e+04  -0.5 7.26e-01    -  5.73e-01 3.72e-01H  1
  63  8.7403761e+03 1.02e-02 2.70e+04   0.3 6.35e-01    -  1.00e+00 3.97e-01f  1
  64  8.7700042e+03 8.13e-03 2.48e+04   0.0 7.55e-01    -  7.27e-01 2.12e-01H  1
  65  8.7932414e+03 7.81e-03 2.22e+04  -0.4 7.12e-01    -  9.65e-01 1.69e-01h  1
  66  8.8177127e+03 4.36e-03 3.61e+04   0.1 1.70e+00    -  6.30e-01 8.14e-02H  1
  67  8.8591081e+03 8.10e-03 2.11e+04  -0.0 1.59e+00    -  8.90e-01 1.86e-01h  3
  68  8.8731517e+03 8.23e-03 2.05e+04  -0.1 2.20e+00    -  1.00e+00 6.18e-02h  4
  69  8.8805946e+03 8.32e-03 2.08e+04  -0.3 3.40e+00    -  7.22e-01 3.51e-02h  4
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  70  8.9264320e+03 4.34e-02 3.42e+04   0.2 2.61e+00    -  1.00e+00 2.98e-01f  1
  71  8.8090975e+03 1.36e-02 5.21e+04   0.1 6.89e-01    -  8.24e-01 8.34e-01f  1
  72  8.7925618e+03 4.74e-03 4.44e+04   0.1 3.83e-01    -  6.10e-01 6.66e-01f  1
  73  8.8258007e+03 2.02e-03 1.77e+04   0.1 2.75e-01    -  3.05e-01 4.25e-01H  1
  74  8.8441609e+03 3.16e-03 1.12e+04  -0.3 1.27e-01    -  6.39e-01 3.60e-01H  1
  75  8.8198387e+03 2.46e-03 4.18e+03   0.4 2.08e-01    -  1.00e+00 1.00e+00f  1
  76  8.8224754e+03 1.47e-04 2.20e+03   0.3 8.98e-02    -  1.00e+00 1.00e+00h  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=77] New best intermediate variables
  77  8.8248622e+03 9.86e-04 2.72e+03  -0.1 7.58e-02    -  1.00e+00 7.74e-01h  1
  78  8.8291583e+03 1.20e-03 2.07e+03  -0.7 1.06e-01    -  1.00e+00 8.80e-01h  1
  79  8.8197661e+03 2.22e-04 1.69e+03  -0.4 4.43e-02    -  1.00e+00 9.26e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  80  8.8078024e+03 6.98e-04 2.03e+03  -0.2 8.66e-02    -  1.00e+00 1.00e+00f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=81] New best intermediate variables
  81  8.8004323e+03 5.61e-05 2.71e+03  -0.7 5.68e-02    -  9.57e-01 8.31e-01H  1
  82  8.7909043e+03 5.76e-04 1.09e+03  -0.4 9.93e-02    -  1.00e+00 1.00e+00f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=83] New best intermediate variables
  83  8.7727991e+03 6.52e-05 1.59e+03  -0.7 4.60e-02    -  9.89e-01 9.06e-01H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=84] New best intermediate variables
  84  8.7563340e+03 4.35e-05 4.69e+03  -1.1 3.89e-02    -  8.55e-01 5.92e-01H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=85] New best intermediate variables
  85  8.7368002e+03 6.96e-05 2.61e+03  -0.4 9.99e-02    -  1.00e+00 7.48e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=86] New best intermediate variables
  86  8.7283178e+03 4.28e-05 8.98e+02  -0.7 9.10e-02    -  9.44e-01 1.00e+00H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=87] New best intermediate variables
  87  8.7237975e+03 3.25e-05 1.13e+03  -0.5 9.28e-02    -  1.00e+00 1.00e+00f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=88] New best intermediate variables
  88  8.7125817e+03 2.55e-05 5.63e+02  -0.9 2.15e-02    -  9.85e-01 1.00e+00H  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=89] New best intermediate variables
  89  8.6926375e+03 2.52e-04 1.70e+03  -0.9 4.45e-02    -  1.00e+00 7.07e-01f  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
  90  8.6418120e+03 1.24e-03 3.91e+03  -0.6 1.08e-01    -  1.00e+00 6.25e-01f  1
  91  8.5173319e+03 1.16e-02 9.28e+03  -0.1 2.07e-01    -  1.00e+00 6.40e-01f  1
  92  8.5335684e+03 7.04e-03 6.92e+03   0.4 1.01e-01    -  7.46e-01 9.11e-01f  1
  93  8.6344162e+03 9.34e-03 1.53e+04   0.2 1.02e-01    -  3.62e-01 1.00e+00h  1
  94  8.6745938e+03 9.24e-03 1.42e+04  -0.0 1.20e-01    -  1.00e+00 6.30e-01h  1
  95  8.6317519e+03 1.17e-03 1.42e+03  -0.1 7.95e-02    -  9.52e-01 1.00e+00h  1
  96  8.6133414e+03 7.04e-04 7.64e+03   0.0 1.65e-01    -  9.90e-01 5.32e-01f  1
INFO:[hippopt::SaveBestUnsolvedVariablesCallback]:[i=97] New best intermediate variables
  97  8.6176660e+03 6.85e-05 9.75e+02   0.1 4.07e-02    -  1.00e+00 1.00e+00f  1
  98  8.6264820e+03 5.47e-05 1.14e+03  -0.8 7.53e-02    -  1.00e+00 9.87e-01H  1
  99  8.6394255e+03 9.32e-05 2.07e+03  -1.0 5.74e-02    -  8.88e-01 7.46e-01H  1
iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls
 100  8.6472641e+03 1.24e-04 8.36e+03  -1.1 9.58e-02    -  1.00e+00 1.31e-01h  2
 101  8.6533242e+03 1.60e-04 1.25e+04  -0.8 9.31e-02    -  1.00e+00 9.80e-02h  3
 102  8.6728615e+03 2.27e-03 5.85e+03  -0.5 6.08e-02    -  1.00e+00 4.92e-01f  1
 103  8.6850304e+03 7.84e-04 3.02e+03  -0.6 3.26e-02    -  1.00e+00 1.00e+00H  1
 104  8.6782826e+03 1.17e-04 1.06e+03  -0.6 6.13e-02    -  8.52e-01 7.45e-01f  1
 105  8.6789179e+03 4.60e-05 8.66e+02  -1.4 2.56e-02    -  8.91e-01 9.54e-01H  1
 106  8.6753792e+03 3.12e-05 2.75e+02  -0.9 2.49e-02    -  1.00e+00 1.00e+00f  1
 107  8.6746933e+03 2.17e-05 2.52e+02  -1.5 1.45e-02    -  1.00e+00 1.00e+00H  1

Number of Iterations....: 107

                                   (scaled)                 (unscaled)
Objective...............:   8.6746932827610199e+03    8.6746932827610199e+03
Dual infeasibility......:   2.5182530232512153e+02    2.5182530232512153e+02
Constraint violation....:   2.1730582966505985e-05    2.1730582966505985e-05
Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
Complementarity.........:   5.4504231912197720e-02    5.4504231912197720e-02
Overall NLP error.......:   8.8175486522153435e+00    2.5182530232512153e+02


Number of objective function evaluations             = 151
Number of objective gradient evaluations             = 108
Number of equality constraint evaluations            = 151
Number of inequality constraint evaluations          = 151
Number of equality constraint Jacobian evaluations   = 108
Number of inequality constraint Jacobian evaluations = 108
Number of Lagrangian Hessian evaluations             = 0
Total seconds in IPOPT                               = 109.205

EXIT: Solved To Acceptable Level.
      solver  :   t_proc      (avg)   t_wall      (avg)    n_eval
callback_fun  |  18.22 s (168.66ms)  18.22 s (168.67ms)       108
       nlp_f  |  65.05ms (430.81us)  65.06ms (430.86us)       151
       nlp_g  | 895.22ms (  5.93ms) 895.11ms (  5.93ms)       151
  nlp_grad_f  | 131.40ms (  1.19ms) 131.40ms (  1.19ms)       110
   nlp_jac_g  |   2.81 s ( 25.75ms)   2.81 s ( 25.76ms)       109
       total  | 109.30 s (109.30 s) 109.38 s (109.38 s)         1
Press [Enter] to visualize the solution.

Output

humanoid_walking_step.mp4

left_complementarity
right_complementarity

Interestingly, the complementarity profile is very similar

mamba list 
(hippopt) sdafarra@IITICUBLAP260:~$ mamba list
# packages in environment at /home/sdafarra/Software/mambaforge/envs/hippopt:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
adam-robotics             0.1.0              pyh2965483_0    conda-forge
alsa-lib                  1.2.10               hd590300_0    conda-forge
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
aom                       3.8.1                h59595ed_0    conda-forge
assimp                    5.3.1                hfb0e8fe_2    conda-forge
asttokens                 2.4.1              pyhd8ed1ab_0    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
black                     24.2.0          py311h38be061_0    conda-forge
brotli                    1.1.0                hd590300_1    conda-forge
brotli-bin                1.1.0                hd590300_1    conda-forge
bzip2                     1.0.8                hd590300_5    conda-forge
c-ares                    1.27.0               hd590300_0    conda-forge
ca-certificates           2024.2.2             hbcca054_0    conda-forge
cairo                     1.18.0               h3faef2a_0    conda-forge
casadi                    3.6.3           py311h0fd60a5_5    conda-forge
certifi                   2024.2.2           pyhd8ed1ab_0    conda-forge
click                     8.1.7           unix_pyh707e725_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
contourpy                 1.2.0           py311h9547e67_0    conda-forge
curl                      8.5.0                hca28451_0    conda-forge
cycler                    0.12.1             pyhd8ed1ab_0    conda-forge
dav1d                     1.2.1                hd590300_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
eigen                     3.4.0                h00ab1b0_0    conda-forge
exceptiongroup            1.2.0              pyhd8ed1ab_2    conda-forge
executing                 2.0.1              pyhd8ed1ab_0    conda-forge
expat                     2.5.0                hcb278e6_1    conda-forge
ffmpeg                    6.1.1           gpl_h8007c5b_104    conda-forge
ffmpeg-python             0.2.0                      py_0    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 h77eed37_1    conda-forge
fontconfig                2.14.2               h14ed4e7_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.49.0          py311h459d7ec_0    conda-forge
freetype                  2.12.1               h267a509_2    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
future                    1.0.0              pyhd8ed1ab_0    conda-forge
gettext                   0.21.1               h27087fc_0    conda-forge
git                       2.43.0          pl5321h7bc287a_0    conda-forge
git-filter-repo           2.38.0             pyhd8ed1ab_0    conda-forge
glfw                      3.4                  hd590300_0    conda-forge
glib                      2.78.4               hfc55251_0    conda-forge
glib-tools                2.78.4               hfc55251_0    conda-forge
gmp                       6.3.0                h59595ed_0    conda-forge
gnutls                    3.7.9                hb077bed_0    conda-forge
graphite2                 1.3.13            h58526e2_1001    conda-forge
gst-plugins-base          1.22.9               h8e1006c_0    conda-forge
gstreamer                 1.22.9               h98fc4e7_0    conda-forge
harfbuzz                  8.3.0                h3d44ed6_0    conda-forge
hippopt                   0.1.dev368               pypi_0    pypi
icu                       73.2                 h59595ed_0    conda-forge
idyntree                  10.3.0          py311ha885c8a_0    conda-forge
iniconfig                 2.0.0              pyhd8ed1ab_0    conda-forge
ipopt                     3.14.14              h04b96a2_1    conda-forge
ipython                   8.22.1             pyh707e725_0    conda-forge
irrlicht                  1.8.5                h2a6caf8_4    conda-forge
isort                     5.13.2             pyhd8ed1ab_0    conda-forge
jedi                      0.19.1             pyhd8ed1ab_0    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.5           py311h9547e67_1    conda-forge
krb5                      1.21.2               h659d440_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
lcms2                     2.16                 hb7c19ff_0    conda-forge
ld_impl_linux-64          2.40                 h41732ed_0    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libabseil                 20240116.1      cxx17_h59595ed_1    conda-forge
libass                    0.17.1               h8fe9dca_1    conda-forge
libblas                   3.9.0           21_linux64_openblas    conda-forge
libboost                  1.82.0               h6fcfa73_6    conda-forge
libbrotlicommon           1.1.0                hd590300_1    conda-forge
libbrotlidec              1.1.0                hd590300_1    conda-forge
libbrotlienc              1.1.0                hd590300_1    conda-forge
libcap                    2.69                 h0f662aa_0    conda-forge
libcblas                  3.9.0           21_linux64_openblas    conda-forge
libclang                  15.0.7          default_hb11cfb5_4    conda-forge
libclang13                15.0.7          default_ha2b6cf4_4    conda-forge
libcups                   2.3.3                h4637d8d_4    conda-forge
libcurl                   8.5.0                hca28451_0    conda-forge
libdeflate                1.19                 hd590300_0    conda-forge
libdrm                    2.4.120              hd590300_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 hd590300_2    conda-forge
libevent                  2.1.12               hf998b51_1    conda-forge
libexpat                  2.5.0                hcb278e6_1    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.4.3                h59595ed_0    conda-forge
libgcc-ng                 13.2.0               h807b86a_5    conda-forge
libgcrypt                 1.10.3               hd590300_0    conda-forge
libgfortran-ng            13.2.0               h69a702a_5    conda-forge
libgfortran5              13.2.0               ha4646dd_5    conda-forge
libglib                   2.78.4               h783c2da_0    conda-forge
libglu                    9.0.0             hac7e632_1003    conda-forge
libgomp                   13.2.0               h807b86a_5    conda-forge
libgpg-error              1.48                 h71f35ed_0    conda-forge
libhwloc                  2.9.3           default_h554bfaf_1009    conda-forge
libiconv                  1.17                 hd590300_2    conda-forge
libidn2                   2.3.7                hd590300_0    conda-forge
libjpeg-turbo             3.0.0                hd590300_1    conda-forge
liblapack                 3.9.0           21_linux64_openblas    conda-forge
libllvm15                 15.0.7               hb3ce162_4    conda-forge
libnghttp2                1.58.0               h47da74e_1    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopenblas               0.3.26          pthreads_h413a1c8_0    conda-forge
libopenvino               2023.3.0             h2e90f83_2    conda-forge
libopenvino-auto-batch-plugin 2023.3.0             hd5fc58b_2    conda-forge
libopenvino-auto-plugin   2023.3.0             hd5fc58b_2    conda-forge
libopenvino-hetero-plugin 2023.3.0             h3ecfda7_2    conda-forge
libopenvino-intel-cpu-plugin 2023.3.0             h2e90f83_2    conda-forge
libopenvino-intel-gpu-plugin 2023.3.0             h2e90f83_2    conda-forge
libopenvino-ir-frontend   2023.3.0             h3ecfda7_2    conda-forge
libopenvino-onnx-frontend 2023.3.0             h469e5c9_2    conda-forge
libopenvino-paddle-frontend 2023.3.0             h469e5c9_2    conda-forge
libopenvino-pytorch-frontend 2023.3.0             h59595ed_2    conda-forge
libopenvino-tensorflow-frontend 2023.3.0             he1e0747_2    conda-forge
libopenvino-tensorflow-lite-frontend 2023.3.0             h59595ed_2    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libosqp                   0.6.3                h59595ed_0    conda-forge
libpciaccess              0.18                 hd590300_0    conda-forge
libpng                    1.6.43               h2797004_0    conda-forge
libpq                     16.2                 h33b98f1_0    conda-forge
libprotobuf               4.25.2               h08a7969_1    conda-forge
libqdldl                  0.1.5                h27087fc_1    conda-forge
libscotch                 7.0.4                h91e35bf_1    conda-forge
libsndfile                1.2.2                hc60ed4a_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libspral                  2023.09.07           h6aa6db2_2    conda-forge
libsqlite                 3.45.1               h2797004_0    conda-forge
libssh2                   1.11.0               h0841786_0    conda-forge
libstdcxx-ng              13.2.0               h7e041cc_5    conda-forge
libsystemd0               255                  h3516f8a_0    conda-forge
libtasn1                  4.19.0               h166bdaf_0    conda-forge
libtiff                   4.6.0                ha9c0a0a_2    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libva                     2.20.0               hd590300_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.13.1               h59595ed_0    conda-forge
libwebp-base              1.3.2                hd590300_0    conda-forge
libxcb                    1.15                 h0b41bf4_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libxkbcommon              1.6.0                hd429924_1    conda-forge
libxml2                   2.12.5               h232c23b_0    conda-forge
libxslt                   1.1.39               h76b75d6_0    conda-forge
libzlib                   1.2.13               hd590300_5    conda-forge
liecasadi                 0.0.6              pyhd8ed1ab_0    conda-forge
lxml                      5.1.0           py311h9691dec_0    conda-forge
lz4-c                     1.9.4                hcb278e6_0    conda-forge
matplotlib                3.8.3           py311h38be061_0    conda-forge
matplotlib-base           3.8.3           py311h54ef318_0    conda-forge
matplotlib-inline         0.1.6              pyhd8ed1ab_0    conda-forge
meshcat-python            0.3.2              pyhd8ed1ab_0    conda-forge
metis                     5.1.0             h59595ed_1007    conda-forge
mpg123                    1.32.4               h59595ed_0    conda-forge
mumps-include             5.6.2                ha770c72_4    conda-forge
mumps-seq                 5.6.2                hfef103a_4    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mypy_extensions           1.0.0              pyha770c72_0    conda-forge
mysql-common              8.0.33               hf1915f5_6    conda-forge
mysql-libs                8.0.33               hca2cd23_6    conda-forge
ncurses                   6.4                  h59595ed_2    conda-forge
nettle                    3.9.1                h7ab15ed_0    conda-forge
nspr                      4.35                 h27087fc_0    conda-forge
nss                       3.98                 h1d7d5a4_0    conda-forge
numpy                     1.26.4          py311h64a7726_0    conda-forge
ocl-icd                   2.3.2                hd590300_0    conda-forge
openh264                  2.4.1                h59595ed_0    conda-forge
openjpeg                  2.5.1                h488ebb8_0    conda-forge
openssl                   3.2.1                hd590300_0    conda-forge
osqp-eigen                0.8.1                hdd734ac_0    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
packaging                 23.2               pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
pathspec                  0.12.1             pyhd8ed1ab_0    conda-forge
pcre2                     10.42                hcad00b1_0    conda-forge
perl                      5.32.1          7_hd590300_perl5    conda-forge
pexpect                   4.9.0              pyhd8ed1ab_0    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    10.2.0          py311ha6c5da5_0    conda-forge
pip                       24.0               pyhd8ed1ab_0    conda-forge
pixman                    0.43.2               h59595ed_0    conda-forge
platformdirs              4.2.0              pyhd8ed1ab_0    conda-forge
pluggy                    1.4.0              pyhd8ed1ab_0    conda-forge
ply                       3.11                       py_1    conda-forge
prettytable               3.10.0             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.42             pyha770c72_0    conda-forge
proxsuite                 0.6.3           py311h9547e67_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pugixml                   1.14                 h59595ed_0    conda-forge
pulseaudio-client         16.1                 hb77b528_5    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
pygments                  2.17.2             pyhd8ed1ab_0    conda-forge
pyngrok                   7.1.3              pyhd8ed1ab_0    conda-forge
pyparsing                 3.1.1              pyhd8ed1ab_0    conda-forge
pyqt                      5.15.9          py311hf0fb5b6_5    conda-forge
pyqt5-sip                 12.12.2         py311hb755f60_5    conda-forge
pytest                    8.0.2              pyhd8ed1ab_0    conda-forge
python                    3.11.8          hab00c5b_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python_abi                3.11                    4_cp311    conda-forge
pyyaml                    6.0.1           py311h459d7ec_1    conda-forge
pyzmq                     25.1.2          py311h34ded2d_0    conda-forge
qt-main                   5.15.8              h5810be5_19    conda-forge
readline                  8.2                  h8228510_1    conda-forge
resolve-robotics-uri-py   0.1.0              pyhd8ed1ab_0    conda-forge
scipy                     1.12.0          py311h64a7726_2    conda-forge
scotch                    7.0.4                h23d43cc_1    conda-forge
sdl                       1.2.68               h293081c_0    conda-forge
sdl2                      2.28.5               h77f46ba_0    conda-forge
setuptools                69.1.1             pyhd8ed1ab_0    conda-forge
simde                     0.7.6                h00ab1b0_0    conda-forge
sip                       6.7.12          py311hb755f60_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
snappy                    1.1.10               h9fff704_0    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
svt-av1                   1.8.0                h59595ed_0    conda-forge
tbb                       2021.11.0            h00ab1b0_1    conda-forge
tinyxml2                  10.0.0               h59595ed_0    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tornado                   6.4             py311h459d7ec_0    conda-forge
traitlets                 5.14.1             pyhd8ed1ab_0    conda-forge
typing_extensions         4.10.0             pyha770c72_0    conda-forge
tzdata                    2024a                h0c530f3_0    conda-forge
u-msgpack-python          2.8.0              pyhd8ed1ab_0    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urdfdom-py                1.2.1           py311h38be061_3    conda-forge
wayland                   1.22.0               h8c25dac_1    conda-forge
wcwidth                   0.2.13             pyhd8ed1ab_0    conda-forge
wheel                     0.42.0             pyhd8ed1ab_0    conda-forge
x264                      1!164.3095           h166bdaf_2    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.0                hd590300_1    conda-forge
xcb-util-image            0.4.0                h8ee46fc_1    conda-forge
xcb-util-keysyms          0.4.0                h8ee46fc_1    conda-forge
xcb-util-renderutil       0.3.9                hd590300_1    conda-forge
xcb-util-wm               0.4.1                h8ee46fc_1    conda-forge
xkeyboard-config          2.41                 hd590300_0    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.1.1                hd590300_0    conda-forge
xorg-libsm                1.2.4                h7391055_0    conda-forge
xorg-libx11               1.8.7                h8ee46fc_0    conda-forge
xorg-libxau               1.0.11               hd590300_0    conda-forge
xorg-libxcursor           1.2.0                h0b41bf4_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h0b41bf4_2    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxinerama          1.1.5                h27087fc_0    conda-forge
xorg-libxrandr            1.5.2                h7f98852_1    conda-forge
xorg-libxrender           0.9.11               hd590300_0    conda-forge
xorg-randrproto           1.5.0             h7f98852_1001    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-xextproto            7.3.0             h0b41bf4_1003    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
zeromq                    4.3.5                h59595ed_0    conda-forge
zlib                      1.2.13               hd590300_5    conda-forge
zstd                      1.5.5                hfc55251_0    conda-forge

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