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fixed 1D force derivatives with rotation
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@skleff1994
skleff1994 committed Oct 25, 2023
1 parent 75240e2 commit 8cdecdb
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Showing 20 changed files with 268 additions and 267 deletions.
1 change: 1 addition & 0 deletions Testing/Temporary/CTestCostData.txt
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@@ -0,0 +1 @@
---
4 changes: 2 additions & 2 deletions bindings/python/crocoddyl/utils/__init__.py
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Expand Up @@ -1187,12 +1187,12 @@ def updateForce(self, data, force):
data.f.linear[:2] = np.zeros(2)
data.f.angular = np.zeros(3)
if self.type == pinocchio.LOCAL:
data.fext.linear = data.jMf.rotation[:,2] * force[0]
data.fext.linear = np.dot(data.jMf.rotation, self.rotation.T)[:,2] * force[0]
data.fext.angular = np.cross(data.jMf.translation, data.fext.linear);
data.dtau_dq[:, :] = np.zeros((nv, nv))
if self.type == pinocchio.WORLD or self.type == pinocchio.LOCAL_WORLD_ALIGNED:
oRf = data.pinocchio.oMf[self.id].rotation
data.f_local.linear = oRf.T[:,2] * force[0]
data.f_local.linear = np.dot(oRf.T, self.rotation.T)[:,2] * force[0]
data.f_local.angular = np.zeros(3)
data.fext = data.jMf.act(data.f_local)
data.f_skew[:, :] = pinocchio.skew(data.f_local.linear)
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18 changes: 9 additions & 9 deletions examples/log/arm_manipulation_fwddyn.log
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 1.926e+03 1.331e+03 2.708e+03 1.000e-09 1.000e-09 1.0000 3.142e+00 0.000e+00 0.000e+00 1.331e+03 8.047e+02
1 1.661e+03 1.908e+03 3.817e+03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.473e+02 2.650e+02
2 6.675e+02 1.642e+03 3.283e+03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.231e+03 9.930e+02
Expand All @@ -7,9 +7,9 @@ iter cost stop grad xreg ureg step ||ffeas||
5 2.507e+02 3.997e+02 7.994e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.998e+02 1.686e+02
6 2.505e+02 2.332e+02 4.664e+02 1.000e-08 1.000e-08 0.0020 0.000e+00 0.000e+00 0.000e+00 9.100e-01 2.159e-01
7 2.502e+02 2.328e+02 4.656e+02 1.000e-07 1.000e-07 0.0020 0.000e+00 0.000e+00 0.000e+00 9.084e-01 2.471e-01
8 2.142e+02 2.323e+02 4.646e+02 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 1.016e+02 3.607e+01
8 2.142e+02 2.323e+02 4.647e+02 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 1.016e+02 3.607e+01
9 1.768e+02 1.951e+02 3.901e+02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 1.463e+02 3.738e+01
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
10 5.864e+01 1.588e+02 3.177e+02 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 1.191e+02 1.182e+02
11 3.604e+01 3.890e+01 7.781e+01 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 2.918e+01 2.260e+01
12 3.554e+01 1.897e+01 3.795e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.298e+00 5.036e-01
Expand All @@ -20,7 +20,7 @@ iter cost stop grad xreg ureg step ||ffeas||
17 3.035e+01 1.940e+01 3.881e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.350e+00 1.441e+00
18 2.899e+01 1.856e+01 3.711e+01 1.000e-07 1.000e-07 0.0625 0.000e+00 0.000e+00 0.000e+00 2.247e+00 1.357e+00
19 2.774e+01 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 0.000e+00 0.000e+00 0.000e+00 4.181e+00 1.248e+00
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 2.537e+01 1.784e+01 3.568e+01 1.000e-07 1.000e-07 0.1250 0.000e+00 0.000e+00 0.000e+00 4.182e+00 2.374e+00
21 2.254e+01 1.581e+01 3.162e+01 1.000e-07 1.000e-07 0.2500 0.000e+00 0.000e+00 0.000e+00 6.917e+00 2.831e+00
22 1.990e+01 1.338e+01 2.677e+01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.338e+01 2.640e+00
Expand All @@ -31,7 +31,7 @@ iter cost stop grad xreg ureg step ||ffeas||
27 8.212e+00 1.991e-02 3.982e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.991e-02 3.716e-02
28 8.183e+00 1.601e-02 3.201e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.601e-02 2.922e-02
29 8.162e+00 1.137e-02 2.275e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.137e-02 2.025e-02
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
30 8.150e+00 7.142e-03 1.428e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.142e-03 1.258e-02
31 8.142e+00 4.322e-03 8.644e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.322e-03 7.639e-03
32 8.137e+00 2.722e-03 5.445e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.722e-03 4.799e-03
Expand All @@ -42,7 +42,7 @@ iter cost stop grad xreg ureg step ||ffeas||
37 8.129e+00 3.366e-04 6.732e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.366e-04 6.105e-04
38 8.129e+00 2.286e-04 4.572e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.286e-04 4.153e-04
39 8.129e+00 1.556e-04 3.112e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.556e-04 2.829e-04
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
40 8.129e+00 1.060e-04 2.120e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.060e-04 1.929e-04
41 8.128e+00 7.225e-05 1.445e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.225e-05 1.380e-04
42 8.126e+00 2.635e-03 5.269e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.635e-03 2.761e-03
Expand All @@ -53,7 +53,7 @@ iter cost stop grad xreg ureg step ||ffeas||
47 8.125e+00 1.177e-05 2.353e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.177e-05 2.133e-05
48 8.125e+00 7.858e-06 1.572e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.858e-06 1.429e-05
49 8.125e+00 5.297e-06 1.059e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.297e-06 9.645e-06
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
50 8.125e+00 3.582e-06 7.163e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.582e-06 6.525e-06
51 8.125e+00 2.425e-06 4.850e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.425e-06 4.419e-06
52 8.125e+00 1.643e-06 3.286e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.643e-06 2.994e-06
Expand All @@ -64,7 +64,7 @@ iter cost stop grad xreg ureg step ||ffeas||
57 8.125e+00 2.349e-07 4.698e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.349e-07 4.282e-07
58 8.125e+00 1.592e-07 3.184e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.592e-07 2.902e-07
59 8.125e+00 1.079e-07 2.158e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.079e-07 1.967e-07
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
60 8.125e+00 7.314e-08 1.463e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.314e-08 1.333e-07
61 8.125e+00 4.957e-08 9.914e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.957e-08 9.038e-08
62 8.125e+00 3.360e-08 6.720e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.360e-08 6.126e-08
Expand All @@ -75,7 +75,7 @@ iter cost stop grad xreg ureg step ||ffeas||
67 8.125e+00 4.807e-09 9.614e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.807e-09 8.765e-09
68 8.125e+00 3.258e-09 6.517e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.258e-09 5.941e-09
69 8.125e+00 2.209e-09 4.417e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.209e-09 4.027e-09
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
70 8.125e+00 1.497e-09 2.994e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.497e-09 2.729e-09
71 8.125e+00 1.015e-09 2.029e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.015e-09 1.850e-09
72 8.125e+00 6.878e-10 1.376e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.878e-10 1.254e-09
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20 changes: 10 additions & 10 deletions examples/log/arm_manipulation_invdyn.log
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@@ -1,4 +1,4 @@
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 2.519e+03 1.331e+03 2.687e+03 1.000e-09 1.000e-09 0.5000 3.142e+00 0.000e+00 0.000e+00 1.001e+03 2.114e+02
1 2.051e+03 2.502e+03 5.020e+03 1.000e-09 1.000e-09 0.5000 1.571e+00 0.000e+00 0.000e+00 1.878e+03 4.678e+02
2 1.206e+03 1.973e+03 3.957e+03 1.000e-09 1.000e-09 0.2500 7.854e-01 0.000e+00 0.000e+00 8.643e+02 8.454e+02
Expand All @@ -9,7 +9,7 @@ iter cost stop grad xreg ureg step ||ffeas||
7 1.994e+02 2.472e+02 4.959e+02 1.000e-09 1.000e-09 0.2500 1.605e-01 0.000e+00 0.000e+00 1.083e+02 6.927e+01
8 1.901e+02 1.692e+02 3.394e+02 1.000e-09 1.000e-09 0.2500 1.204e-01 0.000e+00 0.000e+00 7.412e+01 9.280e+00
9 1.241e+02 1.494e+02 2.997e+02 1.000e-09 1.000e-09 1.0000 9.027e-02 0.000e+00 0.000e+00 1.494e+02 6.601e+01
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
10 9.628e+01 1.003e+02 2.007e+02 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.389e+01 2.784e+01
11 4.777e+01 6.140e+01 1.228e+02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 4.605e+01 4.851e+01
12 4.347e+01 1.804e+01 3.607e+01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.227e+00 4.303e+00
Expand All @@ -20,7 +20,7 @@ iter cost stop grad xreg ureg step ||ffeas||
17 3.832e+01 2.260e+00 4.521e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 5.298e-01 2.401e-01
18 3.657e+01 1.541e+00 3.083e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.541e+00 1.746e+00
19 3.649e+01 7.577e-01 1.515e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.776e-01 7.999e-02
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 3.643e+01 3.110e-01 6.220e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.110e-01 6.915e-02
21 3.635e+01 1.979e+00 3.958e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 2.396e-01 8.027e-02
22 3.627e+01 7.959e-01 1.592e+00 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.865e-01 7.254e-02
Expand All @@ -31,7 +31,7 @@ iter cost stop grad xreg ureg step ||ffeas||
27 3.555e+01 1.075e+00 2.149e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 1.301e-01 5.735e-02
28 3.552e+01 3.953e-01 7.905e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.264e-02 3.345e-02
29 3.537e+01 2.117e-01 4.233e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.117e-01 1.492e-01
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
30 3.533e+01 6.201e-01 1.240e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 0.000e+00 7.509e-02 4.167e-02
31 3.531e+01 2.043e-01 4.087e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.789e-02 2.121e-02
32 3.523e+01 9.406e-02 1.881e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.406e-02 7.801e-02
Expand All @@ -42,7 +42,7 @@ iter cost stop grad xreg ureg step ||ffeas||
37 3.510e+01 1.836e-01 3.672e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.303e-02 1.474e-02
38 3.509e+01 2.500e-02 5.000e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.500e-02 1.850e-02
39 3.507e+01 1.617e-01 3.235e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.791e-02 1.477e-02
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
40 3.505e+01 2.319e-02 4.638e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.319e-02 1.725e-02
41 3.504e+01 1.382e-01 2.765e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.240e-02 1.258e-02
42 3.503e+01 1.681e-02 3.361e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.681e-02 1.225e-02
Expand All @@ -53,7 +53,7 @@ iter cost stop grad xreg ureg step ||ffeas||
47 3.497e+01 8.532e-02 1.706e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 2.000e-02 9.354e-03
48 3.495e+01 1.303e-02 2.607e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.303e-02 1.456e-02
49 3.494e+01 8.254e-02 1.651e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.935e-02 9.353e-03
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
50 3.492e+01 1.391e-02 2.782e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.391e-02 1.754e-02
51 3.492e+01 7.670e-02 1.534e-01 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.798e-02 9.117e-03
52 3.490e+01 1.460e-02 2.920e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.460e-02 1.992e-02
Expand All @@ -64,7 +64,7 @@ iter cost stop grad xreg ureg step ||ffeas||
57 3.484e+01 4.656e-02 9.312e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.091e-02 5.668e-03
58 3.483e+01 7.752e-03 1.550e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.752e-03 8.482e-03
59 3.482e+01 3.885e-02 7.769e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 9.105e-03 4.448e-03
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
60 3.482e+01 4.335e-03 8.669e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.335e-03 2.943e-03
61 3.482e+01 3.210e-02 6.420e-02 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 7.523e-03 3.499e-03
62 3.482e+01 2.229e-03 4.457e-03 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.672e-03 1.101e-03
Expand All @@ -75,7 +75,7 @@ iter cost stop grad xreg ureg step ||ffeas||
67 3.481e+01 1.598e-03 3.195e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 3.744e-04 2.097e-04
68 3.481e+01 2.942e-04 5.884e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.942e-04 2.665e-04
69 3.481e+01 1.773e-03 3.547e-03 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 4.156e-04 2.060e-04
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
70 3.481e+01 1.396e-04 2.792e-04 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.047e-04 6.036e-05
71 3.481e+01 4.668e-04 9.335e-04 1.000e-09 1.000e-09 0.1250 0.000e+00 0.000e+00 0.000e+00 1.094e-04 6.035e-05
72 3.481e+01 7.754e-05 1.551e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.754e-05 6.171e-05
Expand All @@ -86,7 +86,7 @@ iter cost stop grad xreg ureg step ||ffeas||
77 3.481e+01 1.286e-05 2.571e-05 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 1.286e-05 1.805e-05
78 3.481e+01 1.548e-05 3.096e-05 1.000e-08 1.000e-08 0.5000 0.000e+00 0.000e+00 0.000e+00 1.161e-05 4.046e-06
79 3.481e+01 8.830e-06 1.766e-05 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.830e-06 5.405e-06
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
80 3.481e+01 8.543e-06 1.709e-05 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.543e-06 1.694e-06
81 3.481e+01 1.061e-05 2.121e-05 1.000e-07 1.000e-07 0.5000 0.000e+00 0.000e+00 0.000e+00 7.955e-06 5.229e-06
82 3.481e+01 5.063e-07 1.013e-06 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.063e-07 7.633e-07
Expand All @@ -97,7 +97,7 @@ iter cost stop grad xreg ureg step ||ffeas||
87 3.481e+01 5.459e-08 1.092e-07 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 5.459e-08 1.041e-07
88 3.481e+01 4.612e-08 9.224e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.612e-08 8.903e-08
89 3.481e+01 4.046e-08 8.092e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.046e-08 7.867e-08
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
90 3.481e+01 3.634e-08 7.268e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.634e-08 7.096e-08
91 3.481e+01 3.311e-08 6.623e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.311e-08 6.484e-08
92 3.481e+01 3.046e-08 6.091e-08 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 3.046e-08 5.974e-08
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