[log] Updated log files

loco-3d · Aug 24, 2023 · cf39aed · cf39aed
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Showing 9 changed files with 54 additions and 54 deletions.
diff --git a/examples/log/bipedal_walk_fwddyn.log b/examples/log/bipedal_walk_fwddyn.log
@@ -15,9 +15,9 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   11  4.343e+03  8.427e-02  1.685e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  8.427e-02  8.315e-02
   12  4.343e+03  6.548e-04  1.310e-03  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  6.548e-04  5.644e-04
   13  4.343e+03  2.953e-05  5.906e-05  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  2.953e-05  1.997e-05
-  14  4.343e+03  3.138e-06  6.276e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.138e-06  2.105e-06
-  15  4.343e+03  3.416e-07  6.832e-07  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.416e-07  2.283e-07
-  16  4.343e+03  3.763e-08  7.525e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.763e-08  2.507e-08
+  14  4.343e+03  3.138e-06  6.276e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.138e-06  2.106e-06
+  15  4.343e+03  3.416e-07  6.833e-07  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.416e-07  2.283e-07
+  16  4.343e+03  3.765e-08  7.530e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.765e-08  2.510e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  4.692e+06  1.835e+07  3.664e+07  1.000e-09  1.000e-09  0.5000  2.143e-02  0.000e+00  0.000e+00  1.375e+07  1.367e+07
@@ -37,8 +37,8 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   13  4.606e+03  9.207e-01  1.841e+00  1.000e-09  1.000e-09  0.5000  0.000e+00  0.000e+00  0.000e+00  6.905e-01  2.574e-01
   14  4.606e+03  5.202e-01  1.040e+00  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  5.202e-01  5.069e-01
   15  4.606e+03  1.958e-02  3.916e-02  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.958e-02  1.959e-02
-  16  4.606e+03  1.123e-06  2.245e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.123e-06  1.132e-06
-  17  4.606e+03  1.563e-08  3.125e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.563e-08  1.509e-08
+  16  4.606e+03  1.122e-06  2.245e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.122e-06  1.132e-06
+  17  4.606e+03  1.553e-08  3.106e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.553e-08  1.512e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  4.671e+06  1.833e+07  3.661e+07  1.000e-09  1.000e-09  0.5000  9.993e-03  0.000e+00  0.000e+00  1.374e+07  1.367e+07
@@ -65,7 +65,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
   20  4.565e+03  8.537e-02  1.707e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  8.537e-02  8.537e-02
   21  4.565e+03  3.690e-06  7.380e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.690e-06  3.664e-06
-  22  4.565e+03  4.762e-09  9.524e-09  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.762e-09  3.913e-09
+  22  4.565e+03  4.664e-09  9.327e-09  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.664e-09  3.923e-09
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  4.665e+06  1.832e+07  3.660e+07  1.000e-09  1.000e-09  0.5000  9.715e-03  0.000e+00  0.000e+00  1.374e+07  1.367e+07
@@ -83,7 +83,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   11  4.661e+03  9.886e+00  1.977e+01  1.000e-09  1.000e-09  0.2500  0.000e+00  0.000e+00  0.000e+00  4.325e+00  3.076e+00
   12  4.657e+03  9.231e+00  1.846e+01  1.000e-09  1.000e-09  0.2500  0.000e+00  0.000e+00  0.000e+00  4.038e+00  3.866e+00
   13  4.654e+03  3.610e+00  7.220e+00  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.610e+00  3.612e+00
-  14  4.653e+03  7.714e-02  1.543e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  7.714e-02  7.992e-02
+  14  4.653e+03  7.715e-02  1.543e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  7.715e-02  7.992e-02
   15  4.653e+03  1.453e-02  2.906e-02  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.453e-02  1.453e-02
   16  4.653e+03  1.669e-05  3.338e-05  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.669e-05  1.677e-05
-  17  4.653e+03  3.886e-08  7.772e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.886e-08  3.854e-08
+  17  4.653e+03  3.885e-08  7.771e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.885e-08  3.852e-08
diff --git a/examples/log/bipedal_walk_invdyn.log b/examples/log/bipedal_walk_invdyn.log
@@ -13,9 +13,9 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
   10  4.343e+03  4.121e-01  8.208e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  3.444e-03  4.121e-01  -2.555e-01
   11  4.343e+03  6.326e-01  1.262e+00  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  1.479e-03  6.326e-01  6.326e-01
-  12  4.343e+03  6.393e-05  1.255e-04  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  6.750e-07  -6.393e-05  -6.403e-05
+  12  4.343e+03  6.393e-05  1.255e-04  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  6.749e-07  -6.393e-05  -6.403e-05
   13  4.343e+03  3.113e-06  3.168e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  7.282e-08  3.113e-06  3.131e-06
-  14  4.343e+03  4.473e-08  1.411e-07  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  1.822e-09  4.473e-08  4.433e-08
+  14  4.343e+03  4.482e-08  1.413e-07  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  1.822e-09  4.482e-08  4.431e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  1.085e+05  1.835e+07  3.670e+07  1.000e-09  1.000e-09  1.0000  1.012e-02  0.000e+00  1.871e+02  1.835e+07  1.825e+07
@@ -44,7 +44,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   21  4.606e+03  2.727e-01  5.454e-01  1.000e-09  1.000e-09  0.5000  0.000e+00  0.000e+00  2.465e-04  2.045e-01  2.035e-01
   22  4.606e+03  6.891e-02  1.378e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  2.021e-04  6.891e-02  6.888e-02
   23  4.606e+03  2.310e-05  5.727e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  5.547e-08  2.310e-05  2.309e-05
-  24  4.606e+03  1.442e-08  8.848e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  5.470e-11  -1.442e-08  -1.482e-08
+  24  4.606e+03  1.451e-08  8.671e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  5.477e-11  -1.451e-08  -1.486e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  1.417e+05  1.833e+07  3.666e+07  1.000e-09  1.000e-09  1.0000  9.749e-03  0.000e+00  1.535e+02  1.833e+07  1.820e+07
@@ -69,7 +69,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   18  4.565e+03  1.121e-01  2.242e-01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  1.418e-04  1.121e-01  1.121e-01
   19  4.565e+03  3.326e-05  7.008e-06  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  5.166e-08  3.326e-05  3.324e-05
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
-  20  4.565e+03  2.984e-09  7.469e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  3.381e-11  -2.984e-09  -3.231e-09
+  20  4.565e+03  3.125e-09  7.185e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  3.374e-11  -3.125e-09  -3.329e-09
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  1.652e+05  1.832e+07  3.665e+07  1.000e-09  1.000e-09  1.0000  9.499e-03  0.000e+00  1.298e+02  1.832e+07  1.817e+07
@@ -87,5 +87,5 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   11  4.657e+03  2.628e+01  5.256e+01  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  1.821e-02  2.628e+01  2.264e+01
   12  4.653e+03  3.815e+00  7.621e+00  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  4.976e-04  3.815e+00  3.815e+00
   13  4.653e+03  1.075e-03  1.973e-03  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  3.850e-05  1.075e-03  1.077e-03
-  14  4.653e+03  8.817e-07  7.385e-07  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  9.759e-09  -8.817e-07  -8.877e-07
-  15  4.653e+03  1.330e-09  5.424e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  1.964e-10  1.330e-09  1.402e-09
+  14  4.653e+03  8.817e-07  7.384e-07  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  9.758e-09  -8.817e-07  -8.877e-07
+  15  4.653e+03  1.335e-09  5.440e-09  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  1.966e-10  1.335e-09  1.372e-09
diff --git a/examples/log/bipedal_walk_ubound.log b/examples/log/bipedal_walk_ubound.log
@@ -22,7 +22,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   18  4.343e+03  4.042e-02  8.084e-02  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.042e-02  4.041e-02
   19  4.343e+03  9.543e-06  1.909e-05  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  9.543e-06  9.395e-06
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
-  20  4.343e+03  2.928e-08  5.855e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  2.928e-08  2.326e-08
+  20  4.343e+03  2.930e-08  5.859e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  2.930e-08  2.325e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  4.667e+06  1.834e+07  3.661e+07  1.000e-01  1.000e-01  0.5000  2.146e-02  0.000e+00  0.000e+00  1.374e+07  1.369e+07
@@ -40,8 +40,8 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   11  4.607e+03  1.045e+01  2.089e+01  1.000e-05  1.000e-05  1.0000  0.000e+00  0.000e+00  0.000e+00  1.045e+01  1.051e+01
   12  4.607e+03  4.408e-01  8.815e-01  1.000e-06  1.000e-06  1.0000  0.000e+00  0.000e+00  0.000e+00  4.408e-01  3.532e-01
   13  4.607e+03  8.600e-02  1.720e-01  1.000e-07  1.000e-07  1.0000  0.000e+00  0.000e+00  0.000e+00  8.600e-02  8.601e-02
-  14  4.607e+03  7.969e-07  1.594e-06  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  0.000e+00  7.969e-07  8.327e-07
-  15  4.607e+03  1.102e-08  2.204e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.102e-08  1.154e-08
+  14  4.607e+03  7.969e-07  1.594e-06  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  0.000e+00  7.969e-07  8.324e-07
+  15  4.607e+03  1.105e-08  2.209e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.105e-08  1.157e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  2.055e+05  1.832e+07  3.661e+07  1.000e-02  1.000e-02  1.0000  1.000e-02  0.000e+00  0.000e+00  1.832e+07  1.814e+07
@@ -66,7 +66,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   18  4.567e+03  3.274e-02  6.549e-02  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.274e-02  3.277e-02
   19  4.567e+03  1.831e-04  3.661e-04  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.831e-04  1.832e-04
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
-  20  4.567e+03  4.116e-08  8.231e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.116e-08  4.066e-08
+  20  4.567e+03  4.117e-08  8.234e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.117e-08  4.043e-08
 *** SOLVE walking ***
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
    0  1.448e+05  1.831e+07  3.660e+07  1.000e-02  1.000e-02  1.0000  9.731e-03  0.000e+00  0.000e+00  1.831e+07  1.819e+07
@@ -91,4 +91,4 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   18  4.656e+03  6.990e-02  1.398e-01  1.000e-08  1.000e-08  1.0000  0.000e+00  0.000e+00  0.000e+00  6.990e-02  7.002e-02
   19  4.656e+03  1.426e-04  2.852e-04  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.426e-04  1.425e-04
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
-  20  4.656e+03  4.527e-08  9.055e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.527e-08  4.583e-08
+  20  4.656e+03  4.552e-08  9.105e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  4.552e-08  4.609e-08
diff --git a/examples/log/humanoid_manipulation.log b/examples/log/humanoid_manipulation.log
@@ -5,19 +5,19 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
    3  5.144e+01  1.308e+01  2.615e+01  1.000e-01  1.000e-01  0.5000  1.502e-14  0.000e+00  0.000e+00  9.808e+00  1.080e+01
    4  4.829e+01  6.135e+00  1.227e+01  1.000e-01  1.000e-01  0.5000  7.522e-15  0.000e+00  0.000e+00  4.601e+00  3.153e+00
    5  4.668e+01  6.886e+00  1.377e+01  1.000e-01  1.000e-01  0.1250  3.775e-15  0.000e+00  0.000e+00  1.614e+00  1.611e+00
-   6  4.408e+01  5.838e+00  1.168e+01  1.000e-01  1.000e-01  0.2500  3.331e-15  0.000e+00  0.000e+00  2.554e+00  2.596e+00
-   7  4.051e+01  4.356e+00  8.713e+00  1.000e-01  1.000e-01  0.5000  2.498e-15  0.000e+00  0.000e+00  3.267e+00  3.570e+00
-   8  3.756e+01  4.118e+00  8.237e+00  1.000e-01  1.000e-01  0.5000  1.277e-15  0.000e+00  0.000e+00  3.089e+00  2.955e+00
+   6  4.408e+01  5.838e+00  1.168e+01  1.000e-01  1.000e-01  0.2500  3.303e-15  0.000e+00  0.000e+00  2.554e+00  2.596e+00
+   7  4.051e+01  4.356e+00  8.713e+00  1.000e-01  1.000e-01  0.5000  2.470e-15  0.000e+00  0.000e+00  3.267e+00  3.570e+00
+   8  3.756e+01  4.118e+00  8.237e+00  1.000e-01  1.000e-01  0.5000  1.249e-15  0.000e+00  0.000e+00  3.089e+00  2.955e+00
    9  3.611e+01  4.456e+00  8.912e+00  1.000e-01  1.000e-01  0.2500  6.661e-16  0.000e+00  0.000e+00  1.949e+00  1.447e+00
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
   10  3.502e+01  4.574e+00  9.148e+00  1.000e-01  1.000e-01  0.2500  6.661e-16  0.000e+00  0.000e+00  2.001e+00  1.096e+00
-  11  3.432e+01  4.976e+00  9.952e+00  1.000e-01  1.000e-01  0.2500  6.661e-16  0.000e+00  0.000e+00  2.177e+00  6.977e-01
+  11  3.432e+01  4.976e+00  9.952e+00  1.000e-01  1.000e-01  0.2500  4.441e-16  0.000e+00  0.000e+00  2.177e+00  6.977e-01
   12  3.338e+01  5.676e+00  1.135e+01  1.000e-01  1.000e-01  0.1250  4.441e-16  0.000e+00  0.000e+00  1.330e+00  9.332e-01
   13  3.252e+01  5.398e+00  1.080e+01  1.000e-01  1.000e-01  0.1250  6.661e-16  0.000e+00  0.000e+00  1.265e+00  8.611e-01
   14  3.172e+01  5.168e+00  1.034e+01  1.000e-01  1.000e-01  0.1250  8.882e-16  0.000e+00  0.000e+00  1.211e+00  8.028e-01
-  15  3.096e+01  4.961e+00  9.923e+00  1.000e-01  1.000e-01  0.1250  6.661e-16  0.000e+00  0.000e+00  1.163e+00  7.611e-01
-  16  3.034e+01  4.780e+00  9.560e+00  1.000e-01  1.000e-01  0.1250  6.661e-16  0.000e+00  0.000e+00  1.120e+00  6.159e-01
-  17  2.437e+01  4.545e+00  9.090e+00  1.000e-02  1.000e-02  1.0000  8.882e-16  0.000e+00  0.000e+00  4.545e+00  5.970e+00
+  15  3.096e+01  4.961e+00  9.923e+00  1.000e-01  1.000e-01  0.1250  8.882e-16  0.000e+00  0.000e+00  1.163e+00  7.611e-01
+  16  3.034e+01  4.780e+00  9.560e+00  1.000e-01  1.000e-01  0.1250  8.882e-16  0.000e+00  0.000e+00  1.120e+00  6.159e-01
+  17  2.437e+01  4.545e+00  9.090e+00  1.000e-02  1.000e-02  1.0000  6.661e-16  0.000e+00  0.000e+00  4.545e+00  5.970e+00
   18  2.222e+01  8.519e+00  1.704e+01  1.000e-02  1.000e-02  0.1250  0.000e+00  0.000e+00  0.000e+00  1.997e+00  2.156e+00
   19  2.020e+01  7.929e+00  1.586e+01  1.000e-02  1.000e-02  0.1250  0.000e+00  0.000e+00  0.000e+00  1.858e+00  2.019e+00
 iter    cost       stop       grad       xreg       ureg      step   ||ffeas||  ||gfeas||  ||hfeas||   dV-exp       dV
@@ -79,7 +79,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   70  3.456e+00  1.016e-07  2.032e-07  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  1.016e-07  1.033e-07
   71  3.456e+00  3.482e-08  6.964e-08  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.482e-08  3.501e-08
   72  3.456e+00  3.248e-09  6.495e-09  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  3.248e-09  3.254e-09
-  73  3.456e+00  7.353e-13  1.471e-12  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  7.353e-13  7.767e-13
+  73  3.456e+00  7.353e-13  1.471e-12  1.000e-09  1.000e-09  1.0000  0.000e+00  0.000e+00  0.000e+00  7.353e-13  7.976e-13
 Finally reached = (0.400, 0.000, 1.200)
 Distance between hand and target = 1.523E-05
 Distance to default state = 1.615E+00

diff --git a/examples/log/humanoid_manipulation_ubound.log b/examples/log/humanoid_manipulation_ubound.log
@@ -36,7 +36,7 @@ iter    cost       stop       grad       xreg       ureg      step   ||ffeas||
   31  3.745e+01  2.495e+01  4.990e+01  1.000e-02  1.000e-02  0.2500  1.113e-14  0.000e+00  0.000e+00  1.092e+01  3.994e+00
   32  3.254e+01  2.418e+01  4.835e+01  1.000e-02  1.000e-02  0.2500  8.354e-15  0.000e+00  0.000e+00  1.058e+01  4.908e+00
   33  2.861e+01  2.131e+01  4.262e+01  1.000e-02  1.000e-02  0.2500  6.273e-15  0.000e+00  0.000e+00  9.322e+00  3.924e+00
-  34  2.584e+01  1.864e+01  3.728e+01  1.000e-02  1.000e-02  0.2500  4.705e-15  0.000e+00  0.000e+00  8.156e+00  2.772e+00
+  34  2.584e+01  1.864e+01  3.728e+01  1.000e-02  1.000e-02  0.2500  4.718e-15  0.000e+00  0.000e+00  8.156e+00  2.772e+00
   35  2.245e+01  1.649e+01  3.298e+01  1.000e-02  1.000e-02  0.5000  3.553e-15  0.000e+00  0.000e+00  1.237e+01  3.394e+00
   36  2.106e+01  1.361e+01  2.722e+01  1.000e-02  1.000e-02  0.5000  1.776e-15  0.000e+00  0.000e+00  1.021e+01  1.383e+00
   37  2.106e+01  1.240e+01  2.480e+01  1.000e-01  1.000e-01  0.0020  8.882e-16  0.000e+00  0.000e+00  4.839e-02  2.979e-03