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Added LWA frame convention in Contact1D #1172

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merged 2 commits into from
Oct 28, 2023
Merged

Added LWA frame convention in Contact1D #1172

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38a6e59
implemented world and lwa conventions for contactmodel1d + bindings +…
skleff1994 Oct 16, 2023
ce9dbdf
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 27, 2023
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59 changes: 51 additions & 8 deletions bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,22 +29,28 @@ void exposeContact1D() {
"(holonomic constraint) or\n"
"the derivatives of the holonomic constraint, respectively.",
bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, double,
std::size_t, bp::optional<Eigen::Vector2d> >(
bp::args("self", "state", "id", "xref", "nu", "gains"),
pinocchio::ReferenceFrame, Eigen::Matrix3d, std::size_t,
bp::optional<Eigen::Vector2d> >(
bp::args("self", "state", "id", "xref", "type", "rotation", "nu",
"gains"),
"Initialize the contact model.\n\n"
":param state: state of the multibody system\n"
":param id: reference frame id of the contact\n"
":param xref: contact position used for the Baumgarte stabilization\n"
":param type: type of contact\n"
":param rotation: rotation of the reference frame's z axis"
":param nu: dimension of control vector\n"
":param gains: gains of the contact model (default "
"np.matrix([0.,0.]))"))
.def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
double, bp::optional<Eigen::Vector2d> >(
bp::args("self", "state", "id", "xref", "gains"),
double, pinocchio::ReferenceFrame,
bp::optional<Eigen::Vector2d> >(
bp::args("self", "state", "id", "xref", "type", "gains"),
"Initialize the contact model.\n\n"
":param state: state of the multibody system\n"
":param id: reference frame id of the contact\n"
":param xref: contact position used for the Baumgarte stabilization\n"
":param type: type of contact\n"
":param gains: gains of the contact model (default "
"np.matrix([0.,0.]))"))
.def("calc", &ContactModel1D::calc, bp::args("self", "data", "x"),
Expand Down Expand Up @@ -81,6 +87,11 @@ void exposeContact1D() {
bp::make_function(&ContactModel1D::get_reference,
bp::return_value_policy<bp::return_by_value>()),
&ContactModel1D::set_reference, "reference contact translation")
.add_property("Raxis",
bp::make_function(&ContactModel1D::get_axis_rotation,
bp::return_internal_reference<>()),
&ContactModel1D::set_axis_rotation,
"rotation of the reference frame's z axis")
.add_property(
"gains",
bp::make_function(&ContactModel1D::get_gains,
Expand All @@ -103,11 +114,43 @@ void exposeContact1D() {
bp::make_getter(&ContactData1D::v,
bp::return_value_policy<bp::return_by_value>()),
"spatial velocity of the contact body")
.add_property("a0_local",
bp::make_getter(&ContactData1D::a0_local,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::a0_local),
"desired local contact acceleration")
.add_property("a0_skew",
bp::make_getter(&ContactData1D::a0_skew,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::a0_skew),
"contact acceleration skew (local)")
.add_property("a0_world_skew",
bp::make_getter(&ContactData1D::a0_world_skew,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::a0_world_skew),
"contact acceleration skew (world)")
.add_property(
"a",
bp::make_getter(&ContactData1D::a,
bp::return_value_policy<bp::return_by_value>()),
"spatial acceleration of the contact body")
"dp",
bp::make_getter(&ContactData1D::dp,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::dp),
"Translation error computed for the Baumgarte regularization term")
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.add_property("dp_local",
bp::make_getter(&ContactData1D::dp_local,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::dp_local),
"local translation error computed for the Baumgarte "
"regularization term")
.add_property("f_local",
bp::make_getter(&ContactData1D::f_local,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::f_local),
"spatial contact force in local coordinates")
.add_property("da0_local_dx",
bp::make_getter(&ContactData1D::da0_local_dx,
bp::return_internal_reference<>()),
bp::make_setter(&ContactData1D::da0_local_dx),
"Jacobian of the desired local contact acceleration")
.add_property("fJf",
bp::make_getter(&ContactData1D::fJf,
bp::return_internal_reference<>()),
Expand Down
2 changes: 1 addition & 1 deletion examples/log/arm_manipulation_fwddyn.log
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ 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
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
Expand Down
14 changes: 7 additions & 7 deletions examples/log/bipedal_walk_fwddyn.log
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@ iter cost stop grad xreg ureg step ||ffeas||
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 2.106e-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
15 4.343e+03 3.417e-07 6.834e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.417e-07 2.282e-07
16 4.343e+03 3.775e-08 7.551e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.775e-08 2.514e-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
Expand All @@ -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 1.122e-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
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 1.588e-08 3.177e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.588e-08 1.516e-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
Expand All @@ -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 4.664e-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
22 4.565e+03 4.675e-09 9.350e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.675e-09 3.916e-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
Expand All @@ -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 7.715e-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
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
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 3.885e-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
17 4.653e+03 3.885e-08 7.770e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.885e-08 3.856e-08
16 changes: 8 additions & 8 deletions examples/log/bipedal_walk_invdyn.log
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Original file line number Diff line number Diff line change
Expand Up @@ -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 6.749e-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 4.482e-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
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
13 4.343e+03 3.112e-06 3.168e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.282e-08 3.112e-06 3.131e-06
14 4.343e+03 4.480e-08 1.412e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.823e-09 4.480e-08 4.429e-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
Expand Down Expand Up @@ -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 1.451e-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
24 4.606e+03 1.448e-08 8.702e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.465e-11 -1.448e-08 -1.483e-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
Expand All @@ -67,9 +67,9 @@ iter cost stop grad xreg ureg step ||ffeas||
16 4.566e+03 1.058e+00 2.117e+00 1.000e-09 1.000e-09 0.0625 0.000e+00 0.000e+00 2.958e-04 1.282e-01 -1.073e-01
17 4.566e+03 3.464e-01 6.929e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 1.873e-04 2.598e-01 2.312e-01
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
19 4.565e+03 3.326e-05 7.007e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.164e-08 3.326e-05 3.324e-05
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
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
20 4.565e+03 3.166e-09 7.093e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.379e-11 -3.166e-09 -3.274e-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
Expand All @@ -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 7.384e-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
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 1.318e-09 5.403e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.964e-10 1.318e-09 1.433e-09
10 changes: 5 additions & 5 deletions examples/log/bipedal_walk_ubound.log
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Original file line number Diff line number Diff line change
Expand Up @@ -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 2.930e-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
20 4.343e+03 2.940e-08 5.880e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.940e-08 2.324e-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
Expand All @@ -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 8.324e-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
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 8.325e-07
15 4.607e+03 1.116e-08 2.233e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.116e-08 1.138e-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
Expand All @@ -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 4.117e-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
20 4.567e+03 4.104e-08 8.208e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.104e-08 4.033e-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
Expand All @@ -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 4.552e-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
20 4.656e+03 4.521e-08 9.041e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.521e-08 4.587e-08
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