From 7799c9e0888130f57afde6d16991fa08c835f646 Mon Sep 17 00:00:00 2001 From: Carlos Mastalli Date: Mon, 4 Dec 2023 16:39:35 +0000 Subject: [PATCH] [log] Updated log files --- examples/log/boxfddp_vs_boxddp.log | 42 +++++----- examples/log/humanoid_manipulation.log | 28 +++---- examples/log/humanoid_manipulation_ubound.log | 78 +++++++++---------- examples/log/humanoid_taichi.log | 10 +-- examples/log/quadrupedal_gaits_fwddyn.log | 14 ++-- examples/log/quadrupedal_gaits_invdyn.log | 24 +++--- examples/log/quadrupedal_walk_ubound.log | 2 +- 7 files changed, 99 insertions(+), 99 deletions(-) diff --git a/examples/log/boxfddp_vs_boxddp.log b/examples/log/boxfddp_vs_boxddp.log index 6f21c7d090..fc2d815c45 100644 --- a/examples/log/boxfddp_vs_boxddp.log +++ b/examples/log/boxfddp_vs_boxddp.log @@ -51,7 +51,7 @@ iter cost merit stop grad preg dreg step 44 2.048e+04 0.000e+00 3.272e+02 7.685e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 2.596e+02 1.674e+02 0.000e+00 0.000e+00 45 2.048e+04 0.000e+00 3.056e+02 5.971e+02 1.000e-02 1.000e-02 0.0156 0.000e+00 0.000e+00 0.000e+00 9.367e+00 1.185e+00 0.000e+00 0.000e+00 46 2.047e+04 0.000e+00 2.846e+02 5.619e+02 1.000e-02 1.000e-02 0.0312 0.000e+00 0.000e+00 0.000e+00 1.740e+01 9.065e+00 0.000e+00 0.000e+00 - 47 2.046e+04 0.000e+00 2.172e+02 5.258e+02 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 5.591e+01 9.291e+00 0.000e+00 0.000e+00 + 47 2.046e+04 0.000e+00 2.172e+02 5.258e+02 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 5.591e+01 9.292e+00 0.000e+00 0.000e+00 48 2.044e+04 0.000e+00 2.513e+02 4.995e+02 1.000e-02 1.000e-02 0.5000 0.000e+00 0.000e+00 0.000e+00 1.881e+02 2.491e+01 0.000e+00 0.000e+00 49 2.044e+04 0.000e+00 1.789e+02 6.932e+02 1.000e-01 1.000e-01 0.0078 0.000e+00 0.000e+00 0.000e+00 4.085e+00 2.132e+00 0.000e+00 0.000e+00 *** SOLVE with Box-DDP *** @@ -67,24 +67,24 @@ iter cost merit stop grad preg dreg step 8 9.840e+07 0.000e+00 2.051e+06 4.102e+06 1.000e-01 1.000e-01 0.1250 5.130e-01 0.000e+00 0.000e+00 4.807e+05 -9.654e+07 0.000e+00 0.000e+00 9 5.016e+07 0.000e+00 1.084e+08 3.602e+08 1.000e-01 1.000e-01 0.0625 0.000e+00 0.000e+00 0.000e+00 3.776e+06 4.824e+07 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 5.016e+07 0.000e+00 2.575e+07 1.158e+08 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.248e+05 -4.328e+07 0.000e+00 0.000e+00 - 11 5.016e+07 0.000e+00 2.219e+07 1.041e+08 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 5.811e+04 -1.147e+06 0.000e+00 0.000e+00 - 12 4.976e+07 0.000e+00 2.407e+07 1.006e+08 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 5.106e+04 3.950e+05 0.000e+00 0.000e+00 - 13 4.941e+07 0.000e+00 6.999e+06 5.409e+07 1.000e+02 1.000e+02 0.0156 0.000e+00 0.000e+00 0.000e+00 5.254e+05 3.513e+05 0.000e+00 0.000e+00 - 14 4.724e+07 0.000e+00 2.047e+06 5.589e+07 1.000e+02 1.000e+02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.765e+06 2.166e+06 0.000e+00 0.000e+00 - 15 4.723e+07 0.000e+00 1.848e+05 4.717e+07 1.000e+03 1.000e+03 0.0039 0.000e+00 0.000e+00 0.000e+00 9.105e+04 1.700e+04 0.000e+00 0.000e+00 - 16 4.549e+07 0.000e+00 7.559e+06 1.709e+07 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.491e+06 1.740e+06 0.000e+00 0.000e+00 - 17 4.033e+07 0.000e+00 5.319e+06 1.162e+07 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.112e+06 5.154e+06 0.000e+00 0.000e+00 - 18 3.836e+07 0.000e+00 2.807e+06 5.919e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.257e+06 1.969e+06 0.000e+00 0.000e+00 - 19 3.823e+07 0.000e+00 2.468e+06 5.200e+06 1.000e+03 1.000e+03 0.0156 0.000e+00 0.000e+00 0.000e+00 7.855e+04 1.311e+05 0.000e+00 0.000e+00 + 10 5.016e+07 0.000e+00 2.574e+07 1.158e+08 1.000e+00 1.000e+00 0.0020 0.000e+00 0.000e+00 0.000e+00 1.248e+05 -3.727e+07 0.000e+00 0.000e+00 + 11 5.016e+07 0.000e+00 2.219e+07 1.041e+08 1.000e+01 1.000e+01 0.0020 0.000e+00 0.000e+00 0.000e+00 5.812e+04 -1.148e+06 0.000e+00 0.000e+00 + 12 4.976e+07 0.000e+00 2.407e+07 1.006e+08 1.000e+02 1.000e+02 0.0020 0.000e+00 0.000e+00 0.000e+00 5.106e+04 3.961e+05 0.000e+00 0.000e+00 + 13 4.940e+07 0.000e+00 7.002e+06 5.410e+07 1.000e+02 1.000e+02 0.0156 0.000e+00 0.000e+00 0.000e+00 5.255e+05 3.617e+05 0.000e+00 0.000e+00 + 14 4.725e+07 0.000e+00 2.023e+06 5.593e+07 1.000e+02 1.000e+02 0.0625 0.000e+00 0.000e+00 0.000e+00 1.765e+06 2.145e+06 0.000e+00 0.000e+00 + 15 4.724e+07 0.000e+00 1.950e+05 4.718e+07 1.000e+03 1.000e+03 0.0039 0.000e+00 0.000e+00 0.000e+00 9.102e+04 1.458e+04 0.000e+00 0.000e+00 + 16 4.550e+07 0.000e+00 7.568e+06 1.710e+07 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 3.495e+06 1.741e+06 0.000e+00 0.000e+00 + 17 4.035e+07 0.000e+00 5.350e+06 1.160e+07 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 4.125e+06 5.144e+06 0.000e+00 0.000e+00 + 18 3.837e+07 0.000e+00 2.819e+06 5.927e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.260e+06 1.984e+06 0.000e+00 0.000e+00 + 19 3.832e+07 0.000e+00 2.426e+06 5.147e+06 1.000e+03 1.000e+03 0.0312 0.000e+00 0.000e+00 0.000e+00 1.537e+05 5.032e+04 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 3.687e+07 0.000e+00 2.429e+06 5.109e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.086e+06 1.367e+06 0.000e+00 0.000e+00 - 21 3.574e+07 0.000e+00 1.988e+06 4.196e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.903e+05 1.129e+06 0.000e+00 0.000e+00 - 22 3.496e+07 0.000e+00 1.489e+06 3.213e+06 1.000e+03 1.000e+03 0.5000 0.000e+00 0.000e+00 0.000e+00 1.146e+06 7.774e+05 0.000e+00 0.000e+00 - 23 3.494e+07 0.000e+00 1.324e+06 2.964e+06 1.000e+03 1.000e+03 0.0312 0.000e+00 0.000e+00 0.000e+00 8.624e+04 1.683e+04 0.000e+00 0.000e+00 - 24 3.419e+07 0.000e+00 1.275e+06 2.950e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 5.953e+05 7.529e+05 0.000e+00 0.000e+00 - 25 3.418e+07 0.000e+00 1.097e+06 2.897e+06 1.000e+04 1.000e+04 0.0078 0.000e+00 0.000e+00 0.000e+00 1.979e+04 9.570e+03 0.000e+00 0.000e+00 - 26 3.418e+07 0.000e+00 2.034e+05 4.456e+05 1.000e+05 1.000e+05 0.0020 0.000e+00 0.000e+00 0.000e+00 8.315e+02 -5.697e+02 0.000e+00 0.000e+00 - 27 3.418e+07 0.000e+00 2.374e+04 4.853e+04 1.000e+05 1.000e+05 0.2500 0.000e+00 0.000e+00 0.000e+00 1.048e+04 3.651e+03 0.000e+00 0.000e+00 - 28 3.418e+07 0.000e+00 2.358e+04 4.850e+04 1.000e+06 1.000e+06 0.0020 0.000e+00 0.000e+00 0.000e+00 9.333e+01 -1.014e+02 0.000e+00 0.000e+00 - 29 3.418e+07 0.000e+00 2.421e+03 4.843e+03 1.000e+06 1.000e+06 0.0156 0.000e+00 0.000e+00 0.000e+00 7.507e+01 7.809e+00 0.000e+00 0.000e+00 + 20 3.695e+07 0.000e+00 2.397e+06 5.041e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 1.072e+06 1.372e+06 0.000e+00 0.000e+00 + 21 3.582e+07 0.000e+00 2.016e+06 4.175e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.954e+05 1.131e+06 0.000e+00 0.000e+00 + 22 3.510e+07 0.000e+00 1.566e+06 3.233e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.946e+05 7.130e+05 0.000e+00 0.000e+00 + 23 3.448e+07 0.000e+00 1.489e+06 3.068e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 6.599e+05 6.264e+05 0.000e+00 0.000e+00 + 24 3.385e+07 0.000e+00 1.317e+06 2.766e+06 1.000e+03 1.000e+03 0.2500 0.000e+00 0.000e+00 0.000e+00 5.886e+05 6.332e+05 0.000e+00 0.000e+00 + 25 3.376e+07 0.000e+00 1.155e+06 2.483e+06 1.000e+03 1.000e+03 0.1250 0.000e+00 0.000e+00 0.000e+00 2.802e+05 8.546e+04 0.000e+00 0.000e+00 + 26 3.376e+07 0.000e+00 1.059e+06 2.510e+06 1.000e+04 1.000e+04 0.0020 0.000e+00 0.000e+00 0.000e+00 4.515e+03 -1.722e+03 0.000e+00 0.000e+00 + 27 3.376e+07 0.000e+00 1.463e+05 4.023e+05 1.000e+05 1.000e+05 0.0020 0.000e+00 0.000e+00 0.000e+00 6.779e+02 -3.410e+02 0.000e+00 0.000e+00 + 28 3.376e+07 0.000e+00 2.240e+04 4.559e+04 1.000e+06 1.000e+06 0.0020 0.000e+00 0.000e+00 0.000e+00 8.819e+01 -1.492e+02 0.000e+00 0.000e+00 + 29 3.376e+07 0.000e+00 2.288e+03 4.578e+03 1.000e+07 1.000e+07 0.0020 0.000e+00 0.000e+00 0.000e+00 8.931e+00 -8.361e+00 0.000e+00 0.000e+00 diff --git a/examples/log/humanoid_manipulation.log b/examples/log/humanoid_manipulation.log index 1bf49ce986..5dbffb441c 100644 --- a/examples/log/humanoid_manipulation.log +++ b/examples/log/humanoid_manipulation.log @@ -1,22 +1,22 @@ iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 7.842e+01 0.000e+00 4.563e+01 9.125e+01 1.000e-01 1.000e-01 0.2500 5.613e-14 0.000e+00 0.000e+00 1.996e+01 2.032e+01 0.000e+00 0.000e+00 - 1 6.592e+01 0.000e+00 3.143e+01 6.287e+01 1.000e-01 1.000e-01 0.5000 4.211e-14 0.000e+00 0.000e+00 2.357e+01 1.250e+01 0.000e+00 0.000e+00 - 2 6.225e+01 0.000e+00 1.552e+01 3.103e+01 1.000e-01 1.000e-01 0.2500 2.107e-14 0.000e+00 0.000e+00 6.788e+00 3.676e+00 0.000e+00 0.000e+00 - 3 5.144e+01 0.000e+00 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.579e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01 0.000e+00 0.000e+00 - 4 4.829e+01 0.000e+00 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.896e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00 0.000e+00 0.000e+00 - 5 4.668e+01 0.000e+00 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.955e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00 0.000e+00 0.000e+00 - 6 4.408e+01 0.000e+00 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.456e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00 0.000e+00 0.000e+00 - 7 4.051e+01 0.000e+00 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.609e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00 0.000e+00 0.000e+00 - 8 3.756e+01 0.000e+00 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.332e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00 0.000e+00 0.000e+00 + 0 7.842e+01 0.000e+00 4.563e+01 9.125e+01 1.000e-01 1.000e-01 0.2500 5.334e-14 0.000e+00 0.000e+00 1.996e+01 2.032e+01 0.000e+00 0.000e+00 + 1 6.592e+01 0.000e+00 3.143e+01 6.287e+01 1.000e-01 1.000e-01 0.5000 4.000e-14 0.000e+00 0.000e+00 2.357e+01 1.250e+01 0.000e+00 0.000e+00 + 2 6.225e+01 0.000e+00 1.552e+01 3.103e+01 1.000e-01 1.000e-01 0.2500 2.001e-14 0.000e+00 0.000e+00 6.788e+00 3.676e+00 0.000e+00 0.000e+00 + 3 5.144e+01 0.000e+00 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 0.000e+00 0.000e+00 + 4 4.829e+01 0.000e+00 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 0.000e+00 0.000e+00 + 5 4.668e+01 0.000e+00 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 0.000e+00 0.000e+00 + 6 4.408e+01 0.000e+00 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 0.000e+00 0.000e+00 + 7 4.051e+01 0.000e+00 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 0.000e+00 0.000e+00 + 8 3.756e+01 0.000e+00 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 0.000e+00 0.000e+00 9 3.611e+01 0.000e+00 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 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 3.502e+01 0.000e+00 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 0.000e+00 0.000e+00 11 3.432e+01 0.000e+00 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 0.000e+00 0.000e+00 12 3.338e+01 0.000e+00 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 0.000e+00 0.000e+00 - 13 3.252e+01 0.000e+00 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01 0.000e+00 0.000e+00 - 14 3.172e+01 0.000e+00 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01 0.000e+00 0.000e+00 - 15 3.096e+01 0.000e+00 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01 0.000e+00 0.000e+00 - 16 3.034e+01 0.000e+00 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 0.000e+00 0.000e+00 + 13 3.252e+01 0.000e+00 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 0.000e+00 0.000e+00 + 14 3.172e+01 0.000e+00 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 0.000e+00 0.000e+00 + 15 3.096e+01 0.000e+00 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 0.000e+00 0.000e+00 + 16 3.034e+01 0.000e+00 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 0.000e+00 0.000e+00 17 2.437e+01 0.000e+00 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 0.000e+00 0.000e+00 18 2.222e+01 0.000e+00 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 0.000e+00 0.000e+00 19 2.020e+01 0.000e+00 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 0.000e+00 0.000e+00 @@ -79,7 +79,7 @@ iter cost merit stop grad preg dreg step 70 3.456e+00 0.000e+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 0.000e+00 0.000e+00 71 3.456e+00 0.000e+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 0.000e+00 0.000e+00 72 3.456e+00 0.000e+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 0.000e+00 0.000e+00 - 73 3.456e+00 0.000e+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 7.829e-13 0.000e+00 0.000e+00 + 73 3.456e+00 0.000e+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 0.000e+00 0.000e+00 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 index 0908a62212..82a764a6ee 100644 --- a/examples/log/humanoid_manipulation_ubound.log +++ b/examples/log/humanoid_manipulation_ubound.log @@ -1,46 +1,46 @@ iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 0 8.788e+01 0.000e+00 9.459e+01 1.892e+02 1.000e-09 1.000e-09 0.0625 5.613e-14 0.000e+00 0.000e+00 1.145e+01 1.086e+01 0.000e+00 0.000e+00 - 1 7.826e+01 0.000e+00 8.392e+01 1.678e+02 1.000e-09 1.000e-09 0.0625 5.262e-14 0.000e+00 0.000e+00 1.016e+01 9.623e+00 0.000e+00 0.000e+00 - 2 7.374e+01 0.000e+00 7.433e+01 1.487e+02 1.000e-09 1.000e-09 0.0312 4.934e-14 0.000e+00 0.000e+00 4.573e+00 4.513e+00 0.000e+00 0.000e+00 - 3 7.160e+01 0.000e+00 6.983e+01 1.397e+02 1.000e-09 1.000e-09 0.0156 4.780e-14 0.000e+00 0.000e+00 2.165e+00 2.147e+00 0.000e+00 0.000e+00 - 4 6.983e+01 0.000e+00 6.748e+01 1.350e+02 1.000e-09 1.000e-09 0.0312 4.705e-14 0.000e+00 0.000e+00 4.152e+00 1.769e+00 0.000e+00 0.000e+00 - 5 6.802e+01 0.000e+00 6.580e+01 1.316e+02 1.000e-09 1.000e-09 0.0156 4.558e-14 0.000e+00 0.000e+00 2.040e+00 1.806e+00 0.000e+00 0.000e+00 - 6 6.722e+01 0.000e+00 6.388e+01 1.278e+02 1.000e-08 1.000e-08 0.0078 4.487e-14 0.000e+00 0.000e+00 9.943e-01 7.968e-01 0.000e+00 0.000e+00 - 7 6.687e+01 0.000e+00 6.310e+01 1.262e+02 1.000e-07 1.000e-07 0.0039 4.452e-14 0.000e+00 0.000e+00 4.920e-01 3.578e-01 0.000e+00 0.000e+00 - 8 6.611e+01 0.000e+00 6.272e+01 1.254e+02 1.000e-06 1.000e-06 0.0078 4.434e-14 0.000e+00 0.000e+00 9.761e-01 7.593e-01 0.000e+00 0.000e+00 - 9 6.559e+01 0.000e+00 6.190e+01 1.238e+02 1.000e-05 1.000e-05 0.0078 4.400e-14 0.000e+00 0.000e+00 9.634e-01 5.201e-01 0.000e+00 0.000e+00 + 0 8.788e+01 0.000e+00 9.459e+01 1.892e+02 1.000e-09 1.000e-09 0.0625 5.334e-14 0.000e+00 0.000e+00 1.145e+01 1.086e+01 0.000e+00 0.000e+00 + 1 7.826e+01 0.000e+00 8.392e+01 1.678e+02 1.000e-09 1.000e-09 0.0625 5.000e-14 0.000e+00 0.000e+00 1.016e+01 9.623e+00 0.000e+00 0.000e+00 + 2 7.374e+01 0.000e+00 7.433e+01 1.487e+02 1.000e-09 1.000e-09 0.0312 4.688e-14 0.000e+00 0.000e+00 4.573e+00 4.513e+00 0.000e+00 0.000e+00 + 3 7.160e+01 0.000e+00 6.983e+01 1.397e+02 1.000e-09 1.000e-09 0.0156 4.542e-14 0.000e+00 0.000e+00 2.165e+00 2.147e+00 0.000e+00 0.000e+00 + 4 6.983e+01 0.000e+00 6.748e+01 1.350e+02 1.000e-09 1.000e-09 0.0312 4.471e-14 0.000e+00 0.000e+00 4.152e+00 1.769e+00 0.000e+00 0.000e+00 + 5 6.802e+01 0.000e+00 6.580e+01 1.316e+02 1.000e-09 1.000e-09 0.0156 4.331e-14 0.000e+00 0.000e+00 2.040e+00 1.806e+00 0.000e+00 0.000e+00 + 6 6.722e+01 0.000e+00 6.388e+01 1.278e+02 1.000e-08 1.000e-08 0.0078 4.263e-14 0.000e+00 0.000e+00 9.943e-01 7.968e-01 0.000e+00 0.000e+00 + 7 6.687e+01 0.000e+00 6.310e+01 1.262e+02 1.000e-07 1.000e-07 0.0039 4.230e-14 0.000e+00 0.000e+00 4.920e-01 3.578e-01 0.000e+00 0.000e+00 + 8 6.611e+01 0.000e+00 6.272e+01 1.254e+02 1.000e-06 1.000e-06 0.0078 4.213e-14 0.000e+00 0.000e+00 9.761e-01 7.593e-01 0.000e+00 0.000e+00 + 9 6.559e+01 0.000e+00 6.190e+01 1.238e+02 1.000e-05 1.000e-05 0.0078 4.181e-14 0.000e+00 0.000e+00 9.634e-01 5.201e-01 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 6.536e+01 0.000e+00 6.103e+01 1.221e+02 1.000e-05 1.000e-05 0.0156 4.366e-14 0.000e+00 0.000e+00 1.892e+00 2.309e-01 0.000e+00 0.000e+00 - 11 6.536e+01 0.000e+00 6.074e+01 1.215e+02 1.000e-04 1.000e-04 0.0020 4.297e-14 0.000e+00 0.000e+00 2.370e-01 6.295e-03 0.000e+00 0.000e+00 - 12 6.263e+01 0.000e+00 5.971e+01 1.194e+02 1.000e-04 1.000e-04 0.0625 4.297e-14 0.000e+00 0.000e+00 7.230e+00 2.725e+00 0.000e+00 0.000e+00 - 13 6.199e+01 0.000e+00 5.695e+01 1.139e+02 1.000e-04 1.000e-04 0.0312 4.028e-14 0.000e+00 0.000e+00 3.504e+00 6.387e-01 0.000e+00 0.000e+00 - 14 6.180e+01 0.000e+00 5.627e+01 1.125e+02 1.000e-04 1.000e-04 0.0156 3.902e-14 0.000e+00 0.000e+00 1.745e+00 1.951e-01 0.000e+00 0.000e+00 - 15 6.175e+01 0.000e+00 5.586e+01 1.117e+02 1.000e-03 1.000e-03 0.0039 3.842e-14 0.000e+00 0.000e+00 4.356e-01 4.403e-02 0.000e+00 0.000e+00 - 16 5.625e+01 0.000e+00 5.286e+01 1.057e+02 1.000e-03 1.000e-03 0.1250 3.827e-14 0.000e+00 0.000e+00 1.239e+01 5.507e+00 0.000e+00 0.000e+00 - 17 5.409e+01 0.000e+00 4.695e+01 9.391e+01 1.000e-03 1.000e-03 0.0625 3.350e-14 0.000e+00 0.000e+00 5.686e+00 2.153e+00 0.000e+00 0.000e+00 - 18 5.335e+01 0.000e+00 4.449e+01 8.899e+01 1.000e-03 1.000e-03 0.0312 3.142e-14 0.000e+00 0.000e+00 2.737e+00 7.418e-01 0.000e+00 0.000e+00 - 19 5.271e+01 0.000e+00 4.298e+01 8.596e+01 1.000e-03 1.000e-03 0.0312 3.045e-14 0.000e+00 0.000e+00 2.644e+00 6.426e-01 0.000e+00 0.000e+00 + 10 6.536e+01 0.000e+00 6.103e+01 1.221e+02 1.000e-05 1.000e-05 0.0156 4.148e-14 0.000e+00 0.000e+00 1.892e+00 2.309e-01 0.000e+00 0.000e+00 + 11 6.536e+01 0.000e+00 6.074e+01 1.215e+02 1.000e-04 1.000e-04 0.0020 4.084e-14 0.000e+00 0.000e+00 2.370e-01 6.295e-03 0.000e+00 0.000e+00 + 12 6.263e+01 0.000e+00 5.971e+01 1.194e+02 1.000e-04 1.000e-04 0.0625 4.084e-14 0.000e+00 0.000e+00 7.230e+00 2.725e+00 0.000e+00 0.000e+00 + 13 6.199e+01 0.000e+00 5.695e+01 1.139e+02 1.000e-04 1.000e-04 0.0312 3.828e-14 0.000e+00 0.000e+00 3.504e+00 6.387e-01 0.000e+00 0.000e+00 + 14 6.180e+01 0.000e+00 5.627e+01 1.125e+02 1.000e-04 1.000e-04 0.0156 3.708e-14 0.000e+00 0.000e+00 1.745e+00 1.951e-01 0.000e+00 0.000e+00 + 15 6.175e+01 0.000e+00 5.586e+01 1.117e+02 1.000e-03 1.000e-03 0.0039 3.651e-14 0.000e+00 0.000e+00 4.356e-01 4.403e-02 0.000e+00 0.000e+00 + 16 5.625e+01 0.000e+00 5.286e+01 1.057e+02 1.000e-03 1.000e-03 0.1250 3.636e-14 0.000e+00 0.000e+00 1.239e+01 5.507e+00 0.000e+00 0.000e+00 + 17 5.409e+01 0.000e+00 4.695e+01 9.391e+01 1.000e-03 1.000e-03 0.0625 3.182e-14 0.000e+00 0.000e+00 5.686e+00 2.153e+00 0.000e+00 0.000e+00 + 18 5.335e+01 0.000e+00 4.449e+01 8.899e+01 1.000e-03 1.000e-03 0.0312 2.984e-14 0.000e+00 0.000e+00 2.737e+00 7.418e-01 0.000e+00 0.000e+00 + 19 5.271e+01 0.000e+00 4.298e+01 8.596e+01 1.000e-03 1.000e-03 0.0312 2.891e-14 0.000e+00 0.000e+00 2.644e+00 6.426e-01 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 20 5.221e+01 0.000e+00 4.202e+01 8.405e+01 1.000e-03 1.000e-03 0.0312 2.950e-14 0.000e+00 0.000e+00 2.585e+00 5.017e-01 0.000e+00 0.000e+00 - 21 5.180e+01 0.000e+00 4.127e+01 8.253e+01 1.000e-03 1.000e-03 0.0312 2.859e-14 0.000e+00 0.000e+00 2.539e+00 4.124e-01 0.000e+00 0.000e+00 - 22 5.109e+01 0.000e+00 4.061e+01 8.123e+01 1.000e-03 1.000e-03 0.0312 2.770e-14 0.000e+00 0.000e+00 2.499e+00 7.104e-01 0.000e+00 0.000e+00 - 23 5.043e+01 0.000e+00 3.971e+01 7.943e+01 1.000e-03 1.000e-03 0.0312 2.684e-14 0.000e+00 0.000e+00 2.443e+00 6.576e-01 0.000e+00 0.000e+00 - 24 5.006e+01 0.000e+00 3.798e+01 7.595e+01 1.000e-03 1.000e-03 0.0312 2.601e-14 0.000e+00 0.000e+00 2.336e+00 3.644e-01 0.000e+00 0.000e+00 - 25 4.995e+01 0.000e+00 3.568e+01 7.137e+01 1.000e-03 1.000e-03 0.0156 2.520e-14 0.000e+00 0.000e+00 1.106e+00 1.182e-01 0.000e+00 0.000e+00 - 26 4.989e+01 0.000e+00 3.479e+01 6.958e+01 1.000e-02 1.000e-02 0.0078 2.481e-14 0.000e+00 0.000e+00 5.415e-01 5.724e-02 0.000e+00 0.000e+00 - 27 4.954e+01 0.000e+00 2.655e+01 5.309e+01 1.000e-02 1.000e-02 0.0312 2.462e-14 0.000e+00 0.000e+00 1.633e+00 3.532e-01 0.000e+00 0.000e+00 - 28 4.751e+01 0.000e+00 2.592e+01 5.184e+01 1.000e-02 1.000e-02 0.1250 2.384e-14 0.000e+00 0.000e+00 6.076e+00 2.029e+00 0.000e+00 0.000e+00 - 29 4.526e+01 0.000e+00 2.409e+01 4.819e+01 1.000e-02 1.000e-02 0.2500 2.087e-14 0.000e+00 0.000e+00 1.054e+01 2.244e+00 0.000e+00 0.000e+00 + 20 5.221e+01 0.000e+00 4.202e+01 8.405e+01 1.000e-03 1.000e-03 0.0312 2.801e-14 0.000e+00 0.000e+00 2.585e+00 5.017e-01 0.000e+00 0.000e+00 + 21 5.180e+01 0.000e+00 4.127e+01 8.253e+01 1.000e-03 1.000e-03 0.0312 2.713e-14 0.000e+00 0.000e+00 2.539e+00 4.124e-01 0.000e+00 0.000e+00 + 22 5.109e+01 0.000e+00 4.061e+01 8.123e+01 1.000e-03 1.000e-03 0.0312 2.628e-14 0.000e+00 0.000e+00 2.499e+00 7.104e-01 0.000e+00 0.000e+00 + 23 5.043e+01 0.000e+00 3.971e+01 7.943e+01 1.000e-03 1.000e-03 0.0312 2.547e-14 0.000e+00 0.000e+00 2.443e+00 6.576e-01 0.000e+00 0.000e+00 + 24 5.006e+01 0.000e+00 3.798e+01 7.595e+01 1.000e-03 1.000e-03 0.0312 2.467e-14 0.000e+00 0.000e+00 2.336e+00 3.644e-01 0.000e+00 0.000e+00 + 25 4.995e+01 0.000e+00 3.568e+01 7.137e+01 1.000e-03 1.000e-03 0.0156 2.390e-14 0.000e+00 0.000e+00 1.106e+00 1.182e-01 0.000e+00 0.000e+00 + 26 4.989e+01 0.000e+00 3.479e+01 6.958e+01 1.000e-02 1.000e-02 0.0078 2.352e-14 0.000e+00 0.000e+00 5.415e-01 5.724e-02 0.000e+00 0.000e+00 + 27 4.954e+01 0.000e+00 2.655e+01 5.309e+01 1.000e-02 1.000e-02 0.0312 2.334e-14 0.000e+00 0.000e+00 1.633e+00 3.532e-01 0.000e+00 0.000e+00 + 28 4.751e+01 0.000e+00 2.592e+01 5.184e+01 1.000e-02 1.000e-02 0.1250 2.261e-14 0.000e+00 0.000e+00 6.076e+00 2.029e+00 0.000e+00 0.000e+00 + 29 4.526e+01 0.000e+00 2.409e+01 4.819e+01 1.000e-02 1.000e-02 0.2500 1.978e-14 0.000e+00 0.000e+00 1.054e+01 2.244e+00 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 30 4.144e+01 0.000e+00 2.319e+01 4.639e+01 1.000e-02 1.000e-02 0.2500 1.565e-14 0.000e+00 0.000e+00 1.015e+01 3.823e+00 0.000e+00 0.000e+00 - 31 3.745e+01 0.000e+00 2.495e+01 4.990e+01 1.000e-02 1.000e-02 0.2500 1.174e-14 0.000e+00 0.000e+00 1.092e+01 3.994e+00 0.000e+00 0.000e+00 - 32 3.254e+01 0.000e+00 2.418e+01 4.835e+01 1.000e-02 1.000e-02 0.2500 8.799e-15 0.000e+00 0.000e+00 1.058e+01 4.908e+00 0.000e+00 0.000e+00 - 33 2.861e+01 0.000e+00 2.131e+01 4.262e+01 1.000e-02 1.000e-02 0.2500 6.606e-15 0.000e+00 0.000e+00 9.322e+00 3.924e+00 0.000e+00 0.000e+00 - 34 2.584e+01 0.000e+00 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.968e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00 0.000e+00 0.000e+00 - 35 2.245e+01 0.000e+00 1.649e+01 3.298e+01 1.000e-02 1.000e-02 0.5000 3.719e-15 0.000e+00 0.000e+00 1.237e+01 3.394e+00 0.000e+00 0.000e+00 - 36 2.106e+01 0.000e+00 1.361e+01 2.722e+01 1.000e-02 1.000e-02 0.5000 1.887e-15 0.000e+00 0.000e+00 1.021e+01 1.383e+00 0.000e+00 0.000e+00 - 37 2.106e+01 0.000e+00 1.240e+01 2.480e+01 1.000e-01 1.000e-01 0.0020 9.992e-16 0.000e+00 0.000e+00 4.839e-02 2.979e-03 0.000e+00 0.000e+00 - 38 1.935e+01 0.000e+00 7.457e+00 1.491e+01 1.000e-02 1.000e-02 1.0000 9.992e-16 0.000e+00 0.000e+00 7.457e+00 1.713e+00 0.000e+00 0.000e+00 + 30 4.144e+01 0.000e+00 2.319e+01 4.639e+01 1.000e-02 1.000e-02 0.2500 1.484e-14 0.000e+00 0.000e+00 1.015e+01 3.823e+00 0.000e+00 0.000e+00 + 31 3.745e+01 0.000e+00 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 0.000e+00 0.000e+00 + 32 3.254e+01 0.000e+00 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 0.000e+00 0.000e+00 + 33 2.861e+01 0.000e+00 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 0.000e+00 0.000e+00 + 34 2.584e+01 0.000e+00 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 0.000e+00 0.000e+00 + 35 2.245e+01 0.000e+00 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 0.000e+00 0.000e+00 + 36 2.106e+01 0.000e+00 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 0.000e+00 0.000e+00 + 37 2.106e+01 0.000e+00 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 0.000e+00 0.000e+00 + 38 1.935e+01 0.000e+00 7.457e+00 1.491e+01 1.000e-02 1.000e-02 1.0000 8.882e-16 0.000e+00 0.000e+00 7.457e+00 1.713e+00 0.000e+00 0.000e+00 39 1.461e+01 0.000e+00 9.709e+00 1.942e+01 1.000e-03 1.000e-03 1.0000 0.000e+00 0.000e+00 0.000e+00 9.709e+00 4.743e+00 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 40 8.279e+00 0.000e+00 8.341e+00 1.668e+01 1.000e-04 1.000e-04 1.0000 0.000e+00 0.000e+00 0.000e+00 8.341e+00 6.329e+00 0.000e+00 0.000e+00 diff --git a/examples/log/humanoid_taichi.log b/examples/log/humanoid_taichi.log index d891ec82a6..a5d431c220 100644 --- a/examples/log/humanoid_taichi.log +++ b/examples/log/humanoid_taichi.log @@ -33,12 +33,12 @@ iter cost merit stop grad preg dreg step 29 6.702e+01 0.000e+00 3.500e+01 7.001e+01 1.000e-02 1.000e-02 0.5000 2.605e-14 0.000e+00 0.000e+00 2.625e+01 8.041e+00 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 30 6.311e+01 0.000e+00 3.609e+01 7.217e+01 1.000e-02 1.000e-02 0.1250 1.303e-14 0.000e+00 0.000e+00 8.458e+00 3.909e+00 0.000e+00 0.000e+00 - 31 5.946e+01 0.000e+00 3.525e+01 7.049e+01 1.000e-02 1.000e-02 0.1250 1.140e-14 0.000e+00 0.000e+00 8.261e+00 3.650e+00 0.000e+00 0.000e+00 - 32 5.586e+01 0.000e+00 3.402e+01 6.805e+01 1.000e-02 1.000e-02 0.1250 9.975e-15 0.000e+00 0.000e+00 7.975e+00 3.604e+00 0.000e+00 0.000e+00 + 31 5.946e+01 0.000e+00 3.525e+01 7.049e+01 1.000e-02 1.000e-02 0.1250 1.141e-14 0.000e+00 0.000e+00 8.261e+00 3.650e+00 0.000e+00 0.000e+00 + 32 5.586e+01 0.000e+00 3.402e+01 6.805e+01 1.000e-02 1.000e-02 0.1250 9.978e-15 0.000e+00 0.000e+00 7.975e+00 3.604e+00 0.000e+00 0.000e+00 33 4.989e+01 0.000e+00 3.246e+01 6.493e+01 1.000e-02 1.000e-02 0.2500 8.729e-15 0.000e+00 0.000e+00 1.420e+01 5.969e+00 0.000e+00 0.000e+00 - 34 4.901e+01 0.000e+00 3.091e+01 6.181e+01 1.000e-02 1.000e-02 0.0625 6.547e-15 0.000e+00 0.000e+00 3.742e+00 8.757e-01 0.000e+00 0.000e+00 - 35 3.999e+01 0.000e+00 3.019e+01 6.039e+01 1.000e-02 1.000e-02 0.5000 6.137e-15 0.000e+00 0.000e+00 2.265e+01 9.023e+00 0.000e+00 0.000e+00 - 36 3.484e+01 0.000e+00 2.454e+01 4.909e+01 1.000e-02 1.000e-02 0.5000 3.070e-15 0.000e+00 0.000e+00 1.841e+01 5.148e+00 0.000e+00 0.000e+00 + 34 4.901e+01 0.000e+00 3.091e+01 6.181e+01 1.000e-02 1.000e-02 0.0625 6.545e-15 0.000e+00 0.000e+00 3.742e+00 8.757e-01 0.000e+00 0.000e+00 + 35 3.999e+01 0.000e+00 3.019e+01 6.039e+01 1.000e-02 1.000e-02 0.5000 6.136e-15 0.000e+00 0.000e+00 2.265e+01 9.023e+00 0.000e+00 0.000e+00 + 36 3.484e+01 0.000e+00 2.454e+01 4.909e+01 1.000e-02 1.000e-02 0.5000 3.069e-15 0.000e+00 0.000e+00 1.841e+01 5.148e+00 0.000e+00 0.000e+00 37 3.164e+01 0.000e+00 2.024e+01 4.049e+01 1.000e-03 1.000e-03 1.0000 1.535e-15 0.000e+00 0.000e+00 2.024e+01 3.202e+00 0.000e+00 0.000e+00 38 2.348e+01 0.000e+00 1.919e+01 3.837e+01 1.000e-03 1.000e-03 0.2500 0.000e+00 0.000e+00 0.000e+00 8.393e+00 8.154e+00 0.000e+00 0.000e+00 39 1.497e+01 0.000e+00 1.157e+01 2.314e+01 1.000e-03 1.000e-03 0.5000 0.000e+00 0.000e+00 0.000e+00 8.676e+00 8.517e+00 0.000e+00 0.000e+00 diff --git a/examples/log/quadrupedal_gaits_fwddyn.log b/examples/log/quadrupedal_gaits_fwddyn.log index 785492bf8c..39275b6418 100644 --- a/examples/log/quadrupedal_gaits_fwddyn.log +++ b/examples/log/quadrupedal_gaits_fwddyn.log @@ -12,7 +12,7 @@ iter cost merit stop grad preg dreg step 9 5.884e+02 0.000e+00 3.371e-02 6.742e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.371e-02 3.372e-02 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 5.884e+02 0.000e+00 4.226e-05 8.452e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.226e-05 4.229e-05 0.000e+00 0.000e+00 - 11 5.884e+02 0.000e+00 3.830e-10 7.660e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.830e-10 3.917e-10 0.000e+00 0.000e+00 + 11 5.884e+02 0.000e+00 3.828e-10 7.655e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.828e-10 3.862e-10 0.000e+00 0.000e+00 *** SOLVE trotting *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 1.780e+04 0.000e+00 4.592e+05 9.184e+05 1.000e-09 1.000e-09 1.0000 1.182e-01 0.000e+00 0.000e+00 4.592e+05 4.418e+05 0.000e+00 0.000e+00 @@ -23,7 +23,7 @@ iter cost merit stop grad preg dreg step 5 4.271e+02 0.000e+00 1.018e-01 2.036e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.018e-01 1.021e-01 0.000e+00 0.000e+00 6 4.270e+02 0.000e+00 7.044e-02 1.409e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.044e-02 7.050e-02 0.000e+00 0.000e+00 7 4.270e+02 0.000e+00 9.280e-07 1.856e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.280e-07 9.354e-07 0.000e+00 0.000e+00 - 8 4.270e+02 0.000e+00 5.825e-10 1.165e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.825e-10 6.050e-10 0.000e+00 0.000e+00 + 8 4.270e+02 0.000e+00 5.830e-10 1.166e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.830e-10 6.121e-10 0.000e+00 0.000e+00 *** SOLVE pacing *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 7.843e+04 0.000e+00 4.588e+05 9.249e+05 1.000e-09 1.000e-09 1.0000 1.622e+00 0.000e+00 0.000e+00 4.588e+05 3.812e+05 0.000e+00 0.000e+00 @@ -39,7 +39,7 @@ iter cost merit stop grad preg dreg step iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 7.997e+02 0.000e+00 8.176e-05 1.635e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.176e-05 8.767e-05 0.000e+00 0.000e+00 11 7.997e+02 0.000e+00 1.734e-05 3.468e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.734e-05 1.734e-05 0.000e+00 0.000e+00 - 12 7.997e+02 0.000e+00 3.291e-12 6.581e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.291e-12 1.569e-11 0.000e+00 0.000e+00 + 12 7.997e+02 0.000e+00 3.185e-12 6.370e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.185e-12 2.274e-12 0.000e+00 0.000e+00 *** SOLVE bounding *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 2.045e+05 0.000e+00 4.579e+05 9.258e+05 1.000e-09 1.000e-09 1.0000 1.175e+00 0.000e+00 0.000e+00 4.579e+05 2.553e+05 0.000e+00 0.000e+00 @@ -55,7 +55,7 @@ iter cost merit stop grad preg dreg step iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 2.040e+03 0.000e+00 7.440e-05 1.488e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.440e-05 7.440e-05 0.000e+00 0.000e+00 11 2.040e+03 0.000e+00 4.599e-07 9.198e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.599e-07 4.614e-07 0.000e+00 0.000e+00 - 12 2.040e+03 0.000e+00 3.097e-10 6.193e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.097e-10 3.740e-10 0.000e+00 0.000e+00 + 12 2.040e+03 0.000e+00 3.098e-10 6.195e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.098e-10 3.663e-10 0.000e+00 0.000e+00 *** SOLVE jumping *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 1.436e+06 0.000e+00 1.871e+06 3.878e+06 1.000e-09 1.000e-09 0.1250 1.162e+00 0.000e+00 0.000e+00 4.460e+05 4.381e+05 0.000e+00 0.000e+00 @@ -72,9 +72,9 @@ iter cost merit stop grad preg dreg step 10 3.888e+03 0.000e+00 5.344e-01 1.069e+00 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 2.338e-01 1.154e-01 0.000e+00 0.000e+00 11 3.888e+03 0.000e+00 4.128e-01 8.255e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 3.096e-01 3.083e-01 0.000e+00 0.000e+00 12 3.887e+03 0.000e+00 1.452e-01 2.904e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.089e-01 1.088e-01 0.000e+00 0.000e+00 - 13 3.887e+03 0.000e+00 3.611e-02 7.222e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.708e-02 9.562e-03 0.000e+00 0.000e+00 + 13 3.887e+03 0.000e+00 3.611e-02 7.222e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 2.708e-02 9.561e-03 0.000e+00 0.000e+00 14 3.887e+03 0.000e+00 2.634e-02 5.269e-02 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.976e-02 1.049e-02 0.000e+00 0.000e+00 15 3.887e+03 0.000e+00 1.369e-02 2.737e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.369e-02 1.413e-02 0.000e+00 0.000e+00 16 3.887e+03 0.000e+00 1.320e-03 2.640e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.320e-03 1.320e-03 0.000e+00 0.000e+00 - 17 3.887e+03 0.000e+00 1.377e-09 2.753e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.377e-09 1.345e-09 0.000e+00 0.000e+00 - 18 3.887e+03 0.000e+00 2.575e-11 5.151e-11 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.575e-11 8.549e-11 0.000e+00 0.000e+00 + 17 3.887e+03 0.000e+00 1.372e-09 2.744e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.372e-09 1.446e-09 0.000e+00 0.000e+00 + 18 3.887e+03 0.000e+00 1.610e-11 3.220e-11 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 1.208e-11 1.182e-11 0.000e+00 0.000e+00 diff --git a/examples/log/quadrupedal_gaits_invdyn.log b/examples/log/quadrupedal_gaits_invdyn.log index 4b6f49a3d4..890e16521e 100644 --- a/examples/log/quadrupedal_gaits_invdyn.log +++ b/examples/log/quadrupedal_gaits_invdyn.log @@ -7,8 +7,8 @@ iter cost merit stop grad preg dreg step 4 7.607e+02 2.244e+03 2.050e+03 4.099e+03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.681e-02 2.050e+03 1.877e+03 3.494e+03 3.322e+03 5 5.897e+02 7.343e+02 1.723e+02 3.446e+02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.589e-03 1.723e+02 1.710e+02 1.511e+03 1.510e+03 6 5.884e+02 5.921e+02 1.284e+00 2.567e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.107e-05 1.284e+00 1.284e+00 1.423e+02 1.423e+02 - 7 5.884e+02 5.884e+02 8.295e-06 1.439e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.054e-09 8.295e-06 8.296e-06 3.670e+00 3.670e+00 - 8 5.884e+02 5.884e+02 3.371e-10 2.091e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.974e-12 3.371e-10 3.430e-10 8.250e-05 8.250e-05 + 7 5.884e+02 5.884e+02 8.294e-06 1.439e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.054e-09 8.294e-06 8.296e-06 3.670e+00 3.670e+00 + 8 5.884e+02 5.884e+02 3.365e-10 2.077e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 7.041e-12 3.365e-10 3.365e-10 8.250e-05 8.250e-05 *** SOLVE trotting *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 1.931e+04 1.931e+04 4.592e+05 9.188e+05 1.000e-09 1.000e-09 1.0000 5.387e-02 0.000e+00 4.159e+01 4.592e+05 4.403e+05 4.592e+05 4.403e+05 @@ -18,8 +18,8 @@ iter cost merit stop grad preg dreg step 4 4.270e+02 4.942e+02 6.812e+00 1.363e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.906e-02 6.812e+00 6.775e+00 5.084e+01 5.080e+01 5 4.270e+02 4.329e+02 6.583e-02 1.321e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.693e-03 6.583e-02 6.587e-02 6.125e+01 6.125e+01 6 4.270e+02 4.270e+02 5.160e-05 4.184e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.705e-07 5.160e-05 5.160e-05 5.964e+00 5.964e+00 - 7 4.270e+02 4.270e+02 3.306e-08 2.768e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.121e-10 -3.306e-08 -3.305e-08 2.715e-03 2.715e-03 - 8 4.270e+02 4.270e+02 2.040e-11 4.626e-12 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.274e-13 -2.040e-11 -1.364e-11 3.940e-07 3.940e-07 + 7 4.270e+02 4.270e+02 3.306e-08 2.762e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.117e-10 -3.306e-08 -3.306e-08 2.715e-03 2.715e-03 + 8 4.270e+02 4.270e+02 2.019e-11 4.888e-12 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 2.274e-13 -2.019e-11 -2.512e-11 3.929e-07 3.929e-07 *** SOLVE pacing *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 6.268e+04 6.268e+04 4.588e+05 9.388e+05 1.000e-09 1.000e-09 1.0000 1.267e-01 0.000e+00 1.409e+02 4.588e+05 3.970e+05 4.588e+05 3.970e+05 @@ -31,9 +31,9 @@ iter cost merit stop grad preg dreg step 6 7.997e+02 7.998e+02 4.978e-02 9.923e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.503e-05 4.978e-02 5.033e-02 4.827e+00 4.827e+00 7 7.997e+02 7.997e+02 1.079e-03 2.158e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.965e-07 1.079e-03 1.102e-03 7.035e-02 7.038e-02 8 7.997e+02 7.997e+02 6.751e-05 1.350e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.036e-07 6.751e-05 6.751e-05 5.016e-04 5.016e-04 - 9 7.997e+02 7.997e+02 1.912e-09 1.302e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.126e-12 1.912e-09 1.898e-09 4.836e-04 4.836e-04 + 9 7.997e+02 7.997e+02 1.911e-09 1.298e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.098e-12 1.911e-09 1.921e-09 4.836e-04 4.836e-04 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 7.997e+02 7.997e+02 4.646e-12 1.320e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.821e-13 4.646e-12 8.413e-12 1.142e-08 1.142e-08 + 10 7.997e+02 7.997e+02 4.756e-12 1.505e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.411e-13 4.756e-12 -6.253e-12 1.288e-08 1.287e-08 *** SOLVE bounding *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 2.123e+05 2.123e+05 4.578e+05 9.573e+05 1.000e-09 1.000e-09 1.0000 5.695e-01 0.000e+00 8.227e+01 4.578e+05 2.475e+05 4.578e+05 2.475e+05 @@ -47,8 +47,8 @@ iter cost merit stop grad preg dreg step 8 2.040e+03 2.040e+03 1.499e-06 7.499e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.475e-08 1.499e-06 1.499e-06 1.462e-02 1.462e-02 9 2.040e+03 2.040e+03 1.240e-07 5.877e-08 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 6.102e-09 1.240e-07 1.240e-07 4.892e-04 4.892e-04 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 2.040e+03 2.040e+03 1.069e-08 4.901e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.812e-10 1.069e-08 1.067e-08 5.752e-05 5.752e-05 - 11 2.040e+03 2.040e+03 9.144e-10 4.150e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.800e-11 9.144e-10 9.268e-10 3.451e-06 3.451e-06 + 10 2.040e+03 2.040e+03 1.069e-08 4.901e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.812e-10 1.069e-08 1.069e-08 5.752e-05 5.752e-05 + 11 2.040e+03 2.040e+03 9.141e-10 4.149e-10 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.794e-11 9.141e-10 9.195e-10 3.452e-06 3.452e-06 *** SOLVE jumping *** iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 0 4.572e+05 4.572e+05 1.871e+06 4.002e+06 1.000e-09 1.000e-09 1.0000 1.162e+00 0.000e+00 2.481e+02 1.871e+06 1.417e+06 1.871e+06 1.417e+06 @@ -58,9 +58,9 @@ iter cost merit stop grad preg dreg step 4 3.898e+03 1.155e+04 1.102e+04 2.204e+04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.113e-01 1.102e+04 1.101e+04 1.033e+05 1.033e+05 5 3.888e+03 6.923e+03 1.041e+01 2.085e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.235e-01 1.041e+01 1.040e+01 4.624e+03 4.624e+03 6 3.888e+03 4.229e+03 1.493e-01 3.159e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.386e-02 1.493e-01 -3.437e-01 2.695e+03 2.695e+03 - 7 3.887e+03 3.892e+03 4.751e-01 9.513e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.743e-04 4.751e-01 4.803e-01 3.368e+02 3.369e+02 - 8 3.887e+03 3.888e+03 1.026e-02 2.054e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.095e-05 1.026e-02 1.072e-02 4.025e+00 4.026e+00 + 7 3.887e+03 3.892e+03 4.751e-01 9.512e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.743e-04 4.751e-01 4.803e-01 3.368e+02 3.369e+02 + 8 3.887e+03 3.888e+03 1.026e-02 2.054e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.095e-05 1.026e-02 1.072e-02 4.025e+00 4.025e+00 9 3.887e+03 3.887e+03 1.315e-03 2.639e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.266e-07 1.315e-03 1.315e-03 2.672e-01 2.672e-01 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi - 10 3.887e+03 3.887e+03 2.489e-08 7.383e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.872e-11 2.489e-08 2.484e-08 3.109e-03 3.109e-03 - 11 3.887e+03 3.887e+03 4.157e-11 9.100e-12 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.213e-12 4.157e-11 1.228e-10 6.761e-07 6.762e-07 + 10 3.887e+03 3.887e+03 2.490e-08 7.715e-10 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.909e-11 2.490e-08 2.493e-08 3.110e-03 3.110e-03 + 11 3.887e+03 3.887e+03 4.634e-11 1.704e-11 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.684e-13 4.634e-11 2.865e-11 7.009e-07 7.009e-07 diff --git a/examples/log/quadrupedal_walk_ubound.log b/examples/log/quadrupedal_walk_ubound.log index 14ea4fc886..ca04f73771 100644 --- a/examples/log/quadrupedal_walk_ubound.log +++ b/examples/log/quadrupedal_walk_ubound.log @@ -12,4 +12,4 @@ iter cost merit stop grad preg dreg step 9 1.035e+03 0.000e+00 1.385e+01 2.770e+01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 1.385e+01 1.384e+01 0.000e+00 0.000e+00 iter cost merit stop grad preg dreg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV dPhi-exp dPhi 10 1.035e+03 0.000e+00 8.091e-03 1.618e-02 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.091e-03 8.089e-03 0.000e+00 0.000e+00 - 11 1.035e+03 0.000e+00 2.041e-06 4.082e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.041e-06 2.109e-06 0.000e+00 0.000e+00 + 11 1.035e+03 0.000e+00 2.038e-06 4.075e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 2.038e-06 2.105e-06 0.000e+00 0.000e+00