UpdateCTestConfiguration from :/home/mahesh/masterThesis/trajopt/build/DartConfiguration.tcl UpdateCTestConfiguration from :/home/mahesh/masterThesis/trajopt/build/DartConfiguration.tcl Test project /home/mahesh/masterThesis/trajopt/build Constructing a list of tests Done constructing a list of tests Checking test dependency graph... Checking test dependency graph end test 1 Start 1: arm_to_joint_target.py 1: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_joint_target.py" 1: Test timeout computed to be: 9.99988e+06 1: Traceback (most recent call last): 1: File "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_joint_target.py", line 7, in 1: import trajoptpy 1: ImportError: No module named trajoptpy 1/10 Test #1: arm_to_joint_target.py .............***Exception: Numerical 0.31 sec test 2 Start 2: arm_to_cart_target.py 2: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_cart_target.py" 2: Test timeout computed to be: 9.99988e+06 2: Traceback (most recent call last): 2: File "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_cart_target.py", line 8, in 2: import trajoptpy 2: ImportError: No module named trajoptpy 2/10 Test #2: arm_to_cart_target.py ..............***Exception: Numerical 0.32 sec test 3 Start 3: fullbody_plan.py 3: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/fullbody_plan.py" 3: Test timeout computed to be: 9.99988e+06 3: Traceback (most recent call last): 3: File "/home/mahesh/masterThesis/trajopt/python_examples/fullbody_plan.py", line 7, in 3: import openravepy, trajoptpy 3: ImportError: No module named trajoptpy 3/10 Test #3: fullbody_plan.py ...................***Exception: Numerical 0.32 sec test 4 Start 4: position_base.py 4: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/position_base.py" 4: Test timeout computed to be: 9.99988e+06 4: Traceback (most recent call last): 4: File "/home/mahesh/masterThesis/trajopt/python_examples/position_base.py", line 7, in 4: import trajoptpy 4: ImportError: No module named trajoptpy 4/10 Test #4: position_base.py ...................***Failed 0.02 sec test 5 Start 5: this_side_up.py 5: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/this_side_up.py" 5: Test timeout computed to be: 9.99988e+06 5: Traceback (most recent call last): 5: File "/home/mahesh/masterThesis/trajopt/python_examples/this_side_up.py", line 9, in 5: import trajoptpy 5: ImportError: No module named trajoptpy 5/10 Test #5: this_side_up.py ....................***Exception: Numerical 0.31 sec test 6 Start 6: arm_to_cart_target_position_only 6: Test command: /usr/bin/python "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_cart_target.py" "--position_only" 6: Test timeout computed to be: 9.99988e+06 6: Traceback (most recent call last): 6: File "/home/mahesh/masterThesis/trajopt/python_examples/arm_to_cart_target.py", line 8, in 6: import trajoptpy 6: ImportError: No module named trajoptpy 6/10 Test #6: arm_to_cart_target_position_only ...***Exception: Numerical 0.31 sec test 7 Start 7: sco-unit 7: Test command: /home/mahesh/masterThesis/trajopt/build/bin/sco-unit 7: Test timeout computed to be: 9.99988e+06 7: You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO 7: [==========] Running 7 tests from 2 test cases. 7: [----------] Global test environment set-up. 7: [----------] 6 tests from SQP 7: [ RUN ] SQP.QuadraticSeparable 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.700e+01 | 2.700e+01 | 2.700e+01 | 1.000e+00 7: TOTAL | 2.700e+01 | 2.700e+01 | 2.700e+01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 150.0000 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 8.599e-09 | 8.599e-09 | 8.599e-09 | ------ 7: TOTAL | 8.599e-09 | 8.599e-09 | 8.599e-09 | 1.000e+00 7: [INFO] converged because improvement was small (8.599e-09 < 1.000e-04) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (8.59892e-09) 7: constraint violations: () 7: n func evals: 3 7: n qp solves: 2 7: ================== 7: [INFO] checking (5.35379e-05, 1.00005, 2.00005) ?= (0, 1, 2) 7: [ OK ] SQP.QuadraticSeparable (3 ms) 7: [ RUN ] SQP.QuadraticNonseparable 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.090e+02 | 2.090e+02 | 2.090e+02 | 1.000e+00 7: TOTAL | 2.090e+02 | 2.090e+02 | 2.090e+02 | 1.000e+00 7: [INFO] expanded trust region. new box size: 150.0000 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.655e-06 | 1.822e-06 | 1.650e-06 | 9.056e-01 7: TOTAL | 1.655e-06 | 1.822e-06 | 1.650e-06 | 9.056e-01 7: [INFO] expanded trust region. new box size: 225.0000 7: [INFO] iteration 3 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 4.475e-09 | 9.495e-15 | -6.077e-16 | ------ 7: TOTAL | 4.475e-09 | 9.495e-15 | -6.077e-16 | -6.399e-02 7: [INFO] converged because improvement was small (9.495e-15 < 1.000e-06) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (4.475e-09) 7: constraint violations: () 7: n func evals: 4 7: n qp solves: 3 7: ================== 7: [INFO] checking (0.999985, 6.99978, 1.99993) ?= (1, 7, 2) 7: [ OK ] SQP.QuadraticNonseparable (2 ms) 7: [ RUN ] SQP.TP1 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.800e+01 | 3.280e+00 | 3.290e+00 | 1.003e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.800e+01 | 3.280e+00 | 3.290e+00 | 1.003e+00 7: [INFO] expanded trust region. new box size: 0.1500 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.471e+01 | 3.831e+00 | 3.862e+00 | 1.008e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.471e+01 | 3.831e+00 | 3.862e+00 | 1.008e+00 7: [INFO] expanded trust region. new box size: 0.2250 7: [INFO] iteration 3 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.085e+01 | 3.648e+00 | 3.748e+00 | 1.027e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.085e+01 | 3.648e+00 | 3.748e+00 | 1.027e+00 7: [INFO] expanded trust region. new box size: 0.3375 7: [INFO] iteration 4 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.099e+00 | 2.120e+00 | 2.301e+00 | 1.085e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 7.099e+00 | 2.120e+00 | 2.301e+00 | 1.085e+00 7: [INFO] expanded trust region. new box size: 0.5063 7: [INFO] iteration 5 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 4.798e+00 | 1.574e+00 | 1.865e+00 | 1.185e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 4.798e+00 | 1.574e+00 | 1.865e+00 | 1.185e+00 7: [INFO] expanded trust region. new box size: 0.7594 7: [INFO] iteration 6 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.933e+00 | 2.097e+00 | 2.082e+00 | 9.928e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 2.933e+00 | 2.097e+00 | 2.082e+00 | 9.928e-01 7: [INFO] expanded trust region. new box size: 1.1391 7: [INFO] iteration 7 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 8.505e-01 | 8.943e-01 | -3.491e-02 | -3.904e-02 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 8.505e-01 | 8.943e-01 | -3.491e-02 | -3.904e-02 7: [INFO] shrunk trust region. new box size: 0.1139 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 8.505e-01 | 1.983e-01 | 1.975e-01 | 9.959e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 8.505e-01 | 1.983e-01 | 1.975e-01 | 9.959e-01 7: [INFO] expanded trust region. new box size: 0.1709 7: [INFO] iteration 8 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 6.530e-01 | 2.463e-01 | 2.462e-01 | 9.996e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 6.530e-01 | 2.463e-01 | 2.462e-01 | 9.996e-01 7: [INFO] expanded trust region. new box size: 0.2563 7: [INFO] iteration 9 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 4.068e-01 | 2.579e-01 | 2.574e-01 | 9.982e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 4.068e-01 | 2.579e-01 | 2.574e-01 | 9.982e-01 7: [INFO] expanded trust region. new box size: 0.3844 7: [INFO] iteration 10 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.493e-01 | 1.284e-01 | 1.253e-01 | 9.760e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.493e-01 | 1.284e-01 | 1.253e-01 | 9.760e-01 7: [INFO] expanded trust region. new box size: 0.5767 7: [INFO] iteration 11 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.402e-02 | 2.239e-02 | 2.367e-02 | 1.057e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 2.402e-02 | 2.239e-02 | 2.367e-02 | 1.057e+00 7: [INFO] expanded trust region. new box size: 0.8650 7: [INFO] iteration 12 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 3.555e-04 | 3.509e-04 | 3.554e-04 | 1.013e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 3.555e-04 | 3.509e-04 | 3.554e-04 | 1.013e+00 7: [INFO] expanded trust region. new box size: 1.2975 7: [INFO] iteration 13 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.546e-07 | 1.372e-07 | 1.533e-07 | 1.118e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.546e-07 | 1.372e-07 | 1.533e-07 | 1.118e+00 7: [INFO] expanded trust region. new box size: 1.9462 7: [INFO] iteration 14 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.259e-09 | 1.666e-14 | 9.153e-12 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.259e-09 | 1.666e-14 | 9.153e-12 | 5.496e+02 7: [INFO] converged because improvement was small (1.666e-14 < 1.000e-10) 7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (1.25905e-09) 7: constraint violations: (0) 7: n func evals: 16 7: n qp solves: 15 7: ================== 7: [INFO] checking (0.999965, 0.999925) ?= (1, 1) 7: [ OK ] SQP.TP1 (13 ms) 7: [ RUN ] SQP.TP3 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.001e+00 | 1.000e-01 | 1.000e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.001e+00 | 1.000e-01 | 1.000e-01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.1500 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 9.008e-01 | 1.500e-01 | 1.500e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 9.008e-01 | 1.500e-01 | 1.500e-01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.2250 7: [INFO] iteration 3 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.508e-01 | 2.250e-01 | 2.250e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 7.508e-01 | 2.250e-01 | 2.250e-01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.3375 7: [INFO] iteration 4 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 5.258e-01 | 3.375e-01 | 3.375e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 5.258e-01 | 3.375e-01 | 3.375e-01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.5063 7: [INFO] iteration 5 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.883e-01 | 1.876e-01 | 1.876e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | -5.024e-08 | -5.023e-08 | 1.000e+00 7: TOTAL | 1.883e-01 | 1.876e-01 | 1.876e-01 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.7594 7: [INFO] iteration 6 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.536e-04 | 1.261e-04 | 1.261e-04 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.023e-08 | -4.513e-08 | -4.513e-08 | 1.000e+00 7: TOTAL | 7.537e-04 | 1.261e-04 | 1.261e-04 | 1.000e+00 7: [INFO] expanded trust region. new box size: 1.1391 7: [INFO] iteration 7 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 6.275e-04 | 1.679e-04 | 1.679e-04 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.537e-08 | -3.714e-07 | -3.714e-07 | 1.000e+00 7: TOTAL | 6.276e-04 | 1.675e-04 | 1.675e-04 | 1.000e+00 7: [INFO] expanded trust region. new box size: 1.7086 7: [INFO] iteration 8 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 4.596e-04 | 2.070e-04 | 2.070e-04 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 4.668e-07 | -4.437e-06 | -4.437e-06 | 1.000e+00 7: TOTAL | 4.601e-04 | 2.026e-04 | 2.026e-04 | 1.000e+00 7: [INFO] expanded trust region. new box size: 2.5629 7: [INFO] iteration 9 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.526e-04 | 5.609e-04 | 5.609e-04 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 4.903e-06 | -3.666e-04 | -3.666e-04 | 1.000e+00 7: TOTAL | 2.575e-04 | 1.944e-04 | 1.944e-04 | 1.000e+00 7: [INFO] expanded trust region. new box size: 3.8443 7: [INFO] iteration 10 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.083e-04 | 3.333e-01 | 3.333e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.715e-04 | -3.332e-01 | -3.332e-01 | 1.000e+00 7: TOTAL | 6.314e-05 | 6.314e-05 | 6.314e-05 | 1.000e+00 7: [INFO] expanded trust region. new box size: 5.7665 7: [INFO] iteration 11 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.336e-01 | 1.084e+00 | 1.084e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.336e-01 | -1.084e+00 | -1.084e+00 | 1.000e+00 7: TOTAL | 4.996e-16 | 2.264e-10 | -2.174e-09 | -9.601e+00 7: [INFO] shrunk trust region. new box size: 0.5767 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.336e-01 | 4.823e-02 | 4.823e-02 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.336e-01 | -4.823e-02 | -4.823e-02 | 1.000e+00 7: TOTAL | 4.996e-16 | -2.416e-11 | -1.429e-11 | 5.916e-01 7: [INFO] converged because improvement was small (-2.416e-11 < 1.000e-10) 7: [INFO] not all constraints are satisfied. increasing penalties 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.336e-01 | -3.336e-01 | -3.336e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.336e+00 | 3.336e+00 | 3.336e+00 | 1.000e+00 7: TOTAL | 3.002e+00 | 3.002e+00 | 3.002e+00 | 1.000e+00 7: [INFO] expanded trust region. new box size: 0.8650 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.603e-10 | -2.792e-08 | -2.792e-08 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 7: TOTAL | 1.603e-10 | -2.792e-08 | -2.792e-08 | 1.000e+00 7: [INFO] converged because improvement was small (-2.792e-08 < 1.000e-10) 7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (1.60254e-10) 7: constraint violations: (0) 7: n func evals: 15 7: n qp solves: 14 7: ================== 7: [INFO] checking (0.00258134, 9.36204e-11) ?= (0, 0) 7: [ OK ] SQP.TP3 (15 ms) 7: [ RUN ] SQP.TP6 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 8.100e+01 | 1.790e+00 | 1.790e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.900e+02 | 2.100e+01 | 2.090e+01 | 9.952e-01 7: TOTAL | 1.071e+03 | 2.279e+01 | 2.269e+01 | 9.956e-01 7: [INFO] expanded trust region. new box size: 0.1500 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.921e+01 | 2.648e+00 | 2.647e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.691e+02 | 3.120e+01 | 3.097e+01 | 9.928e-01 7: TOTAL | 1.048e+03 | 3.385e+01 | 3.362e+01 | 9.934e-01 7: [INFO] expanded trust region. new box size: 0.2250 7: [INFO] iteration 3 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.656e+01 | 3.887e+00 | 3.887e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.381e+02 | 4.613e+01 | 4.562e+01 | 9.890e-01 7: TOTAL | 1.015e+03 | 5.001e+01 | 4.951e+01 | 9.899e-01 7: [INFO] expanded trust region. new box size: 0.3375 7: [INFO] iteration 4 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 7.268e+01 | 5.640e+00 | 5.640e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 8.925e+02 | 6.767e+01 | 6.653e+01 | 9.832e-01 7: TOTAL | 9.652e+02 | 7.331e+01 | 7.217e+01 | 9.845e-01 7: [INFO] expanded trust region. new box size: 0.5063 7: [INFO] iteration 5 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 6.704e+01 | 8.034e+00 | 8.034e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 8.260e+02 | 9.809e+01 | 9.552e+01 | 9.739e-01 7: TOTAL | 8.930e+02 | 1.061e+02 | 1.036e+02 | 9.758e-01 7: [INFO] expanded trust region. new box size: 0.7594 7: [INFO] iteration 6 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 5.900e+01 | 1.109e+01 | 1.109e+01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 7.305e+02 | 1.394e+02 | 1.337e+02 | 9.586e-01 7: TOTAL | 7.895e+02 | 1.505e+02 | 1.448e+02 | 9.617e-01 7: [INFO] expanded trust region. new box size: 1.1391 7: [INFO] iteration 7 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 4.791e+01 | 1.447e+01 | 1.447e+01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.968e+02 | 1.919e+02 | 1.789e+02 | 9.324e-01 7: TOTAL | 6.447e+02 | 2.063e+02 | 1.934e+02 | 9.371e-01 7: [INFO] expanded trust region. new box size: 1.7086 7: [INFO] iteration 8 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 3.344e+01 | 1.684e+01 | 1.684e+01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 4.179e+02 | 2.489e+02 | 2.197e+02 | 8.827e-01 7: TOTAL | 4.513e+02 | 2.657e+02 | 2.365e+02 | 8.901e-01 7: [INFO] expanded trust region. new box size: 2.5629 7: [INFO] iteration 9 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.660e+01 | 1.311e+01 | 1.311e+01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.982e+02 | 1.982e+02 | 1.496e+02 | 7.545e-01 7: TOTAL | 2.148e+02 | 2.113e+02 | 1.627e+02 | 7.698e-01 7: [INFO] expanded trust region. new box size: 3.8443 7: [INFO] iteration 10 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 3.491e+00 | 3.369e+00 | 3.368e+00 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 4.865e+01 | 4.865e+01 | 2.560e+01 | 5.263e-01 7: TOTAL | 5.214e+01 | 5.202e+01 | 2.897e+01 | 5.569e-01 7: [INFO] expanded trust region. new box size: 5.7665 7: [INFO] iteration 11 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 1.227e-01 | 1.227e-01 | 1.227e-01 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 2.305e+01 | 2.305e+01 | 2.182e+01 | 9.467e-01 7: TOTAL | 2.317e+01 | 2.317e+01 | 2.194e+01 | 9.470e-01 7: [INFO] expanded trust region. new box size: 8.6498 7: [INFO] iteration 12 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.495e-11 | 1.743e-17 | -4.640e-14 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.227e+00 | 1.227e+00 | 1.227e+00 | 1.000e+00 7: TOTAL | 1.227e+00 | 1.227e+00 | 1.227e+00 | 1.000e+00 7: [INFO] expanded trust region. new box size: 12.9746 7: [INFO] iteration 13 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | 2.500e-11 | 5.311e-18 | -2.191e-17 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.152e-11 | -2.404e-11 | -2.404e-11 | ------ 7: TOTAL | 5.652e-11 | -2.404e-11 | -2.404e-11 | 1.000e+00 7: [INFO] converged because improvement was small (-2.404e-11 < 1.000e-10) 7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (2.50001e-11) 7: constraint violations: (3.15248e-11) 7: n func evals: 14 7: n qp solves: 13 7: ================== 7: [INFO] checking (0.999995, 0.99999) ?= (1, 1) 7: [ OK ] SQP.TP6 (10 ms) 7: [ RUN ] SQP.TP7 7: [INFO] iteration 1 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.906e-01 | -2.000e-02 | -1.879e-02 | 9.395e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 2.500e+01 | 4.400e+00 | 4.138e+00 | 9.404e-01 7: TOTAL | 2.461e+01 | 4.380e+00 | 4.119e+00 | 9.404e-01 7: [INFO] expanded trust region. new box size: 0.1500 7: [INFO] iteration 2 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.718e-01 | -2.636e-02 | -2.357e-02 | 8.943e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 2.086e+01 | 5.825e+00 | 5.296e+00 | 9.091e-01 7: TOTAL | 2.049e+01 | 5.799e+00 | 5.272e+00 | 9.091e-01 7: [INFO] expanded trust region. new box size: 0.2250 7: [INFO] iteration 3 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.482e-01 | -3.115e-02 | -2.486e-02 | 7.979e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.557e+01 | 7.186e+00 | 6.181e+00 | 8.601e-01 7: TOTAL | 1.522e+01 | 7.155e+00 | 6.156e+00 | 8.604e-01 7: [INFO] expanded trust region. new box size: 0.3375 7: [INFO] iteration 4 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.233e-01 | -2.797e-02 | -1.553e-02 | 5.553e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.385e+00 | 7.876e+00 | 6.166e+00 | 7.829e-01 7: TOTAL | 9.062e+00 | 7.848e+00 | 6.151e+00 | 7.837e-01 7: [INFO] expanded trust region. new box size: 0.5063 7: [INFO] iteration 5 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -3.078e-01 | 8.868e-01 | 8.900e-01 | 1.004e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.219e+00 | 3.219e+00 | 1.654e+00 | 5.138e-01 7: TOTAL | 2.911e+00 | 4.106e+00 | 2.544e+00 | 6.196e-01 7: [INFO] expanded trust region. new box size: 0.7594 7: [INFO] iteration 6 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.198e+00 | 1.382e+00 | 1.212e+00 | 8.768e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.565e+00 | 1.565e+00 | -1.254e+00 | -8.011e-01 7: TOTAL | 3.674e-01 | 2.948e+00 | -4.188e-02 | -1.421e-02 7: [INFO] shrunk trust region. new box size: 0.0759 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.198e+00 | -2.591e-03 | -2.721e-03 | 1.050e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.565e+00 | 6.569e-01 | 6.188e-01 | 9.419e-01 7: TOTAL | 3.674e-01 | 6.543e-01 | 6.160e-01 | 9.415e-01 7: [INFO] expanded trust region. new box size: 0.1139 7: [INFO] iteration 7 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.195e+00 | -8.269e-03 | -8.796e-03 | 1.064e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.465e-01 | 8.729e-01 | 7.972e-01 | 9.132e-01 7: TOTAL | -2.486e-01 | 8.647e-01 | 7.884e-01 | 9.118e-01 7: [INFO] expanded trust region. new box size: 0.1709 7: [INFO] iteration 8 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.186e+00 | 2.837e-01 | 2.815e-01 | 9.923e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.493e-01 | 1.493e-01 | 1.679e-02 | 1.125e-01 7: TOTAL | -1.037e+00 | 4.329e-01 | 2.983e-01 | 6.890e-01 7: [INFO] expanded trust region. new box size: 0.2563 7: [INFO] iteration 9 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.468e+00 | 2.757e-01 | 2.677e-01 | 9.710e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.325e-01 | 1.325e-01 | -6.533e-02 | -4.931e-01 7: TOTAL | -1.335e+00 | 4.082e-01 | 2.023e-01 | 4.957e-01 7: [INFO] expanded trust region. new box size: 0.3844 7: [INFO] iteration 10 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.735e+00 | 3.460e-02 | 2.836e-02 | 8.196e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.978e-01 | 1.978e-01 | -9.776e-03 | -4.942e-02 7: TOTAL | -1.538e+00 | 2.324e-01 | 1.859e-02 | 7.997e-02 7: [INFO] shrunk trust region. new box size: 0.0384 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.735e+00 | -2.607e-02 | -2.609e-02 | 1.001e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.978e-01 | 1.653e-01 | 1.606e-01 | 9.716e-01 7: TOTAL | -1.538e+00 | 1.392e-01 | 1.345e-01 | 9.661e-01 7: [INFO] expanded trust region. new box size: 0.0577 7: [INFO] iteration 11 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.709e+00 | 1.253e-02 | 1.248e-02 | 9.962e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.721e-02 | 3.721e-02 | 3.023e-02 | 8.125e-01 7: TOTAL | -1.672e+00 | 4.974e-02 | 4.272e-02 | 8.588e-01 7: [INFO] expanded trust region. new box size: 0.0865 7: [INFO] iteration 12 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.722e+00 | 1.471e-02 | 1.462e-02 | 9.942e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 6.976e-03 | 6.976e-03 | -8.213e-03 | -1.177e+00 7: TOTAL | -1.715e+00 | 2.168e-02 | 6.407e-03 | 2.955e-01 7: [INFO] expanded trust region. new box size: 0.1297 7: [INFO] iteration 13 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.736e+00 | -4.367e-03 | -4.367e-03 | 1.000e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.519e-02 | 1.519e-02 | 1.516e-02 | 9.978e-01 7: TOTAL | -1.721e+00 | 1.082e-02 | 1.079e-02 | 9.969e-01 7: [INFO] expanded trust region. new box size: 0.1946 7: [INFO] iteration 14 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -7.308e-06 | -7.292e-06 | 9.979e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.365e-05 | 3.364e-05 | 2.887e-05 | 8.580e-01 7: TOTAL | -1.732e+00 | 2.634e-05 | 2.157e-05 | 8.192e-01 7: [INFO] expanded trust region. new box size: 0.2919 7: [INFO] iteration 15 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -5.752e-07 | -5.842e-07 | 1.016e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 4.782e-06 | 4.769e-06 | 3.148e-06 | 6.601e-01 7: TOTAL | -1.732e+00 | 4.194e-06 | 2.564e-06 | 6.114e-01 7: [INFO] expanded trust region. new box size: 0.4379 7: [INFO] iteration 16 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -2.047e-07 | -1.995e-07 | 9.748e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.634e-06 | 1.634e-06 | 1.110e-06 | 6.794e-01 7: TOTAL | -1.732e+00 | 1.430e-06 | 9.109e-07 | 6.371e-01 7: [INFO] expanded trust region. new box size: 0.6568 7: [INFO] iteration 17 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -6.220e-08 | -6.518e-08 | 1.048e+00 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.240e-07 | 5.239e-07 | 3.399e-07 | 6.487e-01 7: TOTAL | -1.732e+00 | 4.617e-07 | 2.747e-07 | 5.949e-01 7: [INFO] expanded trust region. new box size: 0.9853 7: [INFO] iteration 18 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -2.264e-08 | -2.092e-08 | 9.239e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 1.841e-07 | 1.812e-07 | 1.253e-07 | 6.915e-01 7: TOTAL | -1.732e+00 | 1.586e-07 | 1.044e-07 | 6.583e-01 7: [INFO] expanded trust region. new box size: 1.4779 7: [INFO] iteration 19 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | 1.240e-09 | 2.449e-10 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.877e-08 | 2.998e-08 | 8.202e-09 | 2.736e-01 7: TOTAL | -1.732e+00 | 3.122e-08 | 8.447e-09 | 2.706e-01 7: [INFO] expanded trust region. new box size: 2.2168 7: [INFO] iteration 20 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -1.126e-08 | -1.069e-08 | 9.490e-01 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.057e-08 | 5.044e-08 | 4.500e-08 | 8.920e-01 7: TOTAL | -1.732e+00 | 3.918e-08 | 3.431e-08 | 8.756e-01 7: [INFO] expanded trust region. new box size: 3.3253 7: [INFO] iteration 21 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -3.975e-10 | -7.291e-10 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 5.570e-09 | 5.185e-09 | 2.323e-09 | ------ 7: TOTAL | -1.732e+00 | 4.788e-09 | 1.594e-09 | 3.330e-01 7: [INFO] expanded trust region. new box size: 4.9879 7: [INFO] iteration 22 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | -4.057e-10 | -2.143e-10 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 3.247e-09 | 2.675e-09 | 2.325e-09 | ------ 7: TOTAL | -1.732e+00 | 2.269e-09 | 2.110e-09 | 9.301e-01 7: [INFO] expanded trust region. new box size: 7.4818 7: [INFO] iteration 23 7: [INFO] 7: | oldexact | dapprox | dexact | ratio 7: COSTS | ------------------------------------------------- 7: f | -1.732e+00 | 3.862e-09 | 3.752e-09 | ------ 7: CONSTRAINTS | ------------------------------------------------- 7: g | 9.218e-10 | -1.296e-08 | -1.342e-08 | 1.036e+00 7: TOTAL | -1.732e+00 | -9.094e-09 | -9.670e-09 | 1.063e+00 7: [INFO] converged because improvement was small (-9.094e-09 < 1.000e-10) 7: [INFO] woo-hoo! constraints are satisfied (to tolerance 1.00e-04) 7: [INFO] 7: ================== 7: Optimization results: 7: status: CONVERGED 7: cost values: (-1.73205) 7: constraint violations: (9.21784e-10) 7: n func evals: 26 7: n qp solves: 25 7: ================== 7: [INFO] checking (2.00664e-06, 1.73205) ?= (0, 1.73205) 7: [ OK ] SQP.TP7 (22 ms) 7: [----------] 6 tests from SQP (65 ms total) 7: 7: [----------] 1 test from solver_interface 7: [ RUN ] solver_interface.setup_problem 7: 0 7: -3 + 1*v0 + 1*v1 + 1*v2 7: [INFO] objective: 9 + -6*v0 + -6*v1 + -6*v2 + 1*v0*v0 + 2*v0*v1 + 2*v0*v2 + 1*v1*v1 + 2*v1*v2 + 1*v2*v2 7: [INFO] please manually check that /tmp/solver-interface-test.lp matches this 7: [ OK ] solver_interface.setup_problem (1 ms) 7: [----------] 1 test from solver_interface (1 ms total) 7: 7: [----------] Global test environment tear-down 7: [==========] 7 tests from 2 test cases ran. (66 ms total) 7: [ PASSED ] 7 tests. 7/10 Test #7: sco-unit ........................... Passed 0.07 sec test 8 Start 8: collision-checker-unit 8: Test command: /home/mahesh/masterThesis/trajopt/build/bin/collision-checker-unit 8: Test timeout computed to be: 9.99988e+06 8: You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO 8: [==========] Running 2 tests from 2 test cases. 8: [----------] Global test environment set-up. 8: [----------] 1 test from collision_checker 8: [ RUN ] collision_checker.box_distance 8: 2018-02-09 12:00:37,652 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name fcl_, interface collisionchecker 8: 2018-02-09 12:00:37,652 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name ode, interface collisionchecker 8: 2018-02-09 12:00:37,652 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name bullet, interface collisionchecker 8: 2018-02-09 12:00:37,652 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name pqp, interface collisionchecker 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [WARN] WARNING: AllVsAll seems to be broken! (since a8f8da01) 8: [ OK ] collision_checker.box_distance (3 ms) 8: [----------] 1 test from collision_checker (3 ms total) 8: 8: [----------] 1 test from continuous_collisions 8: [ RUN ] continuous_collisions.boxes 8: 2018-02-09 12:00:37,654 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name fcl_, interface collisionchecker 8: 2018-02-09 12:00:37,654 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name ode, interface collisionchecker 8: 2018-02-09 12:00:37,654 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name bullet, interface collisionchecker 8: 2018-02-09 12:00:37,654 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name pqp, interface collisionchecker 8: 2018-02-09 12:00:37,654 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name IdealController, interface controller 8: [ OK ] continuous_collisions.boxes (1 ms) 8: [----------] 1 test from continuous_collisions (1 ms total) 8: 8: [----------] Global test environment tear-down 8: [==========] 2 tests from 2 test cases ran. (4 ms total) 8: [ PASSED ] 2 tests. 8/10 Test #8: collision-checker-unit ............. Passed 0.04 sec test 9 Start 9: planning-unit 9: Test command: /home/mahesh/masterThesis/trajopt/build/bin/planning-unit 9: Test timeout computed to be: 9.99988e+06 9: You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO 9: [==========] Running 2 tests from 1 test case. 9: [----------] Global test environment set-up. 9: [----------] 2 tests from PlanningTest 9: 2018-02-09 12:00:37,695 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name fcl_, interface collisionchecker 9: 2018-02-09 12:00:37,695 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name ode, interface collisionchecker 9: 2018-02-09 12:00:37,695 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name bullet, interface collisionchecker 9: 2018-02-09 12:00:37,695 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name pqp, interface collisionchecker 9: 2018-02-09 12:00:39,194 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name base_pinhole_camera, interface sensor 9: 2018-02-09 12:00:39,194 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name base_pinhole_camera, interface sensor 9: 2018-02-09 12:00:39,195 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name base_laser2d, interface sensor 9: 2018-02-09 12:00:39,197 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name base_laser2d, interface sensor 9: 2018-02-09 12:00:39,265 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02 9: 2018-02-09 12:00:39,265 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,265 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01 9: 2018-02-09 12:00:39,265 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,265 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01 9: 2018-02-09 12:00:39,276 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name IdealController, interface controller 9: [ RUN ] PlanningTest.numerical_ik1 9: 2018-02-09 12:00:39,277 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02 9: 2018-02-09 12:00:39,277 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,277 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01 9: 2018-02-09 12:00:39,277 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,277 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01 9: [INFO] iteration 1 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.817e+01 | 1.269e+00 | 1.348e+00 | 1.062e+00 9: TOTAL | 1.817e+01 | 1.269e+00 | 1.348e+00 | 1.062e+00 9: [INFO] expanded trust region. new box size: 0.1500 9: [INFO] iteration 2 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.682e+01 | 1.043e+00 | 1.155e+00 | 1.108e+00 9: TOTAL | 1.682e+01 | 1.043e+00 | 1.155e+00 | 1.108e+00 9: [INFO] expanded trust region. new box size: 0.2250 9: [INFO] iteration 3 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.566e+01 | 1.204e+00 | 6.984e-01 | 5.803e-01 9: TOTAL | 1.566e+01 | 1.204e+00 | 6.984e-01 | 5.803e-01 9: [INFO] expanded trust region. new box size: 0.3375 9: [INFO] iteration 4 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.497e+01 | 2.224e+00 | 1.234e+00 | 5.546e-01 9: TOTAL | 1.497e+01 | 2.224e+00 | 1.234e+00 | 5.546e-01 9: [INFO] expanded trust region. new box size: 0.5063 9: [INFO] iteration 5 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.373e+01 | 5.229e+00 | 3.048e+00 | 5.830e-01 9: TOTAL | 1.373e+01 | 5.229e+00 | 3.048e+00 | 5.830e-01 9: [INFO] expanded trust region. new box size: 0.7594 9: [INFO] iteration 6 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 1.068e+01 | 6.885e+00 | 4.494e+00 | 6.527e-01 9: TOTAL | 1.068e+01 | 6.885e+00 | 4.494e+00 | 6.527e-01 9: [INFO] expanded trust region. new box size: 1.1391 9: [INFO] iteration 7 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 6.189e+00 | 5.520e+00 | 1.680e+00 | 3.044e-01 9: TOTAL | 6.189e+00 | 5.520e+00 | 1.680e+00 | 3.044e-01 9: [INFO] expanded trust region. new box size: 1.7086 9: [INFO] iteration 8 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 4.509e+00 | 4.367e+00 | -1.019e+01 | -2.334e+00 9: TOTAL | 4.509e+00 | 4.367e+00 | -1.019e+01 | -2.334e+00 9: [INFO] shrunk trust region. new box size: 0.1709 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 4.509e+00 | 3.964e+00 | 3.847e+00 | 9.705e-01 9: TOTAL | 4.509e+00 | 3.964e+00 | 3.847e+00 | 9.705e-01 9: [INFO] expanded trust region. new box size: 0.2563 9: [INFO] iteration 9 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 6.619e-01 | 6.047e-01 | 4.221e-01 | 6.980e-01 9: TOTAL | 6.619e-01 | 6.047e-01 | 4.221e-01 | 6.980e-01 9: [INFO] expanded trust region. new box size: 0.3844 9: [INFO] iteration 10 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 2.398e-01 | 2.220e-01 | -4.387e-01 | -1.976e+00 9: TOTAL | 2.398e-01 | 2.220e-01 | -4.387e-01 | -1.976e+00 9: [INFO] shrunk trust region. new box size: 0.0384 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 2.398e-01 | 1.645e-01 | 1.550e-01 | 9.419e-01 9: TOTAL | 2.398e-01 | 1.645e-01 | 1.550e-01 | 9.419e-01 9: [INFO] expanded trust region. new box size: 0.0577 9: [INFO] iteration 11 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 8.484e-02 | 1.354e-02 | 4.098e-03 | 3.027e-01 9: TOTAL | 8.484e-02 | 1.354e-02 | 4.098e-03 | 3.027e-01 9: [INFO] expanded trust region. new box size: 0.0865 9: [INFO] iteration 12 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 8.074e-02 | 9.255e-03 | -1.239e-02 | -1.339e+00 9: TOTAL | 8.074e-02 | 9.255e-03 | -1.239e-02 | -1.339e+00 9: [INFO] shrunk trust region. new box size: 0.0086 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 8.074e-02 | 7.508e-03 | 7.219e-03 | 9.615e-01 9: TOTAL | 8.074e-02 | 7.508e-03 | 7.219e-03 | 9.615e-01 9: [INFO] expanded trust region. new box size: 0.0130 9: [INFO] iteration 13 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 7.352e-02 | 3.848e-04 | -8.816e-05 | -2.291e-01 9: TOTAL | 7.352e-02 | 3.848e-04 | -8.816e-05 | -2.291e-01 9: [INFO] shrunk trust region. new box size: 0.0013 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 7.352e-02 | 2.550e-04 | 2.502e-04 | 9.810e-01 9: TOTAL | 7.352e-02 | 2.550e-04 | 2.502e-04 | 9.810e-01 9: [INFO] expanded trust region. new box size: 0.0019 9: [INFO] iteration 14 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: pose | 7.327e-02 | 2.220e-05 | 1.135e-05 | 5.113e-01 9: TOTAL | 7.327e-02 | 2.220e-05 | 1.135e-05 | 5.113e-01 9: [INFO] converged because improvement was small (2.220e-05 < 1.000e-04) 9: [INFO] 9: ================== 9: Optimization results: 9: status: CONVERGED 9: cost values: (0.0732683) 9: constraint violations: () 9: n func evals: 19 9: n qp solves: 18 9: ================== 9: 2018-02-09 12:00:39,331 openrave [INFO] [planning-unit.cpp:90 TestBody] planning time: 0.053 9: [ OK ] PlanningTest.numerical_ik1 (54 ms) 9: [ RUN ] PlanningTest.arm_around_table 9: 2018-02-09 12:00:39,331 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02 9: 2018-02-09 12:00:39,331 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,331 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01 9: 2018-02-09 12:00:39,331 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,332 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01 9: [INFO] creating bullet collision checker for environment 9: 2018-02-09 12:00:39,381 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02 9: 2018-02-09 12:00:39,381 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,381 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01 9: 2018-02-09 12:00:39,381 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01 9: 2018-02-09 12:00:39,381 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01 9: [INFO] iteration 1 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.541e+00 | -1.027e-01 | -1.027e-01 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 9.753e-01 | 6.547e-01 | 7.881e-01 | 1.204e+00 9: collision_4 | 7.098e+00 | 1.697e+00 | 2.414e+00 | 1.423e+00 9: collision_5 | 7.542e+00 | 1.452e+00 | 1.767e+00 | 1.217e+00 9: collision_6 | 1.059e+01 | -6.338e+00 | -6.058e+00 | 9.558e-01 9: collision_7 | 1.511e+01 | 9.699e+00 | 9.599e+00 | 9.897e-01 9: collision_8 | 1.575e+00 | 1.575e+00 | 1.575e+00 | 1.000e+00 9: TOTAL | 4.443e+01 | 8.638e+00 | 9.983e+00 | 1.156e+00 9: [INFO] expanded trust region. new box size: 0.1500 9: [INFO] iteration 2 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.643e+00 | -2.488e-01 | -2.488e-01 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 1.873e-01 | 1.873e-01 | 1.873e-01 | 1.000e+00 9: collision_4 | 4.684e+00 | 3.072e+00 | 3.827e+00 | 1.246e+00 9: collision_5 | 5.775e+00 | 2.092e+00 | 2.948e+00 | 1.410e+00 9: collision_6 | 1.664e+01 | 9.527e-01 | 1.117e+00 | 1.172e+00 9: collision_7 | 5.513e+00 | 9.330e-01 | 9.442e-02 | 1.012e-01 9: collision_8 | 0.000e+00 | -1.397e-11 | -3.212e-03 | ------ 9: TOTAL | 3.445e+01 | 6.988e+00 | 7.921e+00 | 1.134e+00 9: [INFO] expanded trust region. new box size: 0.2250 9: [INFO] iteration 3 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.892e+00 | -1.686e-01 | -1.686e-01 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 8.576e-01 | 8.576e-01 | 8.576e-01 | 1.000e+00 9: collision_5 | 2.826e+00 | 2.826e+00 | 2.373e+00 | 8.396e-01 9: collision_6 | 1.553e+01 | -6.019e-01 | 1.010e+01 | -1.678e+01 9: collision_7 | 5.418e+00 | 2.959e+00 | 2.148e+00 | 7.259e-01 9: collision_8 | 3.212e-03 | 3.212e-03 | 3.212e-03 | 1.000e+00 9: TOTAL | 2.653e+01 | 5.876e+00 | 1.531e+01 | 2.606e+00 9: [INFO] expanded trust region. new box size: 0.3375 9: [INFO] iteration 4 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 2.061e+00 | 3.540e-01 | 3.540e-01 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -1.181e-10 | 0.000e+00 | ------ 9: collision_5 | 4.533e-01 | 4.533e-01 | 4.533e-01 | 1.000e+00 9: collision_6 | 5.428e+00 | 5.428e+00 | 5.408e+00 | 9.964e-01 9: collision_7 | 3.270e+00 | 3.270e+00 | 3.270e+00 | 1.000e+00 9: collision_8 | 0.000e+00 | -1.009e-09 | 0.000e+00 | ------ 9: TOTAL | 1.121e+01 | 9.505e+00 | 9.485e+00 | 9.980e-01 9: [INFO] expanded trust region. new box size: 0.5063 9: [INFO] iteration 5 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.707e+00 | 2.207e-02 | 2.207e-02 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -1.244e-10 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -1.462e-10 | 0.000e+00 | ------ 9: collision_6 | 1.941e-02 | 1.941e-02 | 1.941e-02 | 1.000e+00 9: collision_7 | 0.000e+00 | -3.927e-10 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | -2.814e-10 | 0.000e+00 | ------ 9: TOTAL | 1.726e+00 | 4.148e-02 | 4.148e-02 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.7594 9: [INFO] iteration 6 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.685e+00 | 1.268e-02 | 1.268e-02 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -2.740e-13 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -3.555e-13 | -1.065e-01 | ------ 9: collision_6 | 0.000e+00 | -8.239e-13 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | -5.501e-13 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | -2.751e-13 | 0.000e+00 | ------ 9: TOTAL | 1.685e+00 | 1.268e-02 | -9.386e-02 | -7.403e+00 9: [INFO] shrunk trust region. new box size: 0.0759 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.685e+00 | 1.267e-02 | 1.267e-02 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -8.471e-13 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -1.087e-12 | -1.055e-01 | ------ 9: collision_6 | 0.000e+00 | -1.706e-12 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | -8.690e-13 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.685e+00 | 1.267e-02 | -9.282e-02 | -7.325e+00 9: [INFO] shrunk trust region. new box size: 0.0076 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.685e+00 | 4.956e-03 | 4.956e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -9.130e-11 | -2.979e-03 | ------ 9: collision_6 | 0.000e+00 | -9.472e-11 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.685e+00 | 4.956e-03 | 1.977e-03 | 3.989e-01 9: [INFO] expanded trust region. new box size: 0.0114 9: [INFO] iteration 7 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.680e+00 | 2.757e-03 | 2.757e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_5 | 2.979e-03 | 2.979e-03 | 2.979e-03 | 1.000e+00 9: collision_6 | 0.000e+00 | -1.369e-10 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.683e+00 | 5.736e-03 | 5.736e-03 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0171 9: [INFO] iteration 8 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.677e+00 | 1.800e-03 | 1.800e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -6.155e-11 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -5.486e-11 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.677e+00 | 1.800e-03 | 1.800e-03 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0256 9: [INFO] iteration 9 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.675e+00 | 1.263e-03 | 1.263e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -5.124e-12 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -7.082e-12 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -1.097e-11 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | -5.221e-12 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.675e+00 | 1.263e-03 | 1.263e-03 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0384 9: [INFO] iteration 10 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.674e+00 | 4.531e-03 | 4.531e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -1.866e-12 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -2.129e-12 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -3.685e-12 | -1.881e-03 | ------ 9: collision_7 | 0.000e+00 | -3.736e-12 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.674e+00 | 4.531e-03 | 2.651e-03 | 5.850e-01 9: [INFO] expanded trust region. new box size: 0.0577 9: [INFO] iteration 11 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.669e+00 | 9.810e-03 | 9.810e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -5.862e-14 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -6.038e-14 | -1.544e-02 | ------ 9: collision_6 | 1.881e-03 | 1.881e-03 | 1.881e-03 | 1.000e+00 9: collision_7 | 0.000e+00 | -3.081e-14 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | -2.821e-14 | 0.000e+00 | ------ 9: TOTAL | 1.671e+00 | 1.169e-02 | -3.751e-03 | -3.209e-01 9: [INFO] shrunk trust region. new box size: 0.0058 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.669e+00 | 4.490e-03 | 4.490e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -1.633e-12 | 0.000e+00 | ------ 9: collision_6 | 1.881e-03 | 1.881e-03 | -7.730e-04 | -4.111e-01 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.671e+00 | 6.370e-03 | 3.717e-03 | 5.835e-01 9: [INFO] expanded trust region. new box size: 0.0086 9: [INFO] iteration 12 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.665e+00 | 2.295e-03 | 2.295e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -1.307e-12 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -1.377e-12 | 0.000e+00 | ------ 9: collision_6 | 2.654e-03 | 2.654e-03 | 2.654e-03 | 1.000e+00 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.668e+00 | 4.949e-03 | 4.949e-03 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0130 9: [INFO] iteration 13 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.663e+00 | 2.326e-03 | 2.326e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -2.416e-13 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -2.567e-13 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -2.396e-13 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.663e+00 | 2.326e-03 | 2.326e-03 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0195 9: [INFO] iteration 14 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.660e+00 | 2.069e-03 | 2.069e-03 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -7.110e-13 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -7.247e-13 | -2.384e-02 | ------ 9: collision_6 | 0.000e+00 | -6.957e-13 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.660e+00 | 2.069e-03 | -2.177e-02 | -1.052e+01 9: [INFO] shrunk trust region. new box size: 0.0019 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.660e+00 | 4.457e-04 | 4.457e-04 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -7.300e-13 | 0.000e+00 | ------ 9: collision_5 | 0.000e+00 | -7.981e-13 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -7.341e-13 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.660e+00 | 4.457e-04 | 4.457e-04 | 1.000e+00 9: [INFO] expanded trust region. new box size: 0.0029 9: [INFO] iteration 15 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.660e+00 | 3.892e-04 | 3.892e-04 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -1.630e-11 | -2.169e-03 | ------ 9: collision_5 | 0.000e+00 | -1.642e-11 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -1.615e-11 | 0.000e+00 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.660e+00 | 3.892e-04 | -1.780e-03 | -4.573e+00 9: [INFO] shrunk trust region. new box size: 0.0003 9: [INFO] 9: | oldexact | dapprox | dexact | ratio 9: COSTS | ------------------------------------------------- 9: joint_vel | 1.660e+00 | 5.053e-05 | 5.053e-05 | 1.000e+00 9: collision_0 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_2 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_3 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_4 | 0.000e+00 | -5.090e-11 | -4.008e-03 | ------ 9: collision_5 | 0.000e+00 | -5.266e-11 | 0.000e+00 | ------ 9: collision_6 | 0.000e+00 | -5.496e-11 | -1.445e-06 | ------ 9: collision_7 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: collision_8 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 9: TOTAL | 1.660e+00 | 5.053e-05 | -3.959e-03 | -7.835e+01 9: [INFO] converged because improvement was small (5.053e-05 < 1.000e-04) 9: [INFO] 9: ================== 9: Optimization results: 9: status: CONVERGED 9: cost values: (1.6598, 0, 0, 0, 0, 0, 0, 0, 0, 0) 9: constraint violations: () 9: n func evals: 21 9: n qp solves: 20 9: ================== 9: 2018-02-09 12:00:39,656 openrave [INFO] [planning-unit.cpp:117 TestBody] planning time: 0.272 9: 2018-02-09 12:00:39,658 openrave [INFO] [planning-unit.cpp:121 TestBody] number of continuous collisions: 0 9: [ OK ] PlanningTest.arm_around_table (327 ms) 9: [----------] 2 tests from PlanningTest (381 ms total) 9: 9: [----------] Global test environment tear-down 9: [==========] 2 tests from 1 test case ran. (1979 ms total) 9: [ PASSED ] 2 tests. 9/10 Test #9: planning-unit ...................... Passed 2.01 sec test 10 Start 10: cast-cost-unit 10: Test command: /home/mahesh/masterThesis/trajopt/build/bin/cast-cost-unit 10: Test timeout computed to be: 9.99988e+06 10: You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to INFO 10: [==========] Running 1 test from 1 test case. 10: [----------] Global test environment set-up. 10: [----------] 1 test from cast 10: [ RUN ] cast.boxes 10: 2018-02-09 12:00:39,707 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name fcl_, interface collisionchecker 10: 2018-02-09 12:00:39,707 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name ode, interface collisionchecker 10: 2018-02-09 12:00:39,707 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name bullet, interface collisionchecker 10: 2018-02-09 12:00:39,707 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name pqp, interface collisionchecker 10: 2018-02-09 12:00:39,708 openrave [WARN] [plugindatabase.h:577 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name IdealController, interface controller 10: [INFO] creating bullet collision checker for environment 10: [INFO] iteration 1 10: [INFO] 10: | oldexact | dapprox | dexact | ratio 10: COSTS | ------------------------------------------------- 10: jvel0 | 1.444e+01 | -4.000e-02 | -4.000e-02 | 1.000e+00 10: cc_0 | 2.707e+00 | 7.071e-01 | 7.071e-01 | 1.000e+00 10: cc_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 10: TOTAL | 1.715e+01 | 6.671e-01 | 6.671e-01 | 1.000e+00 10: [INFO] expanded trust region. new box size: 0.1500 10: [INFO] iteration 2 10: [INFO] 10: | oldexact | dapprox | dexact | ratio 10: COSTS | ------------------------------------------------- 10: jvel0 | 1.448e+01 | -2.072e-01 | -2.072e-01 | 1.000e+00 10: cc_0 | 2.000e+00 | 2.000e+00 | 1.043e+00 | 5.216e-01 10: cc_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 10: TOTAL | 1.648e+01 | 1.793e+00 | 8.360e-01 | 4.663e-01 10: [INFO] expanded trust region. new box size: 0.2250 10: [INFO] iteration 3 10: [INFO] 10: | oldexact | dapprox | dexact | ratio 10: COSTS | ------------------------------------------------- 10: jvel0 | 1.469e+01 | -3.404e-01 | -3.404e-01 | 1.000e+00 10: cc_0 | 9.568e-01 | 9.568e-01 | 9.568e-01 | 1.000e+00 10: cc_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 10: TOTAL | 1.564e+01 | 6.164e-01 | 6.164e-01 | 1.000e+00 10: [INFO] expanded trust region. new box size: 0.3375 10: [INFO] iteration 4 10: [INFO] 10: | oldexact | dapprox | dexact | ratio 10: COSTS | ------------------------------------------------- 10: jvel0 | 1.503e+01 | 7.586e-03 | 7.586e-03 | 1.000e+00 10: cc_0 | 0.000e+00 | -8.757e-10 | -1.540e-04 | ------ 10: cc_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 10: TOTAL | 1.503e+01 | 7.586e-03 | 7.432e-03 | 9.797e-01 10: [INFO] expanded trust region. new box size: 0.5063 10: [INFO] iteration 5 10: [INFO] 10: | oldexact | dapprox | dexact | ratio 10: COSTS | ------------------------------------------------- 10: jvel0 | 1.502e+01 | -6.529e-05 | -6.529e-05 | 1.000e+00 10: cc_0 | 1.540e-04 | 1.540e-04 | 1.533e-04 | 9.954e-01 10: cc_1 | 0.000e+00 | 0.000e+00 | 0.000e+00 | ------ 10: TOTAL | 1.502e+01 | 8.876e-05 | 8.805e-05 | 9.920e-01 10: [INFO] converged because improvement was small (8.876e-05 < 1.000e-04) 10: [INFO] 10: ================== 10: Optimization results: 10: status: CONVERGED 10: cost values: (15.02, 0.000154048, 0) 10: constraint violations: () 10: n func evals: 6 10: n qp solves: 5 10: ================== 10: 2018-02-09 12:00:39,716 openrave [INFO] [cast-cost-unit.cpp:76 TestBody] number of continuous collisions: 0 10: [ OK ] cast.boxes (9 ms) 10: [----------] 1 test from cast (9 ms total) 10: 10: [----------] Global test environment tear-down 10: [==========] 1 test from 1 test case ran. (9 ms total) 10: [ PASSED ] 1 test. 10/10 Test #10: cast-cost-unit ..................... Passed 0.05 sec 40% tests passed, 6 tests failed out of 10 Total Test time (real) = 3.76 sec The following tests FAILED: 1 - arm_to_joint_target.py (NUMERICAL) 2 - arm_to_cart_target.py (NUMERICAL) 3 - fullbody_plan.py (NUMERICAL) 4 - position_base.py (Failed) 5 - this_side_up.py (NUMERICAL) 6 - arm_to_cart_target_position_only (NUMERICAL) Errors while running CTest