Error when using AutoDiff on GPU

[mabuni1998]

Describe the bug 🐞

Not sure if this is the appropriate repository to post at, but when I try to get a gradient using Zygote and the ODE is solved on GPU I just get an error message. If I run the same code without having the ODE solved on GPU I get a gradient and no errors.

Expected behavior

That zygote returns a gradient.

Minimal Reproducible Example 👇

using OrdinaryDiffEq
using Zygote
using SciMLSensitivity
using CUDA

#Random matrix for dynamics
M = cu(rand(2,2))
function du(du, u, p, t)
    du .= sum(p) * M * u
end
#Initial state
u0 = cu(rand(2))
#Define problem (unsure if I need to by consistent with type of intial and final time)
prob = ODEProblem(du, u0, (Float32(0.0), Float32(1.0)))
#Simple function where we want gradient
function test_func(p)
    out = solve(prob, RK4(), p = cu(p), sensealg = BacksolveAdjoint(autojacvec = EnzymeVJP()))
    return sum(abs2, out.u[end])
end
Nt=2
#Test that function works
test_func(zeros(Nt))
#Try to get gradient
Zygote.gradient(test_func, zeros(Float32,Nt))

Error & Stacktrace ⚠️

Initializing z0Float32[0.0, 0.0, 0.0, 0.0]
ERROR: LLVM error: Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i64, i64, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSgemm_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i64, i64, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSgemm_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i32, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSgemm_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i32, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSgemm_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSgemv_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSgemv_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i64, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSgemv_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i64, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSgemv_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i64, float*, i32)* @cublasSscal_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i64, i64, float*, i64)* @cublasSscal_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSsymv_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i64, i64, float*, i64, float*, i64, i64, float*, i64)* @cublasSsymv_v2_64
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSsymv_v2
Attribute 'nocapture' applied to incompatible type!
i32 (i64, i32, i32, i64, float*, i32, float*, i32, i64, float*, i32)* @cublasSsymv_v2

Stacktrace:
  [1] verify(mod::LLVM.Module)
    @ LLVM C:\Users\mabun\.julia\packages\LLVM\UFrs4\src\analysis.jl:19
  [2] enzyme!(job::GPUCompiler.CompilerJob{…}, interp::Enzyme.Compiler.Interpreter.EnzymeInterpreter{…}, mod::LLVM.Module, primalf::LLVM.Function, TT::Type, mode::Enzyme.API.CDerivativeMode, width::Int64, parallel::Bool, actualRetType::Type, wrap::Bool, modifiedBetween::NTuple{…} where N, returnPrimal::Bool, expectedTapeType::Type, loweredArgs::Set{…}, boxedArgs::Set{…})
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:2628
  [3] compile_unhooked(output::Symbol, job::GPUCompiler.CompilerJob{…})
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:4972
  [4] compile(target::Symbol, job::GPUCompiler.CompilerJob; kwargs::@Kwargs{})
    @ GPUCompiler C:\Users\mabun\.julia\packages\GPUCompiler\bTNLD\src\driver.jl:67
  [5] compile
    @ C:\Users\mabun\.julia\packages\GPUCompiler\bTNLD\src\driver.jl:55 [inlined]
  [6] _thunk(job::GPUCompiler.CompilerJob{…}, postopt::Bool)
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:5826
  [7] _thunk
    @ C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:5824 [inlined]
  [8] cached_compilation
    @ C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:5881 [inlined]
  [9] thunkbase(mi::Core.MethodInstance, World::UInt64, FA::Type{…}, A::Type{…}, TT::Type, Mode::Enzyme.API.CDerivativeMode, width::Int64, ModifiedBetween::NTuple{…} where N, ReturnPrimal::Bool, ShadowInit::Bool, ABI::Type, ErrIfFuncWritten::Bool, RuntimeActivity::Bool, StrongZero::Bool, edges::Vector{…})
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:5997
 [10] thunk_generator(world::UInt64, source::Union{…}, FA::Type, A::Type, TT::Type, Mode::Enzyme.API.CDerivativeMode, Width::Int64, ModifiedBetween::NTuple{…} where N, ReturnPrimal::Bool, ShadowInit::Bool, ABI::Type, ErrIfFuncWritten::Bool, RuntimeActivity::Bool, StrongZero::Bool, self::Any, fakeworld::Any, fa::Type, a::Type, tt::Type, mode::Type, width::Type, modifiedbetween::Type, returnprimal::Type, shadowinit::Type, abi::Type, erriffuncwritten::Type, runtimeactivity::Type, strongzero::Type)
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\compiler.jl:6192
 [11] macro expansion
    @ C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\rules\jitrules.jl:464 [inlined]
 [12] runtime_generic_augfwd(::Type{…}, ::Val{…}, ::Val{…}, ::Val{…}, ::Val{…}, ::Val{…}, ::typeof(*), ::Nothing, ::Float32, ::Base.RefValue{…}, ::CuArray{…}, ::Nothing, ::CuArray{…}, ::CuArray{…})
    @ Enzyme.Compiler C:\Users\mabun\.julia\packages\Enzyme\X4pFp\src\rules\jitrules.jl:574
 [13] du
    @ c:\Users\mabun\OneDrive - Danmarks Tekniske Universitet\Projects\QuantumOptimalControl\scripts\gradient_cuda_QT.jl:48
Some type information was truncated. Use `show(err)` to see complete types.

Environment (please complete the following information):

• Output of using Pkg; Pkg.status()

julia> using Pkg; Pkg.status()
Status `C:\Users\mabun\OneDrive - Danmarks Tekniske Universitet\Projects\QuantumOptimalControl\scripts\Project.toml`
  [54578032] ADNLPModels v0.8.13
  [5dcf52e5] Altro v0.5.0 `Altro.jl`
  [6e4b80f9] BenchmarkTools v1.6.0
  [32681960] CTParser v0.6.3 `CTParser.jl`
⌅ [052768ef] CUDA v5.8.2
⌅ [45b445bb] CUDSS v0.4.4
  [7da242da] Enzyme v0.13.82
⌃ [1037b233] ExaModels v0.9.1
  [d4d017d3] ExponentialUtilities v1.27.0
  [6a86dc24] FiniteDiff v2.28.1
⌅ [f6369f11] ForwardDiff v0.10.39
  [20393b10] InfiniteOpt v0.5.9
  [b6b21f68] Ipopt v1.11.0
  [033835bb] JLD2 v0.6.2
  [63c18a36] KernelAbstractions v0.9.38
⌃ [2621e9c9] MadNLP v0.8.7
⌃ [d72a61cc] MadNLPGPU v0.7.7
  [3b83494e] MadNLPMumps v0.5.1
⌃ [f4238b75] NLPModelsIpopt v0.10.4
  [1dea7af3] OrdinaryDiffEq v6.102.1
  [d330b81b] PyPlot v2.11.6
  [4f57444f] QuantumOpticsBase v0.5.9
  [6c2fb7c5] QuantumToolbox v0.35.0
  [0bca4576] SciMLBase v2.120.0
  [1ed8b502] SciMLSensitivity v7.89.0
  [53ae85a6] SciMLStructures v1.7.0
  [90137ffa] StaticArrays v1.9.15
  [2efcf032] SymbolicIndexingInterface v0.3.44
  [0c5d862f] Symbolics v6.55.0
  [c79d492b] TrajectoryOptimization v0.7.1 `TrajectoryOptimization.jl`
  [e88e6eb3] Zygote v0.7.10
  [37e2e46d] LinearAlgebra v1.11.0
Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated`

• Output of using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)

julia> using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)
Status `C:\Users\mabun\OneDrive - Danmarks Tekniske Universitet\Projects\QuantumOptimalControl\scripts\Manifest.toml`
  [54578032] ADNLPModels v0.8.13
  [47edcb42] ADTypes v1.18.0
  [14f7f29c] AMD v0.5.3
  [621f4979] AbstractFFTs v1.5.0
  [1520ce14] AbstractTrees v0.4.5
  [7d9f7c33] Accessors v0.1.42
  [79e6a3ab] Adapt v4.4.0
  [66dad0bd] AliasTables v1.1.3
  [5dcf52e5] Altro v0.5.0 `Altro.jl`
  [ec485272] ArnoldiMethod v0.4.0
  [4fba245c] ArrayInterface v7.20.0
  [4c555306] ArrayLayouts v1.11.2
  [a9b6321e] Atomix v1.1.2
⌃ [13072b0f] AxisAlgorithms v1.0.1
  [ab4f0b2a] BFloat16s v0.5.1
  [6e4b80f9] BenchmarkTools v1.6.0
  [e2ed5e7c] Bijections v0.2.2
  [62783981] BitTwiddlingConvenienceFunctions v0.1.6
  [70df07ce] BracketingNonlinearSolve v1.4.0
  [fa961155] CEnum v0.5.0
  [2a0fbf3d] CPUSummary v0.2.7
  [54762871] CTBase v0.16.4
  [32681960] CTParser v0.6.3 `CTParser.jl`
⌅ [052768ef] CUDA v5.8.2
⌅ [1af6417a] CUDA_Runtime_Discovery v0.3.5
⌅ [45b445bb] CUDSS v0.4.4
  [a8cc9031] CUSOLVERRF v0.2.6
  [7057c7e9] Cassette v0.3.14
  [082447d4] ChainRules v1.72.5
  [d360d2e6] ChainRulesCore v1.26.0
  [0b6fb165] ChunkCodecCore v1.0.0
  [4c0bbee4] ChunkCodecLibZlib v1.0.0
  [55437552] ChunkCodecLibZstd v1.0.0
  [fb6a15b2] CloseOpenIntervals v0.1.13
  [523fee87] CodecBzip2 v0.8.5
  [944b1d66] CodecZlib v0.7.8
  [3da002f7] ColorTypes v0.12.1
  [5ae59095] Colors v0.13.1
⌅ [861a8166] Combinatorics v1.0.2
  [38540f10] CommonSolve v0.2.4
  [bbf7d656] CommonSubexpressions v0.3.1
  [f70d9fcc] CommonWorldInvalidations v1.0.0
  [34da2185] Compat v4.18.0
  [b152e2b5] CompositeTypes v0.1.4
  [a33af91c] CompositionsBase v0.1.2
  [2569d6c7] ConcreteStructs v0.2.3
  [8f4d0f93] Conda v1.10.2
  [187b0558] ConstructionBase v1.6.0
  [adafc99b] CpuId v0.3.1
  [a8cc5b0e] Crayons v4.1.1
  [9a962f9c] DataAPI v1.16.0
  [a93c6f00] DataFrames v1.8.0
⌅ [864edb3b] DataStructures v0.18.22
  [e2d170a0] DataValueInterfaces v1.0.0
  [2b5f629d] DiffEqBase v6.190.2
  [459566f4] DiffEqCallbacks v4.9.0
  [77a26b50] DiffEqNoiseProcess v5.24.1
  [163ba53b] DiffResults v1.1.0
  [b552c78f] DiffRules v1.15.1
  [a0c0ee7d] DifferentiationInterface v0.7.7
  [b4f34e82] Distances v0.10.12
  [31c24e10] Distributions v0.25.120
  [ffbed154] DocStringExtensions v0.9.5
  [5b8099bc] DomainSets v0.7.16
⌃ [7c1d4256] DynamicPolynomials v0.6.3
  [4e289a0a] EnumX v1.0.5
  [7da242da] Enzyme v0.13.82
  [f151be2c] EnzymeCore v0.8.14
⌃ [1037b233] ExaModels v0.9.1
  [d4d017d3] ExponentialUtilities v1.27.0
  [e2ba6199] ExprTools v0.1.10
  [55351af7] ExproniconLite v0.10.14
  [7a1cc6ca] FFTW v1.10.0
  [7034ab61] FastBroadcast v0.3.5
  [9aa1b823] FastClosures v0.3.2
  [7868e603] FastExpm v1.1.0
  [442a2c76] FastGaussQuadrature v1.0.2
  [a4df4552] FastPower v1.1.3
  [5789e2e9] FileIO v1.17.0
  [1a297f60] FillArrays v1.14.0
  [6a86dc24] FiniteDiff v2.28.1
  [53c48c17] FixedPointNumbers v0.8.5
  [1fa38f19] Format v1.3.7
  [59287772] Formatting v0.4.3
⌅ [f6369f11] ForwardDiff v0.10.39
  [f62d2435] FunctionProperties v0.1.2
  [069b7b12] FunctionWrappers v1.1.3
  [77dc65aa] FunctionWrappersWrappers v0.1.3
  [d9f16b24] Functors v0.5.2
⌃ [0c68f7d7] GPUArrays v11.2.3
  [46192b85] GPUArraysCore v0.2.0
  [61eb1bfa] GPUCompiler v1.6.2
⌅ [096a3bc2] GPUToolbox v0.2.0
  [c145ed77] GenericSchur v0.5.5
  [86223c79] Graphs v1.13.1
  [076d061b] HashArrayMappedTries v0.2.0
  [3e5b6fbb] HostCPUFeatures v0.1.17
  [34004b35] HypergeometricFunctions v0.3.28
  [7869d1d1] IRTools v0.4.15
  [615f187c] IfElse v0.1.1
  [40713840] IncompleteLU v0.2.1
  [20393b10] InfiniteOpt v0.5.9
  [d25df0c9] Inflate v0.1.5
  [842dd82b] InlineStrings v1.4.5
  [18e54dd8] IntegerMathUtils v0.1.3
⌅ [a98d9a8b] Interpolations v0.13.6
  [8197267c] IntervalSets v0.7.11
  [3587e190] InverseFunctions v0.1.17
  [41ab1584] InvertedIndices v1.3.1
  [b6b21f68] Ipopt v1.11.0
  [92d709cd] IrrationalConstants v0.2.4
  [82899510] IteratorInterfaceExtensions v1.0.0
  [033835bb] JLD2 v0.6.2
  [692b3bcd] JLLWrappers v1.7.1
  [682c06a0] JSON v0.21.4
  [0f8b85d8] JSON3 v1.14.3
  [ae98c720] Jieko v0.2.1
  [4076af6c] JuMP v1.29.1
  [ccbc3e58] JumpProcesses v9.19.1
  [ef3ab10e] KLU v0.6.0
  [63c18a36] KernelAbstractions v0.9.38
  [ba0b0d4f] Krylov v0.10.2
  [40e66cde] LDLFactorizations v0.10.1
  [929cbde3] LLVM v9.4.2
  [8b046642] LLVMLoopInfo v1.0.0
  [8ac3fa9e] LRUCache v1.6.2
  [b964fa9f] LaTeXStrings v1.4.0
  [23fbe1c1] Latexify v0.16.10
  [10f19ff3] LayoutPointers v0.1.17
  [5078a376] LazyArrays v2.6.3
  [1d6d02ad] LeftChildRightSiblingTrees v0.2.1
  [2d8b4e74] LevyArea v1.0.0
  [87fe0de2] LineSearch v0.1.4
  [d3d80556] LineSearches v7.4.0
  [5c8ed15e] LinearOperators v2.11.0
  [7ed4a6bd] LinearSolve v3.40.2
  [2ab3a3ac] LogExpFunctions v0.3.29
  [bdcacae8] LoopVectorization v0.12.172
  [d8e11817] MLStyle v0.4.17
  [1914dd2f] MacroTools v0.5.16
⌃ [2621e9c9] MadNLP v0.8.7
⌃ [d72a61cc] MadNLPGPU v0.7.7
  [3b83494e] MadNLPMumps v0.5.1
  [d125e4d3] ManualMemory v0.1.8
  [b8f27783] MathOptInterface v1.45.0
  [bb5d69b7] MaybeInplace v0.1.4
  [2679e427] Metis v1.5.0
  [e1d29d7a] Missings v1.2.0
  [2e0e35c7] Moshi v0.3.7
  [46d2c3a1] MuladdMacro v0.2.4
⌃ [102ac46a] MultivariatePolynomials v0.5.9
  [d8a4904e] MutableArithmetics v1.6.6
  [a4795742] NLPModels v0.21.5
⌃ [f4238b75] NLPModelsIpopt v0.10.4
  [d41bc354] NLSolversBase v7.10.0
  [2774e3e8] NLsolve v4.5.1
  [872c559c] NNlib v0.9.31
  [5da4648a] NVTX v1.0.1
  [77ba4419] NaNMath v1.1.3
  [8913a72c] NonlinearSolve v4.11.0
  [be0214bd] NonlinearSolveBase v1.16.1
  [5959db7a] NonlinearSolveFirstOrder v1.8.0
  [9a2c21bd] NonlinearSolveQuasiNewton v1.9.0
  [26075421] NonlinearSolveSpectralMethods v1.4.0
  [d8793406] ObjectFile v0.5.0
  [6fd5a793] Octavian v0.3.29
  [6fe1bfb0] OffsetArrays v1.17.0
  [429524aa] Optim v1.13.2
  [3bd65402] Optimisers v0.4.6
  [bac558e1] OrderedCollections v1.8.1
  [1dea7af3] OrdinaryDiffEq v6.102.1
  [89bda076] OrdinaryDiffEqAdamsBashforthMoulton v1.5.0
  [6ad6398a] OrdinaryDiffEqBDF v1.10.1
  [bbf590c4] OrdinaryDiffEqCore v1.34.0
  [50262376] OrdinaryDiffEqDefault v1.8.0
  [4302a76b] OrdinaryDiffEqDifferentiation v1.16.1
  [9286f039] OrdinaryDiffEqExplicitRK v1.4.0
  [e0540318] OrdinaryDiffEqExponentialRK v1.8.0
  [becaefa8] OrdinaryDiffEqExtrapolation v1.9.0
  [5960d6e9] OrdinaryDiffEqFIRK v1.16.0
  [101fe9f7] OrdinaryDiffEqFeagin v1.4.0
  [d3585ca7] OrdinaryDiffEqFunctionMap v1.5.0
  [d28bc4f8] OrdinaryDiffEqHighOrderRK v1.5.0
  [9f002381] OrdinaryDiffEqIMEXMultistep v1.7.0
  [521117fe] OrdinaryDiffEqLinear v1.6.0
  [1344f307] OrdinaryDiffEqLowOrderRK v1.6.0
  [b0944070] OrdinaryDiffEqLowStorageRK v1.7.0
  [127b3ac7] OrdinaryDiffEqNonlinearSolve v1.14.1
  [c9986a66] OrdinaryDiffEqNordsieck v1.4.0
  [5dd0a6cf] OrdinaryDiffEqPDIRK v1.6.0
  [5b33eab2] OrdinaryDiffEqPRK v1.4.0
  [04162be5] OrdinaryDiffEqQPRK v1.4.0
  [af6ede74] OrdinaryDiffEqRKN v1.5.0
  [43230ef6] OrdinaryDiffEqRosenbrock v1.18.1
  [2d112036] OrdinaryDiffEqSDIRK v1.7.0
  [669c94d9] OrdinaryDiffEqSSPRK v1.7.0
  [e3e12d00] OrdinaryDiffEqStabilizedIRK v1.6.0
  [358294b1] OrdinaryDiffEqStabilizedRK v1.4.0
  [fa646aed] OrdinaryDiffEqSymplecticRK v1.7.0
  [b1df2697] OrdinaryDiffEqTsit5 v1.5.0
  [79d7bb75] OrdinaryDiffEqVerner v1.6.0
  [90014a1f] PDMats v0.11.35
  [65ce6f38] PackageExtensionCompat v1.0.2
  [d96e819e] Parameters v0.12.3
  [69de0a69] Parsers v2.8.3
  [e409e4f3] PoissonRandom v0.4.6
  [f517fe37] Polyester v0.7.18
  [1d0040c9] PolyesterWeave v0.2.2
  [2dfb63ee] PooledArrays v1.4.3
  [85a6dd25] PositiveFactorizations v0.2.4
  [d236fae5] PreallocationTools v0.4.34
⌅ [aea7be01] PrecompileTools v1.2.1
  [21216c6a] Preferences v1.5.0
⌅ [08abe8d2] PrettyTables v2.4.0
  [27ebfcd6] Primes v0.5.7
  [43287f4e] PtrArrays v1.3.0
  [438e738f] PyCall v1.96.4
  [d330b81b] PyPlot v2.11.6
  [1fd47b50] QuadGK v2.11.2
  [5717a53b] QuantumInterface v0.4.1
  [4f57444f] QuantumOpticsBase v0.5.9
  [6c2fb7c5] QuantumToolbox v0.35.0
  [94ee1d12] Quaternions v0.7.6
  [74087812] Random123 v1.7.1
  [e6cf234a] RandomNumbers v1.6.0
  [c84ed2f1] Ratios v0.4.5
  [c1ae055f] RealDot v0.1.0
  [3cdcf5f2] RecipesBase v1.3.4
  [731186ca] RecursiveArrayTools v3.37.1
  [189a3867] Reexport v1.2.2
  [ae029012] Requires v1.3.1
  [ae5879a3] ResettableStacks v1.1.1
  [37e2e3b7] ReverseDiff v1.16.1
  [79098fc4] Rmath v0.8.0
  [38ceca67] RobotDynamics v0.4.8
  [74be38bb] RobotZoo v0.3.1
  [6038ab10] Rotations v1.7.1
  [7e49a35a] RuntimeGeneratedFunctions v0.5.15
  [94e857df] SIMDTypes v0.1.0
  [476501e8] SLEEFPirates v0.6.43
  [0bca4576] SciMLBase v2.120.0
  [19f34311] SciMLJacobianOperators v0.1.11
  [c0aeaf25] SciMLOperators v1.7.2
  [431bcebd] SciMLPublic v1.0.0
  [1ed8b502] SciMLSensitivity v7.89.0
  [53ae85a6] SciMLStructures v1.7.0
  [7e506255] ScopedValues v1.5.0
  [6c6a2e73] Scratch v1.3.0
  [91c51154] SentinelArrays v1.4.8
  [efcf1570] Setfield v1.1.2
  [727e6d20] SimpleNonlinearSolve v2.8.0
  [699a6c99] SimpleTraits v0.9.5
  [ce78b400] SimpleUnPack v1.1.0
  [ff4d7338] SolverCore v0.3.8
  [c2e08473] SolverLogging v0.2.0
  [a2af1166] SortingAlgorithms v1.2.2
  [9f842d2f] SparseConnectivityTracer v1.1.0
  [dc90abb0] SparseInverseSubset v0.1.2
  [0a514795] SparseMatrixColorings v0.4.21
  [276daf66] SpecialFunctions v2.5.1
  [aedffcd0] Static v1.3.0
  [0d7ed370] StaticArrayInterface v1.8.0
  [90137ffa] StaticArrays v1.9.15
  [1e83bf80] StaticArraysCore v1.4.3
  [10745b16] Statistics v1.11.1
  [82ae8749] StatsAPI v1.7.1
  [2913bbd2] StatsBase v0.34.6
  [4c63d2b9] StatsFuns v1.5.0
  [789caeaf] StochasticDiffEq v6.82.0
  [7792a7ef] StrideArraysCore v0.5.8
  [5e0ebb24] Strided v2.3.2
  [4db3bf67] StridedViews v0.4.1
  [892a3eda] StringManipulation v0.4.1
  [09ab397b] StructArrays v0.7.1
  [53d494c1] StructIO v0.3.1
  [856f2bd8] StructTypes v1.11.0
  [2efcf032] SymbolicIndexingInterface v0.3.44
  [19f23fe9] SymbolicLimits v0.2.3
  [d1185830] SymbolicUtils v3.32.0
  [0c5d862f] Symbolics v6.55.0
  [3783bdb8] TableTraits v1.0.1
  [bd369af6] Tables v1.12.1
  [ed4db957] TaskLocalValues v0.1.3
  [8ea1fca8] TermInterface v2.0.0
  [8290d209] ThreadingUtilities v0.5.5
  [a759f4b9] TimerOutputs v0.5.29
  [9f7883ad] Tracker v0.2.38
  [e689c965] Tracy v0.1.6
  [c79d492b] TrajectoryOptimization v0.7.1 `TrajectoryOptimization.jl`
  [3bb67fe8] TranscodingStreams v0.11.3
  [781d530d] TruncatedStacktraces v1.4.0
  [9d95972d] TupleTools v1.6.0
  [3a884ed6] UnPack v1.0.2
  [a7c27f48] Unityper v0.1.6
  [c4a57d5a] UnsafeArrays v1.0.8
  [013be700] UnsafeAtomics v0.3.0
  [3d5dd08c] VectorizationBase v0.21.72
  [81def892] VersionParsing v1.3.0
⌅ [efce3f68] WoodburyMatrices v0.5.6
  [e88e6eb3] Zygote v0.7.10
  [700de1a5] ZygoteRules v0.2.7
  [ae81ac8f] ASL_jll v0.1.3+0
  [6e34b625] Bzip2_jll v1.0.9+0
⌅ [4ee394cb] CUDA_Driver_jll v0.13.1+0
⌅ [76a88914] CUDA_Runtime_jll v0.17.1+0
⌅ [4889d778] CUDSS_jll v0.4.0+0
  [7cc45869] Enzyme_jll v0.0.201+0
  [f5851436] FFTW_jll v3.3.11+0
  [61579ee1] Ghostscript_jll v9.55.1+0
  [e33a78d0] Hwloc_jll v2.12.2+0
  [1d5cc7b8] IntelOpenMP_jll v2025.2.0+0
  [9cc047cb] Ipopt_jll v300.1400.1900+0
  [aacddb02] JpegTurbo_jll v3.1.3+0
  [9c1d0b0a] JuliaNVTXCallbacks_jll v0.2.1+0
  [dad2f222] LLVMExtra_jll v0.0.37+2
  [ad6e5548] LibTracyClient_jll v0.9.1+6
  [94ce4f54] Libiconv_jll v1.18.0+0
  [d00139f3] METIS_jll v5.1.3+0
  [856f044c] MKL_jll v2025.2.0+0
  [d7ed1dd3] MUMPS_seq_jll v500.800.100+0
  [e98f9f5b] NVTX_jll v3.2.2+0
  [656ef2d0] OpenBLAS32_jll v0.3.29+0
  [efe28fd5] OpenSpecFun_jll v0.5.6+0
  [9ae34a36] QDLDL_jll v0.1.5+0
  [f50d1b31] Rmath_jll v0.5.1+0
⌅ [319450e9] SPRAL_jll v2025.5.20+0
⌅ [02c8fc9c] XML2_jll v2.13.9+0
  [a65dc6b1] Xorg_libpciaccess_jll v0.18.1+0
  [3161d3a3] Zstd_jll v1.5.7+1
  [1e29f10c] demumble_jll v1.3.0+0
  [1317d2d5] oneTBB_jll v2022.0.0+0
  [0dad84c5] ArgTools v1.1.2
  [56f22d72] Artifacts v1.11.0
  [2a0f44e3] Base64 v1.11.0
  [ade2ca70] Dates v1.11.0
  [8ba89e20] Distributed v1.11.0
  [f43a241f] Downloads v1.6.0
  [7b1f6079] FileWatching v1.11.0
  [9fa8497b] Future v1.11.0
  [b77e0a4c] InteractiveUtils v1.11.0
  [4af54fe1] LazyArtifacts v1.11.0
  [b27032c2] LibCURL v0.6.4
  [76f85450] LibGit2 v1.11.0
  [8f399da3] Libdl v1.11.0
  [37e2e46d] LinearAlgebra v1.11.0
  [56ddb016] Logging v1.11.0
  [d6f4376e] Markdown v1.11.0
  [a63ad114] Mmap v1.11.0
  [ca575930] NetworkOptions v1.2.0
  [44cfe95a] Pkg v1.11.0
  [de0858da] Printf v1.11.0
  [9abbd945] Profile v1.11.0
  [9a3f8284] Random v1.11.0
  [ea8e919c] SHA v0.7.0
  [9e88b42a] Serialization v1.11.0
  [1a1011a3] SharedArrays v1.11.0
  [6462fe0b] Sockets v1.11.0
  [2f01184e] SparseArrays v1.11.0
  [4607b0f0] SuiteSparse
  [fa267f1f] TOML v1.0.3
  [a4e569a6] Tar v1.10.0
  [8dfed614] Test v1.11.0
  [cf7118a7] UUIDs v1.11.0
  [4ec0a83e] Unicode v1.11.0
  [e66e0078] CompilerSupportLibraries_jll v1.1.1+0
  [deac9b47] LibCURL_jll v8.6.0+0
  [e37daf67] LibGit2_jll v1.7.2+0
  [29816b5a] LibSSH2_jll v1.11.0+1
  [c8ffd9c3] MbedTLS_jll v2.28.6+0
  [14a3606d] MozillaCACerts_jll v2023.12.12
  [4536629a] OpenBLAS_jll v0.3.27+1
  [05823500] OpenLibm_jll v0.8.1+4
  [bea87d4a] SuiteSparse_jll v7.7.0+0
  [83775a58] Zlib_jll v1.2.13+1
  [8e850b90] libblastrampoline_jll v5.11.0+0
  [8e850ede] nghttp2_jll v1.59.0+0
  [3f19e933] p7zip_jll v17.4.0+2
Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`

• Output of versioninfo()

Julia Version 1.11.5
Commit 760b2e5b73 (2025-04-14 06:53 UTC)
Build Info:
  Official https://julialang.org/ release
Platform Info:
  OS: Windows (x86_64-w64-mingw32)
  CPU: 12 × AMD Ryzen 5 3600 6-Core Processor
  WORD_SIZE: 64
  LLVM: libLLVM-16.0.6 (ORCJIT, znver2)
Threads: 1 default, 0 interactive, 1 GC (on 12 virtual cores)
Environment:
  JULIA_EDITOR = code
  JULIA_VSCODE_REPL = 1

Additional context

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