 [1m───────────────────────────────────────────────────────────────────────────[22m
 [1m                           [22m        Time                   Allocations      
                            ──────────────────────   ───────────────────────
      Tot / % measured:           248s / 2.70%           3.14GiB / 91.7%    

 Section            ncalls     time   %tot     avg     alloc   %tot      avg
 ───────────────────────────────────────────────────────────────────────────
 uncon solve            10    6.51s  97.3%   651ms   2.84GiB  98.9%   291MiB
   forward pass        155    3.50s  52.3%  22.6ms   1.47GiB  51.0%  9.69MiB
     rollout         1.33k    1.85s  27.7%  1.39ms    810MiB  27.5%   623KiB
     cost            1.15k    1.64s  24.5%  1.42ms    688MiB  23.4%   611KiB
   backward pass       155    1.10s  16.5%  7.10ms    299MiB  10.2%  1.93MiB
   cost expansion      155    972ms  14.5%  6.27ms    313MiB  10.6%  2.02MiB
   jacobians           155    900ms  13.5%  5.81ms    784MiB  26.6%  5.06MiB
   copy                155   15.8ms  0.24%   102μs   4.52MiB  0.15%  29.9KiB
   convergence         155    703μs  0.01%  4.54μs   9.30KiB  0.00%    61.4B
 newton step             1    156ms  2.33%   156ms   23.4MiB  0.79%  23.4MiB
   linesearch            1   69.7ms  1.04%  69.7ms   1.56MiB  0.05%  1.56MiB
     dual solve          1   68.1ms  1.02%  68.1ms    305KiB  0.01%   305KiB
     dynamics            1    773μs  0.01%   773μs    617KiB  0.02%   617KiB
     constraints         1    562μs  0.01%   562μs    254KiB  0.01%   254KiB
     primal solve        1   81.9μs  0.00%  81.9μs    262KiB  0.01%   262KiB
   cholesky              1   18.7ms  0.28%  18.7ms   3.08MiB  0.10%  3.08MiB
   dyn jacobian          2   12.3ms  0.18%  6.14ms   10.8MiB  0.37%  5.41MiB
   con jacobian          2   8.09ms  0.12%  4.04ms   2.02MiB  0.07%  1.01MiB
   cost expansion        1   2.83ms  0.04%  2.83ms    346KiB  0.01%   346KiB
   dynamics              2   1.99ms  0.03%   997μs   1.20MiB  0.04%   617KiB
   constraints           2   1.44ms  0.02%   722μs    507KiB  0.02%   254KiB
   active set            2    895μs  0.01%   447μs    192KiB  0.01%  96.0KiB
 dual update            10   11.6ms  0.17%  1.16ms   2.73MiB  0.09%   280KiB
 cost                   10   9.90ms  0.15%   990μs   5.97MiB  0.20%   611KiB
 penalty update         10   3.11ms  0.05%   311μs    503KiB  0.02%  50.3KiB
 copy                    1   24.3μs  0.00%  24.3μs   29.9KiB  0.00%  29.9KiB
 [1m───────────────────────────────────────────────────────────────────────────[22m