Is the direct collocation algorithm deterministic (specifically using the SNOPT solver)? I've created a direct collocation optimization problem and occasionally the optimization will instantly fail (sometimes several times in a row) due to invalid direct collocation constraints. Eventually I can get the optimization to begin running by restarting my script (usually several times in a row). I thought both the direct collocation algorithm and the SNOPT optimizer were deterministic, but this makes me think otherwise
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