{
    "code_export_directory": [
        "str"
    ],
    "acados_include_path": [
        "str"
    ],
    "cython_include_dirs": [
        "list"
    ],
    "json_file": [
        "str"
    ],
    "shared_lib_ext": [
        "str"
    ],
    "model": {
         "name" : [
            "str"
        ],
        "dyn_ext_fun_type" : [
            "str"
        ],
        "dyn_generic_source" : [
            "str"
        ],
        "dyn_impl_dae_fun" : [
            "str"
        ],
        "dyn_impl_dae_fun_jac" : [
            "str"
        ],
        "dyn_impl_dae_jac" : [
            "str"
        ],
        "dyn_disc_fun_jac_hess" : [
            "str"
        ],
        "dyn_disc_fun_jac" : [
            "str"
        ],
        "dyn_disc_fun" : [
            "str"
        ],
        "gnsf" : {
            "nontrivial_f_LO": [
                "int"
            ],
            "purely_linear": [
                "int"
            ]
        }
    },
    "parameter_values": [
        "ndarray",
        [
            "np"
        ]
    ],
    "acados_lib_path": [
        "str"
    ],
    "problem_class": [
        "str"
    ],
    "constraints": {
        "constr_type": [
            "str"
        ],
        "constr_type_e": [
            "str"
        ],
        "lbx": [
            "ndarray",
                [
                    "nbx"
                ]
        ],
        "lbu": [
            "ndarray",
            [
                "nbu"
            ]
        ],
        "ubx": [
            "ndarray",
                [
                    "nbx"
                ]
        ],
        "ubu": [
            "ndarray",
            [
                "nbu"
            ]
        ],
        "idxbx": [
            "ndarray",
                [
                    "nbx"
                ]
        ],
        "idxbu": [
            "ndarray",
            [
                "nbu"
            ]
        ],
        "lbx_e": [
            "ndarray",
            [
                "nbx_e"
            ]
        ],
        "ubx_e": [
            "ndarray",
            [
                "nbx_e"
            ]
        ],
        "idxbx_e": [
            "ndarray",
            [
                "nbx_e"
            ]
        ],
        "lbx_0": [
            "ndarray",
            [
                "nbx_0"
            ]
        ],
        "ubx_0": [
            "ndarray",
            [
                "nbx_0"
            ]
        ],
        "idxbx_0": [
            "ndarray",
            [
                "nbx_0"
            ]
        ],
        "idxbxe_0": [
            "ndarray",
            [
                "nbxe_0"
            ]
        ],
        "lg": [
            "ndarray",
            [
                "ng"
            ]
        ],
        "ug": [
            "ndarray",
            [
                "ng"
            ]
        ],
        "D": [
            "ndarray",
                [
                    "ng",
                    "nu"
                ]
        ],
        "C": [
            "ndarray",
            [
                "ng",
                "nx"
            ]
        ],
        "C_e": [
            "ndarray",
            [
                "ng_e",
                "nx"
            ]
        ],
        "lg_e": [
            "ndarray",
            [
                "ng_e"
            ]
        ],
        "ug_e": [
            "ndarray",
            [
                "ng_e"
            ]
        ],
        "lh": [
            "ndarray",
            [
                "nh"
            ]
        ],
        "uh": [
            "ndarray",
            [
                "nh"
            ]
        ],
        "lh_e": [
            "ndarray",
            [
                "nh_e"
            ]
        ],
        "uh_e": [
            "ndarray",
            [
                "nh_e"
            ]
        ],
        "lphi": [
            "ndarray",
            [
                "nphi"
            ]
        ],
        "uphi": [
            "ndarray",
            [
                "nphi"
            ]
        ],
        "lphi_e": [
            "ndarray",
            [
                "nphi_e"
            ]
        ],
        "uphi_e": [
            "ndarray",
            [
                "nphi_e"
            ]
        ],
        "lsbx": [
            "ndarray",
                [
                    "nsbx"
                ]
        ],
        "usbx": [
            "ndarray",
                [
                    "nsbx"
                ]
        ],
        "lsbu": [
            "ndarray",
            [
                "nsbu"
            ]
        ],
        "usbu": [
            "ndarray",
            [
                "nsbu"
            ]
        ],
        "idxsbx": [
            "ndarray",
                [
                    "nsbx"
                ]
        ],
        "idxsbu": [
            "ndarray",
            [
                "nsbu"
            ]
        ],
        "lsbx_e": [
            "ndarray",
                [
                    "nsbx_e"
                ]
        ],
        "usbx_e": [
            "ndarray",
                [
                    "nsbx_e"
                ]
        ],
        "idxsbx_e": [
            "ndarray",
                [
                    "nsbx_e"
                ]
        ],
        "lsg": [
            "ndarray",
            [
                "nsg"
            ]
        ],
        "usg": [
            "ndarray",
            [
                "nsg"
            ]
        ],
        "idxsg": [
            "ndarray",
            [
                "nsg"
            ]
        ],
        "lsg_e": [
            "ndarray",
            [
                "nsg_e"
            ]
        ],
        "usg_e": [
            "ndarray",
            [
                "nsg_e"
            ]
        ],
        "idxsg_e": [
            "ndarray",
            [
                "nsg_e"
            ]
        ],
        "lsh": [
            "ndarray",
            [
                "nsh"
            ]
        ],
        "ush": [
            "ndarray",
            [
                "nsh"
            ]
        ],
        "idxsh": [
            "ndarray",
            [
                "nsh"
            ]
        ],
        "lsh_e": [
            "ndarray",
            [
                "nsh_e"
            ]
        ],
        "ush_e": [
            "ndarray",
            [
                "nsh_e"
            ]
        ],
        "idxsh_e": [
            "ndarray",
            [
                "nsh_e"
            ]
        ],
        "lsphi": [
            "ndarray",
            [
                "nsphi"
            ]
        ],
        "usphi": [
            "ndarray",
            [
                "nsphi"
            ]
        ],
        "idxsphi": [
            "ndarray",
            [
                "nsphi"
            ]
        ],
        "lsphi_e": [
            "ndarray",
            [
                "nsphi_e"
            ]
        ],
        "usphi_e": [
            "ndarray",
            [
                "nsphi_e"
            ]
        ],
        "idxsphi_e": [
            "ndarray",
            [
                "nsphi_e"
            ]
        ]
    },
    "cost": {
        "cost_type_0": [
            "str"
        ],
        "cost_type": [
            "str"
        ],
        "cost_type_e": [
            "str"
        ],
        "cost_ext_fun_type_0": [
            "str"
        ],
        "cost_ext_fun_type": [
            "str"
        ],
        "cost_ext_fun_type_e": [
            "str"
        ],
        "Vu_0": [
            "ndarray",
            [
                "ny_0",
                "nu"
            ]
        ],
        "Vu": [
            "ndarray",
            [
                "ny",
                "nu"
            ]
        ],
        "Vx_0": [
            "ndarray",
            [
                "ny_0",
                "nx"
            ]
        ],
        "Vx": [
            "ndarray",
            [
                "ny",
                "nx"
            ]
        ],
        "Vx_e": [
            "ndarray",
            [
                "ny_e",
                "nx"
            ]
        ],
        "Vz_0": [
            "ndarray",
            [
                "ny_0",
                "nz"
            ]
        ],
        "Vz": [
            "ndarray",
            [
                "ny",
                "nz"
            ]
        ],
        "W_0": [
            "ndarray",
            [
                "ny_0",
                "ny_0"
            ]
        ],
        "W": [
            "ndarray",
            [
                "ny",
                "ny"
            ]
        ],
        "Zl": [
            "ndarray",
            [
                "ns"
            ]
        ],
        "Zu": [
            "ndarray",
            [
                "ns"
            ]
        ],
        "zl": [
            "ndarray",
            [
                "ns"
            ]
        ],
        "zu": [
            "ndarray",
            [
                "ns"
            ]
        ],
        "W_e": [
            "ndarray",
            [
                "ny_e",
                "ny_e"
            ]
        ],
        "yref_0": [
            "ndarray",
            [
                "ny_0"
            ]
        ],
        "yref": [
            "ndarray",
            [
                "ny"
            ]
        ],
        "yref_e": [
            "ndarray",
            [
                "ny_e"
            ]
        ],
        "Zl_e": [
            "ndarray",
            [
                "ns_e"
            ]
        ],
        "Zu_e": [
            "ndarray",
            [
                "ns_e"
            ]
        ],
        "zl_e": [
            "ndarray",
            [
                "ns_e"
            ]
        ],
        "zu_e": [
            "ndarray",
            [
                "ns_e"
            ]
        ]
    },
    "dims": {
        "N": [
            "int"
        ],
        "nbu": [
            "int"
        ],
        "nbx": [
            "int"
        ],
        "nsbu": [
            "int"
        ],
        "nsbx": [
            "int"
        ],
        "nsbx_e": [
            "int"
        ],
        "nbx_0": [
            "int"
        ],
        "nbx_e": [
            "int"
        ],
        "nbxe_0": [
            "int"
        ],
        "nsg": [
            "int"
        ],
        "nsg_e": [
            "int"
        ],
        "nsh": [
            "int"
        ],
        "nsh_e": [
            "int"
        ],
        "nsphi": [
            "int"
        ],
        "nsphi_e": [
            "int"
        ],
        "ns": [
            "int"
        ],
        "ns_e": [
            "int"
        ],
        "ng": [
            "int"
        ],
        "ng_e": [
            "int"
        ],
        "np": [
            "int"
        ],
        "nr": [
            "int"
        ],
        "nr_e": [
            "int"
        ],
        "nh": [
            "int"
        ],
        "nh_e": [
            "int"
        ],
        "nphi": [
            "int"
        ],
        "nphi_e": [
            "int"
        ],
        "nu": [
            "int"
        ],
        "nx": [
            "int"
        ],
        "ny": [
            "int"
        ],
        "ny_0": [
            "int"
        ],
        "ny_e": [
            "int"
        ],
        "nz": [
            "int"
        ],
        "gnsf_nx1": [
            "int"
        ],
        "gnsf_nz1": [
            "int"
        ],
        "gnsf_nuhat": [
            "int"
        ],
        "gnsf_ny": [
            "int"
        ],
        "gnsf_nout": [
            "int"
        ]
    },
    "solver_options": {
        "time_steps": [
            "ndarray",
            [
                "N"
            ]
        ],
        "hessian_approx": [
            "str"
        ],
        "hpipm_mode": [
            "str"
        ],
        "regularize_method": [
            "str"
        ],
        "integrator_type": [
            "str"
        ],
        "nlp_solver_type": [
            "str"
        ],
        "collocation_type": [
            "str"
        ],
        "globalization": [
            "str"
        ],
        "nlp_solver_step_length": [
            "float"
        ],
        "levenberg_marquardt": [
            "float"
        ],
        "qp_solver": [
            "str"
        ],
        "tf": [
            "float"
        ],
        "Tsim": [
            "float"
        ],
        "alpha_min": [
            "float"
        ],
        "alpha_reduction": [
            "float"
        ],
        "line_search_use_sufficient_descent": [
            "int"
        ],
        "globalization_use_SOC": [
            "int"
        ],
        "full_step_dual": [
            "int"
        ],
        "eps_sufficient_descent": [
            "float"
        ],
        "sim_method_num_stages": [
            "ndarray",
            [
                "N"
            ]
        ],
        "sim_method_num_steps": [
            "ndarray",
            [
                "N"
            ]
        ],
        "sim_method_newton_iter": [
            "int"
        ],
        "sim_method_newton_tol": [
            "float"
        ],
        "sim_method_jac_reuse": [
            "ndarray",
            [
                "N"
            ]
        ],
        "qp_solver_cond_N": [
            "int"
        ],
        "qp_solver_warm_start": [
            "int"
        ],
        "qp_solver_tol_stat": [
            "float"
        ],
        "qp_solver_tol_eq": [
            "float"
        ],
        "qp_solver_tol_ineq": [
            "float"
        ],
        "qp_solver_tol_comp": [
            "float"
        ],
        "qp_solver_iter_max": [
            "int"
        ],
        "qp_solver_cond_ric_alg": [
            "int"
        ],
        "qp_solver_ric_alg": [
            "int"
        ],
        "nlp_solver_tol_stat": [
            "float"
        ],
        "nlp_solver_tol_eq": [
            "float"
        ],
        "nlp_solver_tol_ineq": [
            "float"
        ],
        "nlp_solver_tol_comp": [
            "float"
        ],
        "nlp_solver_max_iter": [
            "int"
        ],
        "nlp_solver_ext_qp_res": [
            "int"
        ],
        "print_level": [
            "int"
        ],
        "initialize_t_slacks": [
            "int"
        ],
        "exact_hess_cost": [
            "int"
        ],
        "exact_hess_constr": [
            "int"
        ],
        "exact_hess_dyn": [
            "int"
        ],
        "ext_cost_num_hess": [
            "int"
        ],
        "ext_fun_compile_flags": [
            "str"
        ],
        "model_external_shared_lib_dir": [
            "str"
        ],
        "model_external_shared_lib_name": [
            "str"
        ]
    }
}
