benchmarks: Initial DirectTrajOpt benchmark suite (Ipopt vs MadNLP)#75

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benchmarks/directtrajopt-initial-v2

Commits on May 20, 2026

test: re-comment dead compare_solvers.jl wins loop
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test: harden testitem filter against substring false-positives
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benchmark: pin HarmoniqsBenchmarks to a specific SHA
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benchmark: thread distinct seed per (N, dim) scaling cell
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benchmark: log errors in version + commit lookups instead of swallowing
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benchmark: warm up Ipopt and MadNLP before timing
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docs: mark benchmark tables as illustrative, remove comparison claims
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chore: apply JuliaFormatter to warmup blocks
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benchmark: use MadNLP print_level=6 (ERROR) for warmup solves
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benchmark: median over K=3 seeds in scaling sweep
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