lane change example works!

examples/utils.jl

@@ -177,7 +177,6 @@ function TrajectoryGamesBase.solve_trajectory_game!(
 )
     # Solve, maybe with warm starting.
     if !isnothing(strategy.last_solution) && strategy.last_solution.status == :solved
-        println("warm start")
         solution = MCPSolver.solve(
             parametric_game,
             parameter_value;
@@ -186,9 +185,7 @@ function TrajectoryGamesBase.solve_trajectory_game!(
             y₀ = strategy.last_solution.variables.y,
         )
     else
-        println("cold start")
         (; initial_state) = unpack_parameters(parameter_value; game.dynamics)
-        @infiltrate
         solution = MCPSolver.solve(
             parametric_game,
             parameter_value;

src/game.jl

@@ -156,7 +156,6 @@ function solve(
     y₀ = ones(sum(game.dims.μ) + game.dims.μ̃),
     tol = 1e-4,
 )
-    @infiltrate
     (; x, y, s, kkt_error, status) = solve(solver_type, game.mcp; θ, x₀, y₀, tol)
 
     # Unpack primals per-player for ease of access later.

src/solver.jl

@@ -38,11 +38,8 @@ function solve(
         while kkt_error > ϵ && iters < max_inner_iters
             # Compute the Newton step.
             # TODO! Can add some adaptive regularization.
-            @infiltrate
             F = mcp.F(x, y, s; θ, ϵ)
-            @infiltrate
             δz = -mcp.∇F(x, y, s; θ, ϵ) \ F
-            @infiltrate
 
             # Fraction to the boundary linesearch.
             δx = @view δz[1:(mcp.unconstrained_dimension)]