Problem with initial guess P.x0

Hi,
I wrote the matlab function which calculates dynamics for an inverted pendulum and I would like to use OtimTraj to find a Swingup Trajectory however as I run the simulation I see this warning from FMINCON :

Your initial point x0 is not between bounds lb and ub; FMINCON
shifted x0 to strictly satisfy the bounds.

Hier is how P.x0 looks like :

and after that this warning :
Warning: Matrix is close to singular or badly scaled. Results may
be inaccurate. RCOND = 3.066313e-18

Hier is how I set the initial conditions and boundries :
( as an Input I use the Cart's acceleration ! )

`clc; clear;
addpath OptimTraj

dist = 0 ;
maxForce = 40;
duration = 2;

problem.func.dynamics = @(t,x,u)( invPendDynamics(x,u) );
problem.func.pathObj = @(t,x,u)( u.^2 ); %Force-squared cost function

problem.boundslow = 0;
problem.bounds.initialTime.upp = 0;
problem.bounds.finalTime.low = duration;
problem.bounds.finalTime.upp = duration;

problem.bounds.initialState.low = [0;pi;0;0];
problem.bounds.initialState.upp = [0;pi;0;0];
problem.bounds.finalState.low = [0;0;0;0];
problem.bounds.finalState.upp = [0;0;0;0];

problem.bounds.state.low = [-2;-2pi;-inf;-inf];
problem.bounds.state.upp = [2;2pi;inf;inf];

problem.bounds.control.low = -maxForce;
problem.bounds.control.upp = maxForce;

problem.guess.time = [0,duration];
problem.guess.state = [problem.bounds.initialState.low, problem.bounds.finalState.low];
problem.guess.control = [0,0];
`
Do you know what might be causing the error ?

Reproduce the warning with the provided OptimTraj setup, including the bounds, initial guess, and invPendDynamics entry point. Inspect how the FMINCON initial point is formed and verify the dynamics for numerical conditioning; done means identifying the cause of the bound and singularity warnings and documenting or validating a correction.