\ENSURE $\displaystyle\min_{(x,y,z) \in \mathbb{R}^3} J(x,y,z) = x^2 + y^2 + z^2 -r^2$ and \newline $g(x,y,z) = (g_1(x,y,z), g_2(x,y,z)) = (x^2 + y^2 - r_1^2, x^2 + z^2 -r_2^2) \leq 0 $
\STATE \textbf{Data :}
\STATE $k \leftarrow 0, (x_k, y_k, z_k) \leftarrow (100, 100, 0), r \leftarrow 100$
\STATE $r_1 = r_2 \leftarrow 10, \varepsilon \leftarrow 0.01$
\ENSURE $\displaystyle\min_{(x,y,z) \in \mathbb{R}^3} J(x,y,z) = x^2 + y^2 + z^2 -r^2$ and \newline $g(x,y,z) = (g_1(x,y,z), g_2(x,y,z)) = (x^2 + y^2 - r_1^2, x^2 + z^2 -r_2^2) \leq 0 $
\STATE \textbf{Data :}
\STATE $k \leftarrow 0, (x_k, y_k, z_k) \leftarrow (100, 100, 0), r \leftarrow 100$
\STATE $r_1 = r_2 \leftarrow 10, \varepsilon \leftarrow 0.01$