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1.5.0-DEV-ed177d17d6.log
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Julia Version 1.5.0-DEV.158
Commit ed177d17d6 (2020-01-27 16:45 UTC)
Platform Info:
OS: Linux (x86_64-pc-linux-gnu)
CPU: Intel(R) Xeon(R) Silver 4114 CPU @ 2.20GHz
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-8.0.1 (ORCJIT, skylake)
Environment:
JULIA_DEPOT_PATH = ::/usr/local/share/julia
JULIA_NUM_THREADS = 2
Resolving package versions...
Installed SortingAlgorithms ─────────── v0.3.1
Installed TotalLeastSquares ─────────── v0.1.2
Installed OpenSpecFun_jll ───────────── v0.5.3+1
Installed DualNumbers ───────────────── v0.6.2
Installed Tables ────────────────────── v0.2.11
Installed Compat ────────────────────── v3.2.0
Installed Parsers ───────────────────── v0.3.10
Installed Robotlib ──────────────────── v0.3.2
Installed Calculus ──────────────────── v0.5.1
Installed SpecialFunctions ──────────── v0.10.0
Installed Missings ──────────────────── v0.4.3
Installed DataValueInterfaces ───────── v1.0.0
Installed IteratorInterfaceExtensions ─ v1.0.0
Installed StatsBase ─────────────────── v0.32.0
Installed DataStructures ────────────── v0.17.9
Installed PooledArrays ──────────────── v0.5.3
Installed OrderedCollections ────────── v1.1.0
Installed TableTraits ───────────────── v1.0.0
Installed DataAPI ───────────────────── v1.1.0
Installed StaticArrays ──────────────── v0.12.1
Installed JSON ──────────────────────── v0.21.0
Installed CategoricalArrays ─────────── v0.7.7
Installed DataFrames ────────────────── v0.20.0
Installed InvertedIndices ───────────── v1.0.0
Installed FillArrays ────────────────── v0.8.4
Installed NaNMath ───────────────────── v0.3.3
Installed Reexport ──────────────────── v0.2.0
Installed RecipesBase ───────────────── v0.7.0
Installed Quaternions ───────────────── v0.4.1
Updating `~/.julia/environments/v1.5/Project.toml`
[a75dfa10] + Robotlib v0.3.2
Updating `~/.julia/environments/v1.5/Manifest.toml`
[49dc2e85] + Calculus v0.5.1
[324d7699] + CategoricalArrays v0.7.7
[34da2185] + Compat v3.2.0
[9a962f9c] + DataAPI v1.1.0
[a93c6f00] + DataFrames v0.20.0
[864edb3b] + DataStructures v0.17.9
[e2d170a0] + DataValueInterfaces v1.0.0
[fa6b7ba4] + DualNumbers v0.6.2
[1a297f60] + FillArrays v0.8.4
[41ab1584] + InvertedIndices v1.0.0
[82899510] + IteratorInterfaceExtensions v1.0.0
[682c06a0] + JSON v0.21.0
[e1d29d7a] + Missings v0.4.3
[77ba4419] + NaNMath v0.3.3
[efe28fd5] + OpenSpecFun_jll v0.5.3+1
[bac558e1] + OrderedCollections v1.1.0
[69de0a69] + Parsers v0.3.10
[2dfb63ee] + PooledArrays v0.5.3
[94ee1d12] + Quaternions v0.4.1
[3cdcf5f2] + RecipesBase v0.7.0
[189a3867] + Reexport v0.2.0
[a75dfa10] + Robotlib v0.3.2
[a2af1166] + SortingAlgorithms v0.3.1
[276daf66] + SpecialFunctions v0.10.0
[90137ffa] + StaticArrays v0.12.1
[2913bbd2] + StatsBase v0.32.0
[3783bdb8] + TableTraits v1.0.0
[bd369af6] + Tables v0.2.11
[028f657a] + TotalLeastSquares v0.1.2
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[9fa8497b] + Future
[b77e0a4c] + InteractiveUtils
[76f85450] + LibGit2
[8f399da3] + Libdl
[37e2e46d] + LinearAlgebra
[56ddb016] + Logging
[d6f4376e] + Markdown
[a63ad114] + Mmap
[44cfe95a] + Pkg
[de0858da] + Printf
[3fa0cd96] + REPL
[9a3f8284] + Random
[ea8e919c] + SHA
[9e88b42a] + Serialization
[1a1011a3] + SharedArrays
[6462fe0b] + Sockets
[2f01184e] + SparseArrays
[10745b16] + Statistics
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Testing Robotlib
Updating `/tmp/jl_gqSLoC/Project.toml`
[no changes]
Updating `/tmp/jl_gqSLoC/Manifest.toml`
[no changes]
Running sandbox
Status `/tmp/jl_gqSLoC/Project.toml`
[a93c6f00] DataFrames v0.20.0
[94ee1d12] Quaternions v0.4.1
[3cdcf5f2] RecipesBase v0.7.0
[a75dfa10] Robotlib v0.3.2
[90137ffa] StaticArrays v0.12.1
[2913bbd2] StatsBase v0.32.0
[028f657a] TotalLeastSquares v0.1.2
[37e2e46d] LinearAlgebra
[9a3f8284] Random
[2f01184e] SparseArrays
[10745b16] Statistics
[8dfed614] Test
WARNING: could not import Base..* into Frames
WARNING: could not import Base../ into Frames
WARNING: could not import LinearAlgebra.ctranspose into Frames
Bad result
Bad result
┌ Info: Condition number of Gram matrix:
└ cond(A' * A) = 1.176790421976702
┌ Info: Determinant of Rf before orthonormalization:
│ det(Rf) = 0.026999999999999975
└ (Should be close to 1, but don't be afraid if it's not, should however be positive!) = " (Should be close to 1, but don't be afraid if it's not, should however be positive!)"
┌ Info: Condition number of Gram matrix:
└ cond(A' * A) = 1.6734802822515866
┌ Info: Condition number of Gram matrix:
└ cond(A' * A) = 34.87428637336596
┌ Info: Determinant of Rf before orthonormalization:
│ det(Rf) = 0.02699999999999999
└ (Should be close to 1, but don't be afraid if it's not, should however be positive!) = " (Should be close to 1, but don't be afraid if it's not, should however be positive!)"
Test Summary: | Pass Total
Calib Force | 6 6
===== Testing calibPOE =====
===== Testing calibLPOE =====
Error: 0.338771306036386 λ: 100.0
Error: 0.1865 λ: 100.0 Norm dx: 0.16821
Error: 0.02926 λ: 10.0 Norm dx: 0.17858
Error: 0.0008 λ: 1.0 Norm dx: 0.03457
Error: 0.0 λ: 0.1 Norm dx: 0.00099
Error: 0.0 λ: 0.01 Norm dx: 0.0
Error: 0.0 λ: 0.001 Norm dx: 0.0
Error: 0.0 λ: 0.0001 Norm dx: 0.0
Error: 0.0 λ: 1.0e-5 Norm dx: 0.0
Error: 0.0 λ: 0.0001 Norm dx: 0.0
Error: 0.0 λ: 0.001 Norm dx: 0.0
9.996720 seconds (2.67 M allocations: 220.006 MiB, 2.66% gc time)
Initial error: 0.4504389344996758
Final error: 0.2721790022709204
===== Testing calibLPOEdual =====
Error: 0.49714384636368225 λ: 0.01
Error: 0.00168 λ: 0.01 Norm dx: 0.4906
Error: 0.00053 λ: 0.001 Norm dx: 0.00115
Error: 0.00053 λ: 0.0001 Norm dx: 0.0
Error: 0.00053 λ: 1.0e-5 Norm dx: 0.0
Error: 0.00053 λ: 1.0000000000000002e-6 Norm dx: 0.0
Error: 0.00053 λ: 1.0000000000000002e-7 Norm dx: 0.0
8.332379 seconds (2.38 M allocations: 201.571 MiB, 3.50% gc time)
Error between Tn0 and Tn0mod: 0.0649934753286067
Error between Tn0 and Tn0c : 0.05472135291968772
Initial error: 0.83935 Calibrated error: 0.63135
Test Summary: | Pass Total
Calibration and kinematics | 4 4
===== Testing frames =====
┌ Warning: Testing of Frames is inactivated since MAT.jl didn't build. Re-enable when this is resolved https://github.com/JuliaIO/MAT.jl/issues/90
└ @ Main ~/.julia/packages/Robotlib/ZC0gm/test/runtests.jl:97
Testing Robotlib tests passed