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1.6.0-DEV-4c805d2310.log
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Julia Version 1.6.0-DEV.913
Commit 4c805d2310 (2020-09-14 14:07 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-9.0.1 (ORCJIT, skylake-avx512)
Environment:
JULIA_DEPOT_PATH = ::/usr/local/share/julia
JULIA_NUM_THREADS = 2
Resolving package versions...
[ Info: LEGAL NOTICE: package operations send anonymous data about your system to https://pkg.julialang.org (your current package server), including the operating system and Julia versions you are using, and a random client UUID. Running `Pkg.telemetryinfo()` will show exactly what data is sent. See https://julialang.org/legal/data/ for more details about what this data is used for, how long it is retained, and how to opt out of sending it.
Installed DualNumbers ────────────────── v0.6.2
Installed OpenSpecFun_jll ────────────── v0.5.3+3
Installed Calculus ───────────────────── v0.5.1
Installed Quaternions ────────────────── v0.4.1
Installed NaNMath ────────────────────── v0.3.4
Installed Compat ─────────────────────── v3.16.0
Installed Robotlib ───────────────────── v0.5.0
Installed DataStructures ─────────────── v0.18.5
Installed SortingAlgorithms ──────────── v0.3.1
Installed DataAPI ────────────────────── v1.3.0
Installed SpecialFunctions ───────────── v0.10.3
Installed OrderedCollections ─────────── v1.3.0
Installed Missings ───────────────────── v0.4.4
Installed TotalLeastSquares ──────────── v1.6.0
Installed RecipesBase ────────────────── v1.1.0
Installed StaticArrays ───────────────── v0.12.4
Installed FillArrays ─────────────────── v0.8.14
Installed StatsBase ──────────────────── v0.33.1
Installed CompilerSupportLibraries_jll ─ v0.3.3+0
Installed Requires ───────────────────── v1.0.2
Updating `~/.julia/environments/v1.6/Project.toml`
[a75dfa10] + Robotlib v0.5.0
Updating `~/.julia/environments/v1.6/Manifest.toml`
[49dc2e85] + Calculus v0.5.1
[34da2185] + Compat v3.16.0
[e66e0078] + CompilerSupportLibraries_jll v0.3.3+0
[9a962f9c] + DataAPI v1.3.0
[864edb3b] + DataStructures v0.18.5
[fa6b7ba4] + DualNumbers v0.6.2
[1a297f60] + FillArrays v0.8.14
[e1d29d7a] + Missings v0.4.4
[77ba4419] + NaNMath v0.3.4
[efe28fd5] + OpenSpecFun_jll v0.5.3+3
[bac558e1] + OrderedCollections v1.3.0
[94ee1d12] + Quaternions v0.4.1
[3cdcf5f2] + RecipesBase v1.1.0
[ae029012] + Requires v1.0.2
[a75dfa10] + Robotlib v0.5.0
[a2af1166] + SortingAlgorithms v0.3.1
[276daf66] + SpecialFunctions v0.10.3
[90137ffa] + StaticArrays v0.12.4
[2913bbd2] + StatsBase v0.33.1
[028f657a] + TotalLeastSquares v1.6.0
[2a0f44e3] + Base64
[ade2ca70] + Dates
[8bb1440f] + DelimitedFiles
[8ba89e20] + Distributed
[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
[fa267f1f] + TOML
[8dfed614] + Test
[cf7118a7] + UUIDs
[4ec0a83e] + Unicode
Testing Robotlib
Status `/tmp/jl_p3wvdY/Project.toml`
[23992714] MAT v0.8.1
[91a5bcdd] Plots v1.6.4
[94ee1d12] Quaternions v0.4.1
[3cdcf5f2] RecipesBase v1.1.0
[ae029012] Requires v1.0.2
[a75dfa10] Robotlib v0.5.0
[90137ffa] StaticArrays v0.12.4
[2913bbd2] StatsBase v0.33.1
[028f657a] TotalLeastSquares v1.6.0
[8bb1440f] DelimitedFiles
[37e2e46d] LinearAlgebra
[9a3f8284] Random
[2f01184e] SparseArrays
[10745b16] Statistics
[8dfed614] Test
Status `/tmp/jl_p3wvdY/Manifest.toml`
[79e6a3ab] Adapt v2.0.2
[a74b3585] Blosc v0.7.0
[0b7ba130] Blosc_jll v1.14.3+1
[e1450e63] BufferedStreams v1.0.0
[6e34b625] Bzip2_jll v1.0.6+4
[49dc2e85] Calculus v0.5.1
[944b1d66] CodecZlib v0.7.0
[35d6a980] ColorSchemes v3.9.0
[3da002f7] ColorTypes v0.10.9
[5ae59095] Colors v0.12.4
[34da2185] Compat v3.16.0
[e66e0078] CompilerSupportLibraries_jll v0.3.3+0
[d38c429a] Contour v0.5.5
[9a962f9c] DataAPI v1.3.0
[864edb3b] DataStructures v0.18.5
[e2d170a0] DataValueInterfaces v1.0.0
[fa6b7ba4] DualNumbers v0.6.2
[5ae413db] EarCut_jll v2.1.5+0
[c87230d0] FFMPEG v0.4.0
[b22a6f82] FFMPEG_jll v4.3.1+2
[1a297f60] FillArrays v0.8.14
[53c48c17] FixedPointNumbers v0.8.4
[d7e528f0] FreeType2_jll v2.10.1+4
[559328eb] FriBidi_jll v1.0.5+5
[28b8d3ca] GR v0.52.0
[5c1252a2] GeometryBasics v0.3.1
[4d00f742] GeometryTypes v0.8.3
[f67ccb44] HDF5 v0.13.6
[0234f1f7] HDF5_jll v1.10.5+5
[cd3eb016] HTTP v0.8.17
[83e8ac13] IniFile v0.5.0
[c8e1da08] IterTools v1.3.0
[82899510] IteratorInterfaceExtensions v1.0.0
[682c06a0] JSON v0.21.1
[c1c5ebd0] LAME_jll v3.100.0+2
[dd192d2f] LibVPX_jll v1.9.0+0
[5ced341a] Lz4_jll v1.9.2+2
[23992714] MAT v0.8.1
[739be429] MbedTLS v1.0.2
[c8ffd9c3] MbedTLS_jll v2.16.8+0
[442fdcdd] Measures v0.3.1
[e1d29d7a] Missings v0.4.4
[77ba4419] NaNMath v0.3.4
[e7412a2a] Ogg_jll v1.3.4+1
[458c3c95] OpenSSL_jll v1.1.1+5
[efe28fd5] OpenSpecFun_jll v0.5.3+3
[91d4177d] Opus_jll v1.3.1+2
[bac558e1] OrderedCollections v1.3.0
[69de0a69] Parsers v1.0.10
[ccf2f8ad] PlotThemes v2.0.0
[995b91a9] PlotUtils v1.0.6
[91a5bcdd] Plots v1.6.4
[94ee1d12] Quaternions v0.4.1
[3cdcf5f2] RecipesBase v1.1.0
[01d81517] RecipesPipeline v0.1.13
[189a3867] Reexport v0.2.0
[ae029012] Requires v1.0.2
[a75dfa10] Robotlib v0.5.0
[992d4aef] Showoff v0.3.1
[a2af1166] SortingAlgorithms v0.3.1
[276daf66] SpecialFunctions v0.10.3
[90137ffa] StaticArrays v0.12.4
[2913bbd2] StatsBase v0.33.1
[09ab397b] StructArrays v0.4.4
[3783bdb8] TableTraits v1.0.0
[bd369af6] Tables v1.0.5
[028f657a] TotalLeastSquares v1.6.0
[3bb67fe8] TranscodingStreams v0.9.5
[83775a58] Zlib_jll v1.2.11+16
[3161d3a3] Zstd_jll v1.4.5+1
[0ac62f75] libass_jll v0.14.0+3
[f638f0a6] libfdk_aac_jll v0.1.6+3
[f27f6e37] libvorbis_jll v1.3.6+5
[1270edf5] x264_jll v2020.7.14+1
[dfaa095f] x265_jll v3.0.0+2
[2a0f44e3] Base64
[ade2ca70] Dates
[8bb1440f] DelimitedFiles
[8ba89e20] Distributed
[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
[fa267f1f] TOML
[8dfed614] Test
[cf7118a7] UUIDs
[4ec0a83e] Unicode
Testing Running tests...
WARNING: could not import Base..* into Frames
WARNING: could not import Base../ into Frames
WARNING: could not import LinearAlgebra.ctranspose into Frames
[ Info: Testing calibNAXP
[ Info: MC iterations 1/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 2/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 3/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 4/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 5/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 6/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 7/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 8/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 9/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: MC iterations 10/10
┌ Error: Plotting failed. Plotting is only available if you have manually run `using Plots`
└ @ Robotlib ~/.julia/packages/Robotlib/PVJ1B/src/calibNAXP.jl:72
[ Info: Testing Force
┌ Info: Condition number of Gram matrix:
└ cond(A' * A) = 1.6734802822515866
[ Info: Testing DH
[ Info: Testing Plotting
[ Info: Testing Utils
[ Info: Testing Inverse kinematics
Error: 0.1585938 λ: 0.5 Norm dq: 0.0663365
Error: 0.1159525 λ: 0.25 Norm dq: 0.097891
Error: 0.058621 λ: 0.125 Norm dq: 0.1137173
Error: 0.0230957 λ: 0.0625 Norm dq: 0.0798644
Error: 0.0111446 λ: 0.03125 Norm dq: 0.0286951
Error: 0.0024321 λ: 0.015625 Norm dq: 0.0142345
Error: 0.000135 λ: 0.0078125 Norm dq: 0.0036577
Error: 3.52e-5 λ: 0.00390625 Norm dq: 0.0001847
Error: 1.0e-6 λ: 0.001953125 Norm dq: 4.95e-5
Error: 1.0e-7 λ: 0.0009765625 Norm dq: 1.7e-6
Error: 0.0 λ: 0.0004882812 Norm dq: 2.0e-7
Error: 0.0 λ: 0.0002441406 Norm dq: 0.0
Error: 0.0 λ: 0.0001220703 Norm dq: 0.0
Error: 0.0 λ: 6.10352e-5 Norm dq: 0.0
2.670888 seconds (1.72 M allocations: 108.223 MiB, 1.82% gc time)
[ Info: Testing Jacobian
===== 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
18.664300 seconds (1.75 M allocations: 174.637 MiB, 1.61% gc time)
Initial error: 0.4504389344996758
Final error: 0.27217900227092084
===== Testing calibLPOEdual =====
Error: 0.9160461357058844 λ: 0.01
Error: 0.00096 λ: 0.01 Norm dx: 0.62267
Error: 0.00042 λ: 0.001 Norm dx: 0.00094
Error: 0.00042 λ: 0.0001 Norm dx: 0.0
Error: 0.00042 λ: 0.001 Norm dx: 0.0
Error: 0.00042 λ: 0.01 Norm dx: 0.0
Error: 0.00042 λ: 0.1 Norm dx: 0.0
18.540762 seconds (2.30 M allocations: 200.895 MiB, 2.67% gc time)
Error between Tn0 and Tn0mod: 0.08198419406388237
Error between Tn0 and Tn0c : 0.06896798366233614
Initial error: 1.04665 Calibrated error: 0.78693
[ Info: Testing Frames
WARNING: using Frames.Plane in module Main conflicts with an existing identifier.
Read 4 points into cloud with reference T
Test Summary: | Pass Broken Total
Robotlib tests | 25 1 26
Testing Robotlib tests passed