Package evaluation of Robotlib on Julia 1.13.0-DEV.985 (9c94e7ae32*) started at 2025-08-14T19:59:33.191 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Set-up completed after 10.14s ################################################################################ # Installation # Installing Robotlib... Resolving package versions... Updating `~/.julia/environments/v1.13/Project.toml` [a75dfa10] + Robotlib v1.1.15 Updating `~/.julia/environments/v1.13/Manifest.toml` [47edcb42] + ADTypes v1.17.0 [79e6a3ab] + Adapt v4.3.0 [4fba245c] + ArrayInterface v7.19.0 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.0 [187b0558] + ConstructionBase v1.6.0 [9a962f9c] + DataAPI v1.16.0 ⌅ [864edb3b] + DataStructures v0.18.22 [8bb1440f] + DelimitedFiles v1.9.1 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.4 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [1a297f60] + FillArrays v1.13.0 [6a86dc24] + FiniteDiff v2.28.0 [f6369f11] + ForwardDiff v1.0.1 [92d709cd] + IrrationalConstants v0.2.4 [692b3bcd] + JLLWrappers v1.7.1 [d3d80556] + LineSearches v7.4.0 [2ab3a3ac] + LogExpFunctions v0.3.29 [1914dd2f] + MacroTools v0.5.16 [e1d29d7a] + Missings v1.2.0 [d41bc354] + NLSolversBase v7.10.0 [77ba4419] + NaNMath v1.1.3 [429524aa] + Optim v1.13.2 [bac558e1] + OrderedCollections v1.8.1 [d96e819e] + Parameters v0.12.3 [85a6dd25] + PositiveFactorizations v0.2.4 [aea7be01] + PrecompileTools v1.3.2 [21216c6a] + Preferences v1.5.0 ⌅ [94ee1d12] + Quaternions v0.6.1 [3cdcf5f2] + RecipesBase v1.3.4 [ae029012] + Requires v1.3.1 [a75dfa10] + Robotlib v1.1.15 [efcf1570] + Setfield v1.1.2 [a2af1166] + SortingAlgorithms v1.2.2 [276daf66] + SpecialFunctions v2.5.1 [90137ffa] + StaticArrays v1.9.14 [1e83bf80] + StaticArraysCore v1.4.3 [10745b16] + Statistics v1.11.1 [82ae8749] + StatsAPI v1.7.1 ⌅ [2913bbd2] + StatsBase v0.33.21 [028f657a] + TotalLeastSquares v1.7.7 [3a884ed6] + UnPack v1.0.2 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.12.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [de0858da] + Printf v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v0.7.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.11.0 [fa267f1f] + TOML v1.0.3 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.5+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [8e850b90] + libblastrampoline_jll v5.13.1+0 Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m` Installation completed after 4.68s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompilation completed after 143.5s ################################################################################ # Testing # Testing Robotlib Status `/tmp/jl_oWdgeI/Project.toml` [8bb1440f] DelimitedFiles v1.9.1 [23992714] MAT v0.10.7 [429524aa] Optim v1.13.2 [91a5bcdd] Plots v1.40.18 ⌅ [94ee1d12] Quaternions v0.6.1 [3cdcf5f2] RecipesBase v1.3.4 [ae029012] Requires v1.3.1 [a75dfa10] Robotlib v1.1.15 [90137ffa] StaticArrays v1.9.14 [10745b16] Statistics v1.11.1 ⌅ [2913bbd2] StatsBase v0.33.21 [028f657a] TotalLeastSquares v1.7.7 [37e2e46d] LinearAlgebra v1.13.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_oWdgeI/Manifest.toml` [47edcb42] ADTypes v1.17.0 [79e6a3ab] Adapt v4.3.0 [4fba245c] ArrayInterface v7.19.0 [d1d4a3ce] BitFlags v0.1.9 [e1450e63] BufferedStreams v1.2.2 [944b1d66] CodecZlib v0.7.8 [35d6a980] ColorSchemes v3.30.0 [3da002f7] ColorTypes v0.12.1 [c3611d14] ColorVectorSpace v0.11.0 [5ae59095] Colors v0.13.1 [bbf7d656] 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Testing Running tests... Precompiling packages... 203468.0 ms ✓ Plots 21902.8 ms ✓ Plots → UnitfulExt 2 dependencies successfully precompiled in 228 seconds. 176 already precompiled. Precompiling packages... 1969.0 ms ✓ ColorVectorSpace → SpecialFunctionsExt 1 dependency successfully precompiled in 2 seconds. 19 already precompiled. [ Info: Testing calibNAXP [ Info: MC iterations 1/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 2/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 3/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 4/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 5/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 6/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 7/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 8/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 9/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: MC iterations 10/10 invalid number of domain values invalid number of domain values invalid number of domain values [ Info: Testing Force ┌ Info: Condition number of Gram matrix: └ cond(A' * A) = 1.1922960930220161 [ Info: Testing DH [ Info: Testing Plotting [ Info: Testing Utils ┌ Warning: `LinearAlgebra.normalize(q::Quaternion)` is deprecated. Please use `sign(q)` instead. │ caller = rotationmatrix(q::Quaternions.QuaternionF64) at Quaternion.jl:414 └ @ Core ~/.julia/packages/Quaternions/7CBfO/src/Quaternion.jl:414 ┌ Warning: The `norm` field is deprecated and will be removed in the next breaking release (v0.7.0). │ caller = ip:0x0 └ @ Core :-1 ┌ Warning: `rotationmatrix_normalized(::Quaternion)` is deprecated. Please consider using Rotations package instead. │ caller = rotationmatrix(q::Quaternions.QuaternionF64) at Quaternion.jl:414 └ @ Core ~/.julia/packages/Quaternions/7CBfO/src/Quaternion.jl:414 [ Info: Testing Inverse kinematics Inverse kinematics: Error During Test at /home/pkgeval/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:132 Got exception outside of a @test AssertionError: isrot(R) Stacktrace: [1] logR(R::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:163 [2] skewcoords(R::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:40 [3] twistcoords(xi::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:51 [4] DH2twistsPOE(Tn::Array{Float64, 3}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:361 [5] DH2twistsPOE(dh::DH{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:383 [6] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:137 [inlined] [7] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [8] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:133 [inlined] [9] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [10] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:132 [inlined] [11] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [12] top-level scope @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:48 [13] include(mapexpr::Function, mod::Module, _path::String) @ Base ./Base.jl:309 [14] top-level scope @ none:6 [15] eval(m::Module, e::Any) @ Core ./boot.jl:489 [16] exec_options(opts::Base.JLOptions) @ Base ./client.jl:296 [17] _start() @ Base ./client.jl:563 [ Info: Testing Jacobian Jacobian: Error During Test at /home/pkgeval/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:151 Got exception outside of a @test AssertionError: isrot(R) Stacktrace: [1] logR(R::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:163 [2] skewcoords(R::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:40 [3] twistcoords(xi::Matrix{Float64}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:51 [4] DH2twistsPOE(Tn::Array{Float64, 3}) @ Robotlib ~/.julia/packages/Robotlib/Cqg2z/src/utils.jl:361 [5] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:161 [inlined] [6] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [7] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:152 [inlined] [8] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [9] macro expansion @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:132 [inlined] [10] macro expansion @ /opt/julia/share/julia/stdlib/v1.13/Test/src/Test.jl:1929 [inlined] [11] top-level scope @ ~/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:48 [12] include(mapexpr::Function, mod::Module, _path::String) @ Base ./Base.jl:309 [13] top-level scope @ none:6 [14] eval(m::Module, e::Any) @ Core ./boot.jl:489 [15] exec_options(opts::Base.JLOptions) @ Base ./client.jl:296 [16] _start() @ Base ./client.jl:563 ===== Testing calibLPOE ===== Error: 0.3446626457683484 λ: 100.0 Error: 0.16631 λ: 100.0 Norm dx: 0.17051 Error: 0.02515 λ: 10.0 Norm dx: 0.13752 Error: 0.00061 λ: 1.0 Norm dx: 0.02544 Error: 0.0 λ: 0.1 Norm dx: 0.00064 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 2.622318 seconds (1.02 M allocations: 59.696 MiB, 98.42% compilation time) Initial error: 0.40590817878182406 Final error: 0.2754041350069853 ===== Testing calibLPOEdual ===== Error: 0.6197579689198724 λ: 0.01 Error: 0.00073 λ: 0.01 Norm dx: 0.4605 Error: 0.00069 λ: 0.001 Norm dx: 0.0001 Error: 0.00069 λ: 0.0001 Norm dx: 0.0 Error: 0.00069 λ: 1.0e-5 Norm dx: 0.0 Error: 0.00069 λ: 0.0001 Norm dx: 0.0 Error: 0.00069 λ: 0.001 Norm dx: 0.0 3.135319 seconds (904.72 k allocations: 61.742 MiB, 1.62% gc time, 97.18% compilation time) Error between Tn0 and Tn0mod: 0.06660868088940156 Error between Tn0 and Tn0c : 0.05801659266669088 Initial error: 0.75925 Calibrated error: 0.51606 [ Info: Testing calibAXYB Iter Function value Gradient norm 0 8.304447e+00 6.992071e+00 * time: 0.09732699394226074 2 8.265223e+00 5.340357e+00 * time: 3.055614948272705 4 8.142746e+00 2.700053e+00 * time: 3.2371110916137695 6 8.133323e+00 1.317659e+00 * time: 3.4440979957580566 8 8.133016e+00 1.334218e+00 * time: 3.567394971847534 10 8.132480e+00 5.557754e-02 * time: 3.6655280590057373 12 8.132480e+00 1.255956e-05 * time: 3.7641210556030273 14 8.132480e+00 1.173393e-08 * time: 3.920536994934082 [ Info: Testing Frames Read 4 points into cloud with reference T Test Summary: | Pass Error Total Time Robotlib tests | 44 2 46 4m09.7s calibNAXP | 1 1 2m12.4s Force | 11 11 17.1s DH | 0 10.4s Plotting | 0 5.6s Utils | 9 9 3.7s Calibration and kinematics | 4 2 6 16.9s Inverse kinematics | 1 1 1.2s Jacobian | 1 1 1.0s calibAXYB | 16 16 24.3s Frames | 3 3 39.1s RNG of the outermost testset: Xoshiro(0xb39bd28e902b6ac6, 0x39cb82aac5ee567d, 0x2659d3cd1f7c03a1, 0x08ed89b3cb3260a8, 0x5f3e417b0dc324fa) ERROR: LoadError: Some tests did not pass: 44 passed, 0 failed, 2 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/Robotlib/Cqg2z/test/runtests.jl:47 Testing failed after 537.76s ERROR: LoadError: Package Robotlib errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.13/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.13/Pkg/src/Operations.jl:2672 [3] test @ /opt/julia/share/julia/stdlib/v1.13/Pkg/src/Operations.jl:2521 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:538 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:515 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:168 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:157 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:156 [9] test @ /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:156 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.13/Pkg/src/API.jl:155 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:219 [12] include(mod::Module, _path::String) @ Base ./Base.jl:308 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:330 [14] _start() @ Base ./client.jl:563 in expression starting at /PkgEval.jl/scripts/evaluate.jl:210 PkgEval failed after 726.62s: package tests unexpectedly errored