[INFO] fetching crate cortenforge-sim-core 0.9.0...
[INFO] testing cortenforge-sim-core-0.9.0 against 1.99.0-beta.8+cargoflags=--release for beta-release-1.100-2
[INFO] extracting crate cortenforge-sim-core 0.9.0 into /workspace/builds/worker-6-tc1/source
[INFO] started tweaking crates.io crate cortenforge-sim-core 0.9.0
[INFO] finished tweaking crates.io crate cortenforge-sim-core 0.9.0
[INFO] tweaked toml for crates.io crate cortenforge-sim-core 0.9.0 written to /workspace/builds/worker-6-tc1/source/Cargo.toml
[INFO] validating manifest of crates.io crate cortenforge-sim-core 0.9.0 on toolchain 1.99.0-beta.8
[INFO] running `Command { std: CARGO_HOME="/workspace/cargo-home" RUSTUP_HOME="/workspace/rustup-home" "/workspace/cargo-home/bin/cargo" "+1.99.0-beta.8" "metadata" "--manifest-path" "Cargo.toml" "--no-deps", kill_on_drop: false }`
[INFO] crate crates.io crate cortenforge-sim-core 0.9.0 already has a lockfile, it will not be regenerated
[INFO] running `Command { std: CARGO_HOME="/workspace/cargo-home" RUSTUP_HOME="/workspace/rustup-home" "/workspace/cargo-home/bin/cargo" "+1.99.0-beta.8" "fetch" "--manifest-path" "Cargo.toml", kill_on_drop: false }`
[INFO] [stderr]     Blocking waiting for file lock on package cache
[INFO] [stderr]     Updating crates.io index
[INFO] [stderr]     Blocking waiting for file lock on package cache
[INFO] [stderr]  Downloading crates ...
[INFO] [stderr]   Downloaded rand v0.9.2
[INFO] [stderr]   Downloaded rand_chacha v0.9.0
[INFO] [stderr]   Downloaded rand_core v0.9.5
[INFO] [stderr]   Downloaded cortenforge-sim-types v0.9.0
[INFO] running `Command { std: "docker" "create" "-v" "/var/lib/crater-agent-workspace/builds/worker-6-tc1/source:/opt/rustwide/workdir:ro,Z" "-v" "/var/lib/crater-agent-workspace/builds/worker-6-tc1/target:/opt/rustwide/target:rw,Z" "-v" "/var/lib/crater-agent-workspace/cargo-home:/opt/rustwide/cargo-home:ro,Z" "-v" "/var/lib/crater-agent-workspace/rustup-home:/opt/rustwide/rustup-home:ro,Z" "-m" "1610612736" "--network" "none" "ghcr.io/rust-lang/crates-build-env/linux@sha256:77db811e55d90add9212f6832c23229e3de5f1c1f9905e8cb07319ea15df73ac" "sleep" "infinity", kill_on_drop: false }`
[INFO] [stdout] c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32
[INFO] running `Command { std: "docker" "start" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "inspect" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "exec" "-e" "SOURCE_DIR=/opt/rustwide/workdir" "-e" "CARGO_HOME=/opt/rustwide/cargo-home" "-e" "RUSTUP_HOME=/opt/rustwide/rustup-home" "-e" "CARGO_TARGET_DIR=/opt/rustwide/target" "-w" "/opt/rustwide/workdir" "--user" "0:0" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32" "/opt/rustwide/cargo-home/bin/cargo" "+1.99.0-beta.8" "metadata" "--no-deps" "--format-version=1", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "inspect" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "exec" "-e" "SOURCE_DIR=/opt/rustwide/workdir" "-e" "CARGO_HOME=/opt/rustwide/cargo-home" "-e" "RUSTUP_HOME=/opt/rustwide/rustup-home" "-e" "CARGO_TARGET_DIR=/opt/rustwide/target" "-e" "CARGO_INCREMENTAL=0" "-e" "RUST_BACKTRACE=full" "-e" "RUSTFLAGS=--cap-lints=warn" "-e" "RUSTDOCFLAGS=--cap-lints=warn" "-w" "/opt/rustwide/workdir" "--user" "0:0" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32" "/opt/rustwide/cargo-home/bin/cargo" "+1.99.0-beta.8" "build" "--frozen" "--message-format=json" "--release", kill_on_drop: false }`
[INFO] [stderr]    Compiling num-traits v0.2.19
[INFO] [stderr]    Compiling proc-macro2 v1.0.106
[INFO] [stderr]    Compiling quote v1.0.45
[INFO] [stderr]    Compiling unicode-ident v1.0.24
[INFO] [stderr]    Compiling paste v1.0.15
[INFO] [stderr]    Compiling bytemuck v1.25.0
[INFO] [stderr]    Compiling matrixmultiply v0.3.10
[INFO] [stderr]    Compiling rawpointer v0.2.1
[INFO] [stderr]    Compiling typenum v1.20.1
[INFO] [stderr]    Compiling thiserror v2.0.18
[INFO] [stderr]    Compiling log v0.4.32
[INFO] [stderr]    Compiling safe_arch v0.7.4
[INFO] [stderr]    Compiling wide v0.7.33
[INFO] [stderr]    Compiling approx v0.5.1
[INFO] [stderr]    Compiling num-integer v0.1.46
[INFO] [stderr]    Compiling num-complex v0.4.6
[INFO] [stderr]    Compiling syn v2.0.117
[INFO] [stderr]    Compiling num-rational v0.4.2
[INFO] [stderr]    Compiling simba v0.9.1
[INFO] [stderr]    Compiling nalgebra-macros v0.3.0
[INFO] [stderr]    Compiling thiserror-impl v2.0.18
[INFO] [stderr]    Compiling nalgebra v0.34.2
[INFO] [stderr]    Compiling cortenforge-sim-types v0.9.0
[INFO] [stderr]    Compiling cortenforge-geometry v0.9.0
[INFO] [stderr]    Compiling cortenforge-sim-core v0.9.0 (/opt/rustwide/workdir)
[INFO] [stderr]     Finished `release` profile [optimized] target(s) in 46.74s
[INFO] running `Command { std: "docker" "inspect" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "exec" "-e" "SOURCE_DIR=/opt/rustwide/workdir" "-e" "CARGO_HOME=/opt/rustwide/cargo-home" "-e" "RUSTUP_HOME=/opt/rustwide/rustup-home" "-e" "CARGO_TARGET_DIR=/opt/rustwide/target" "-e" "CARGO_INCREMENTAL=0" "-e" "RUST_BACKTRACE=full" "-e" "RUSTFLAGS=--cap-lints=warn" "-e" "RUSTDOCFLAGS=--cap-lints=warn" "-w" "/opt/rustwide/workdir" "--user" "0:0" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32" "/opt/rustwide/cargo-home/bin/cargo" "+1.99.0-beta.8" "test" "--frozen" "--no-run" "--message-format=json" "--release", kill_on_drop: false }`
[INFO] [stderr]    Compiling libc v0.2.183
[INFO] [stderr]    Compiling approx v0.5.1
[INFO] [stderr]    Compiling getrandom v0.3.4
[INFO] [stderr]    Compiling zerocopy v0.8.47
[INFO] [stderr]    Compiling serde_core v1.0.228
[INFO] [stderr]    Compiling zmij v1.0.21
[INFO] [stderr]    Compiling serde_json v1.0.150
[INFO] [stderr]    Compiling itoa v1.0.18
[INFO] [stderr]    Compiling memchr v2.8.0
[INFO] [stderr]    Compiling simba v0.9.1
[INFO] [stderr]    Compiling rand_core v0.9.5
[INFO] [stderr]    Compiling nalgebra v0.34.2
[INFO] [stderr]    Compiling ppv-lite86 v0.2.21
[INFO] [stderr]    Compiling rand_chacha v0.9.0
[INFO] [stderr]    Compiling rand v0.9.2
[INFO] [stderr]    Compiling cortenforge-sim-types v0.9.0
[INFO] [stderr]    Compiling cortenforge-geometry v0.9.0
[INFO] [stderr]    Compiling cortenforge-sim-core v0.9.0 (/opt/rustwide/workdir)
[INFO] [stderr]     Finished `release` profile [optimized] target(s) in 1m 09s
[INFO] running `Command { std: "docker" "inspect" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "exec" "-e" "SOURCE_DIR=/opt/rustwide/workdir" "-e" "CARGO_HOME=/opt/rustwide/cargo-home" "-e" "RUSTUP_HOME=/opt/rustwide/rustup-home" "-e" "CARGO_TARGET_DIR=/opt/rustwide/target" "-e" "CARGO_INCREMENTAL=0" "-e" "RUST_BACKTRACE=full" "-e" "RUSTFLAGS=--cap-lints=warn" "-e" "RUSTDOCFLAGS=--cap-lints=warn" "-w" "/opt/rustwide/workdir" "--user" "0:0" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32" "/opt/rustwide/cargo-home/bin/cargo" "+1.99.0-beta.8" "test" "--frozen" "--release", kill_on_drop: false }`
[INFO] [stderr]     Finished `release` profile [optimized] target(s) in 0.08s
[INFO] [stderr]      Running unittests src/lib.rs (/opt/rustwide/target/release/deps/sim_core-56230722343cbc93)
[INFO] [stdout] 
[INFO] [stdout] running 717 tests
[INFO] [stdout] test batch::tests::new_zero_environments ... ok
[INFO] [stdout] test batch::tests::model_accessor ... ok
[INFO] [stdout] test batch::tests::reset_all_resets_everything ... ok
[INFO] [stdout] test batch::tests::envs_mut_can_set_ctrl ... ok
[INFO] [stdout] test batch::tests::reset_all_empty_batch ... ok
[INFO] [stdout] test batch::tests::new_creates_n_environments ... ok
[INFO] [stdout] test batch::tests::envs_iterator_exact_size ... ok
[INFO] [stdout] test batch::tests::nan_auto_reset_isolation ... ok
[INFO] [stdout] test batch::tests::envs_initialized_from_make_data ... ok
[INFO] [stdout] test batch::tests::reset_out_of_bounds_returns_none ... ok
[INFO] [stdout] test batch::tests::reset_where_empty_mask ... ok
[INFO] [stdout] test batch::tests::reset_single_env ... ok
[INFO] [stdout] test batch::tests::env_mut_returns_none_out_of_bounds ... ok
[INFO] [stdout] test batch::tests::auto_reset_on_nan ... ok
[INFO] [stdout] test collision::contact_param_tests::dt90_flex_equal_priority_per_component_max ... ok
[INFO] [stdout] test batch::tests::step_all_empty_batch ... ok
[INFO] [stdout] test collision::contact_param_tests::dt90_flex_priority_friction_mapping ... ok
[INFO] [stdout] test batch::tests::reset_where_short_mask ... ok
[INFO] [stdout] test collision::contact_param_tests::defaults_produce_standard_behavior ... ok
[INFO] [stdout] test batch::tests::reset_where_selective ... ok
[INFO] [stdout] test batch::tests::step_all_single_env ... ok
[INFO] [stdout] test collision::contact_param_tests::condim_max_combination ... ok
[INFO] [stdout] test collision::contact_param_tests::friction_uses_element_wise_max ... ok
[INFO] [stdout] test collision::contact_param_tests::friction_symmetric_equal ... ok
[INFO] [stdout] test collision::contact_param_tests::priority_lower_index_can_lose ... ok
[INFO] [stdout] test collision::contact_param_tests::priority_negative_values ... ok
[INFO] [stdout] test collision::contact_param_tests::priority_higher_wins_verbatim ... ok
[INFO] [stdout] test batch::tests::reset_where_long_mask ... ok
[INFO] [stdout] test batch::tests::step_all_matches_sequential ... ok
[INFO] [stdout] test collision::contact_param_tests::gap_default_zero ... ok
[INFO] [stdout] test collision::contact_param_tests::includemargin_equals_margin_minus_gap ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_weight_asymmetric ... ok
[INFO] [stdout] test collision::contact_param_tests::priority_equal_combines ... ok
[INFO] [stdout] test collision::contact_param_tests::solimp_combination_weighted_average ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_weight_both_below_minval ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_weight_equal_default ... ok
[INFO] [stdout] test collision::contact_param_tests::priority_gap_still_additive ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t2_flex_vs_hfield ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_weight_exactly_at_minval ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_affects_solref_solimp_not_friction ... ok
[INFO] [stdout] test collision::contact_param_tests::solref_combination_mixed_mode_falls_to_direct ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t4_missing_data_no_panic ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t6_flex_vs_mesh_per_triangle_fallback ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t1_flex_vs_mesh_with_hull ... ok
[INFO] [stdout] test collision::contact_param_tests::solmix_weight_one_below_minval ... ok
[INFO] [stdout] test collision::contact_param_tests::friction_zero_one_geom ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t03_gate_incompatible_bitmask_zero_contacts ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::ts3_sdf_vertex_outside_bbox ... ok
[INFO] [stdout] test collision::contact_param_tests::solref_combination_standard_mode ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t02_gate_rigid_flex_zero_contacts ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t04_gate_selfcollide_none_only_internal ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::ts1_zero_radius_vs_mesh ... ok
[INFO] [stdout] test collision::contact_param_tests::gap_additive ... ok
[INFO] [stdout] test collision::contact_param_tests::friction_3_to_5_unpack ... ok
[INFO] [stdout] test collision::contact_param_tests::solref_combination_direct_mode ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::ts2_hfield_vertex_on_surface ... ok
[INFO] [stdout] test collision::contact_param_tests::friction_not_affected_by_solmix ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t5_above_surface_no_contact ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t11_margin_gap_formula ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t13_multi_flex_selective ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t06_internal_collision_vertex_face ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t16_zero_element_zero_contacts ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::ts4_single_cell_hfield ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_closest_points_segments_crossing ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t08_midphase_equivalence ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t15_single_element_zero_contacts ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t17_dim1_cable_self_collision ... ok
[INFO] [stdout] test collision::flex_collide::spec_e_tests::t3_flex_vs_sdf ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t09_auto_dispatch_dim2_matches_sap ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t07_self_collision_non_adjacent ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_sphere_triangle_contact_basic ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t18_mujoco_conformance_contact_structure ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t05_gate_internal_false_only_self ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_sphere_triangle_contact_edge_case ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_sphere_triangle_contact_no_intersection ... ok
[INFO] [stdout] test collision::hfield::tests::t4_hfield_ellipsoid_exact ... ok
[INFO] [stdout] test collision::hfield::tests::t1_hfield_sphere_prism_contact ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_element_adjacency_four_triangles ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_closest_points_segments_parallel ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::t10_jacobian_self_collision ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_element_adjacency_two_triangles ... ok
[INFO] [stdout] test collision::hfield::tests::t7_outside_bounds_no_contact ... ok
[INFO] [stdout] test collision::hfield::tests::test_swapped_geom_order ... ok
[INFO] [stdout] test collision::hfield::tests::test_hfield_capsule_contact ... ok
[INFO] [stdout] test collision::hfield::tests::ts1_single_cell_hfield ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_flex_self_collide_enum_variants ... ok
[INFO] [stdout] test collision::hfield::tests::t11_hfield_plane_no_contact ... ok
[INFO] [stdout] test collision::hfield::tests::t5_multi_contact_generation ... ok
[INFO] [stdout] test collision::hfield::tests::t6_max_contacts_limit ... ok
[INFO] [stdout] test collision::hfield::tests::t2_hfield_mesh_with_hull ... ok
[INFO] [stdout] test collision::hfield::tests::t8_mesh_no_hull_no_contact ... ok
[INFO] [stdout] test collision::hfield::tests::test_hfield_box_contact ... ok
[INFO] [stdout] test collision::flex_self::spec_c_tests::test_elements_adjacent_lookup ... ok
[INFO] [stdout] test collision::hfield::tests::t3_hfield_cylinder_exact ... ok
[INFO] [stdout] test collision::pair_convex::tests::capsule_capsule_separated_returns_empty ... ok
[INFO] [stdout] test collision::hfield::tests::ts2_edge_straddling ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_capsule_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_sphere_coincident_picks_z_normal ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_sphere_penetration ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_sphere_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::box_box_rotated_corner_contact ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::box_box_face_overlap ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::capsule_box_face_penetration ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_box_face_penetration ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_box_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_capsule_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_cap_penetration ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::capsule_box_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_reversed_order_geom_dispatch ... ok
[INFO] [stdout] test collision::hfield::tests::ts3_small_geom_one_cell ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::box_box_separated_returns_empty ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_capsule_parallel_side_penetration ... ok
[INFO] [stdout] test collision::hfield::tests::ts5_flat_prism_degenerate ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_within_margin_emits_contact ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_cylinder_plane_axis_parallel_to_normal ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_contact_frame_is_valid ... ok
[INFO] [stdout] test collision::hfield::tests::ts6_hfield_hfield_no_crash ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_cylinder_plane_tilted ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_edge_contact ... ok
[INFO] [stdout] test collision::pair_convex::tests::capsule_capsule_perpendicular_one_contact ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_cylinder_plane_upright_no_contact ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_cylinder_plane_upright_penetrating ... ok
[INFO] [stdout] test collision::pair_convex::tests::capsule_capsule_parallel_two_contacts ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_ellipsoid_plane_no_contact ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_box_reversed_order_geom_dispatch ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_ellipsoid_plane_sphere_case ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_capsule_penetration ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_ellipsoid_plane_stretched_x ... ok
[INFO] [stdout] test collision::pair_cylinder::tests::cyl_sphere_side_penetration ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_ellipsoid_plane_stretched_z ... ok
[INFO] [stdout] test collision::hfield::tests::ts4_tilted_hfield ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_ellipsoid_plane_rotated ... ok
[INFO] [stdout] test collision::pair_convex::tests::sphere_box_center_inside_deepest_axis ... ok
[INFO] [stdout] test collision::plane::primitive_collision_tests::test_cylinder_plane_horizontal ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_ellipsoid_oblate_on_mesh ... ok
[INFO] [stdout] test collision::spec_d_tests::test_disable_nativeccd_no_crash ... ok
[INFO] [stdout] test collision::spec_d_tests::test_margin_zone_ellipsoid_pair ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_cylinder_curved_side_on_mesh ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_cylinder_flat_end_on_mesh ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_cylinder_no_hull_graceful ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_cylinder_not_capsule_regression ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_cylinder_swapped_geom_order ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_ellipsoid_not_sphere_regression ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_ellipsoid_prolate_on_mesh ... ok
[INFO] [stdout] test constraint::assembly::dt23_friction_solref_tests::t10_nondefault_solref_in_constraint_rows ... ok
[INFO] [stdout] test collision::spec_d_tests::test_beyond_margin_no_contact ... ok
[INFO] [stdout] test constraint::assembly::dt23_friction_solref_tests::t7_ball_3dofs_identical_solref ... ok
[INFO] [stdout] test constraint::assembly::dt23_friction_solref_tests::t8_free_6dofs_identical_solref ... ok
[INFO] [stdout] test collision::spec_d_tests::test_multiccd_curved_surface_single_contact ... ok
[INFO] [stdout] test constraint::assembly::dt23_friction_solref_tests::t11_tendon_friction_solref_end_to_end ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t3_tendon_margin_pre_activation_upper ... ok
[INFO] [stdout] test collision::spec_d_tests::test_multiccd_enabled_multiple_contacts ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t12_multi_tendon_correct_margin_per_tendon ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t2_tendon_margin_pre_activation_lower ... ok
[INFO] [stdout] test constraint::assembly::dt23_friction_solref_tests::t9_defaults_cascade_solreffriction ... ok
[INFO] [stdout] test collision::spec_d_tests::test_multiccd_disabled_single_contact ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t1_tendon_margin_zero_regression ... ok
[INFO] [stdout] test constraint::assembly::spec_b_margin_tests::t10_ball_margin ... ok
[INFO] [stdout] test constraint::assembly::spec_b_margin_tests::t11_disable_limit_ignores_margin ... ok
[INFO] [stdout] test constraint::assembly::spec_b_margin_tests::t8_margin_zero_regression ... ok
[INFO] [stdout] test constraint::equality::tests::constraint_point_jacobian_row_matches_mj_jac_multi_joint ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t5_negative_margin_shrinks_activation ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t6_large_margin_both_limits_active ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_at_full_width ... ok
[INFO] [stdout] test collision::spec_d_tests::test_mesh_ellipsoid_swapped_geom_order ... ok
[INFO] [stdout] test collision::spec_d_tests::test_zero_margin_gjk_epa_path ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_exact_boundary ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_identity ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_200deg_wraps ... ok
[INFO] [stdout] test constraint::assembly::spec_b_margin_tests::t9_margin_pre_activation ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_at_midpoint ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_beyond_width ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_near_zero_quaternion ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_negative_quat ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_at_zero_violation ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_90deg_about_z ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_50deg_about_oblique ... ok
[INFO] [stdout] test constraint::impedance::ball_limit_tests::test_ball_limit_axis_angle_exactly_180deg ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::contact_jac_all_rows_match_mj_jac_projection ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::contact_jac_free_body_frame_vs_world_frame ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_asymmetric_mu ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_extreme_midpoint_no_nan ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_monotonic_increasing ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_linear_power ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::contact_jac_two_free_bodies ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::contact_jac_free_identity_unchanged ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_power_below_one_clamped ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_zero_width ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_flat_when_d0_equals_dwidth ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::contact_jac_free_frictionless ... ok
[INFO] [stdout] test constraint::jacobian::contact_jac_free_joint_tests::angular_jac_free_body_frame ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_constrained_identity ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_ill_conditioned ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_zero_mu ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp3_constrained_identity ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp_nd_5d_constrained ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_degenerate_zero_matrix ... ok
[INFO] [stdout] test contact::tests::test_box_box_no_contact ... ok
[INFO] [stdout] test contact::tests::test_box_plane_manifold ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_inside_cone_stiff ... ok
[INFO] [stdout] test contact::tests::test_box_plane_contact ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp3_inside_cone ... ok
[INFO] [stdout] test contact::tests::test_box_sphere_contact ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp_nd_5d_degenerate ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_large_mu ... ok
[INFO] [stdout] test contact::tests::test_box_sphere_inside ... ok
[INFO] [stdout] test contact::tests::test_capsule_capsule_no_contact ... ok
[INFO] [stdout] test contact::tests::test_capsule_capsule_parallel ... ok
[INFO] [stdout] test contact::tests::test_box_sphere_no_contact ... ok
[INFO] [stdout] test contact::tests::test_box_plane_no_contact ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_random_stress ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp2_unconstrained_inside_cone ... ok
[INFO] [stdout] test contact::tests::test_capsule_capsule_perpendicular ... ok
[INFO] [stdout] test constraint::solver::qcqp::tests::test_qcqp3_degenerate_zero_matrix ... ok
[INFO] [stdout] test contact::tests::test_closest_points_segments_parallel ... ok
[INFO] [stdout] test contact::tests::test_contact_manifold ... ok
[INFO] [stdout] test contact::tests::test_box_sphere_contact_corner ... ok
[INFO] [stdout] test contact::tests::test_capsule_sphere_contact ... ok
[INFO] [stdout] test contact::tests::test_capsule_sphere_end_contact ... ok
[INFO] [stdout] test contact::tests::test_closest_points_segments_endpoints ... ok
[INFO] [stdout] test contact::tests::test_contact_force_torque ... ok
[INFO] [stdout] test contact::tests::test_contact_point_sphere_sphere ... ok
[INFO] [stdout] test contact::tests::test_contact_point_sphere_plane_no_contact ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_centered_vs_forward_convergence ... ok
[INFO] [stdout] test contact::tests::test_contact_point_sphere_plane ... ok
[INFO] [stdout] test contact::tests::test_velocity_decomposition ... ok
[INFO] [stdout] test contact::tests::test_closest_points_segments_crossing ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_forward_skip_vel_unchanged_state ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_forward_skip_pos_after_position_stage ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_forward_skip_none_matches_forward ... ok
[INFO] [stdout] test contact::tests::test_capsule_plane_contact ... ok
[INFO] [stdout] test contact::tests::test_capsule_plane_no_contact ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_forward_skip_pos_velocity_fd_correctness ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_mj_stage_ordering ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_dfdq_matches_independent_fd ... ok
[INFO] [stdout] test derivatives::fd::forward_skip_tests::dt53_forward_skip_plus_integrate ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_dfda_approx_mass_matrix_1link ... ok
[INFO] [stdout] test derivatives::hybrid::fluid_derivative_unit_tests::t10_viscous_drag_per_component_fd ... ok
[INFO] [stdout] test derivatives::hybrid::fluid_derivative_unit_tests::t11_viscous_torque_per_component_fd ... ok
[INFO] [stdout] test derivatives::hybrid::mass_directional_derivative_tests::analytical_transition_matches_fd_nonparallel_chain ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_dfdq_nonzero_gravity ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_dfdv_matches_independent_fd ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_zero_dof_model ... ok
[INFO] [stdout] test derivatives::hybrid::mass_directional_derivative_tests::mass_directional_derivative_zero_accel_is_zero ... ok
[INFO] [stdout] test derivatives::hybrid::fluid_derivative_unit_tests::t07_added_mass_per_component_fd ... ok
[INFO] [stdout] test derivatives::hybrid::fluid_derivative_unit_tests::t08_magnus_per_component_fd ... ok
[INFO] [stdout] test derivatives::hybrid::fluid_derivative_unit_tests::t09_kutta_per_component_fd ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_skip_stage_correctness ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_fvmax_one ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_eccentric ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_at_v_minus_one ... ok
[INFO] [stdout] test derivatives::hybrid::mass_directional_derivative_tests::mass_directional_derivative_matches_fd_recrba ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_arbitrary_quaternion_pair ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_both_rotated ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_max_shortening ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_antipodal_pair ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_exactly_pi_rotation ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_identity_case ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_moderate_rotation ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_negative_w_on_qb ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_negative_w_quaternion ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_small_angle ... ok
[INFO] [stdout] test constraint::impedance::impedance_tests::test_impedance_clamped_to_valid_range ... ok
[INFO] [stdout] test derivatives::integration::sub_quat_tests::dt52_near_pi_rotation ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_at_v_zero ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_concentric ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_hill_fv_deriv_eccentric ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_hill_fv_deriv_isometric ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_hill_fv_deriv_at_v_minus_one ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_hill_fv_deriv_concentric ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_damping_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test derivatives::param::tests::friction_jacobian_zero_column_for_frictionless_dof ... ok
[INFO] [stdout] test derivatives::param::tests::friction_jacobian_zero_when_sticking ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_mass_jacobian_matches_fd_3link ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_inertia_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_inertia_jacobian_matches_fd_3link ... ok
[INFO] [stdout] test derivatives::param::tests::friction_rejects_active_joint_limit - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::friction_jacobian_matches_fd_sliding ... ok
[INFO] [stdout] test derivatives::param::tests::friction_rejects_ball_joint - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_mass_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_trajectory_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test derivatives::param::tests::inertia_rejects_fluid_drag - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::inertia_rejects_non_euler_integrator - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::mass_rejects_gravcomp - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::rejects_non_euler_integrator - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::mass_rejects_non_euler_integrator - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::trajectory_rejects_ball_joint - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::friction_rejects_non_euler_integrator - should panic ... ok
[INFO] [stdout] test derivatives::param::tests::velocity_row_needs_both_damping_paths ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::tendon_damped_isd_routes_to_fd_and_matches ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::ball_joint_chain ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::analytic_transition_matches_fd_implicit_coriolis_under_damping ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::analytic_transition_matches_fd_under_damping ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::invalidation_flag ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::single_hinge ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::complex_branching_tree ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::branching_tree ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::two_link_chain ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::implicit_analytic_incomplete_classifies_regimes ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::analytical_transition_matches_fd_across_joint_matrix ... ok
[INFO] [stdout] test dynamics::spatial::tests::t01_transport_motion_zero_offset ... ok
[INFO] [stdout] test dynamics::spatial::tests::t02_transport_motion_cross_product ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::free_body_plus_hinge ... ok
[INFO] [stdout] test dynamics::spatial::tests::t03_transport_force_moment_arm ... ok
[INFO] [stdout] test energy::spec_b_tests::t13_negative_stiffness ... ok
[INFO] [stdout] test dynamics::spatial::tests::t02b_transport_motion_spatial ... ok
[INFO] [stdout] test dynamics::spatial::tests::t04_transport_force_invariance ... ok
[INFO] [stdout] test energy::spec_b_tests::t16_identity_quat_zero_force ... ok
[INFO] [stdout] test energy::spec_b_tests::t1_ball_spring_force_90deg ... ok
[INFO] [stdout] test energy::spec_b_tests::t17_multi_joint_free_hinge ... ok
[INFO] [stdout] test energy::spec_b_tests::t18_tendon_spring_energy_classical ... ok
[INFO] [stdout] test energy::spec_b_tests::t20_tendon_zero_stiffness_no_energy ... ok
[INFO] [stdout] test energy::spec_b_tests::t5_zero_stiffness_no_force_or_energy ... ok
[INFO] [stdout] test derivatives::transition_matrix_harness::analytic_transition_matches_fd_under_stiffness ... ok
[INFO] [stdout] test energy::spec_b_tests::t12_sleep_filter_spring_energy ... ok
[INFO] [stdout] test energy::spec_b_tests::t15_near_180_rotation ... ok
[INFO] [stdout] test energy::spec_b_tests::t19_tendon_spring_energy_deadband ... ok
[INFO] [stdout] test energy::spec_b_tests::t6_disable_spring_suppresses_all ... ok
[INFO] [stdout] test energy::spec_b_tests::t2_free_spring_force_trans_rot ... ok
[INFO] [stdout] test energy::spec_b_tests::t7_implicit_mode_suppresses_ball_spring ... ok
[INFO] [stdout] test forward::actuation::millard_engine_tests::engine_reproduces_standalone_millard_force ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_dampratio_multibody ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_motor_actuator ... ok
[INFO] [stdout] test energy::spec_b_tests::t3_ball_spring_energy_90deg ... ok
[INFO] [stdout] test energy::spec_b_tests::t4_free_spring_energy_trans_rot ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_muscle_regression ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_inertia_trajectory_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test forward::fiber::tests::test_activation_dynamics_ramp_up ... ok
[INFO] [stdout] test forward::fiber::tests::test_activation_dynamics_ramp_down ... ok
[INFO] [stdout] test derivatives::param::tests::analytic_mass_trajectory_jacobian_matches_fd_2link ... ok
[INFO] [stdout] test forward::fiber::tests::test_control_clamping ... ok
[INFO] [stdout] test forward::fiber::tests::test_dampratio_conversion ... ok
[INFO] [stdout] test forward::fiber::tests::test_dampratio_skip_explicit_kv ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_no_dofs ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_single_hinge ... ok
[INFO] [stdout] test forward::fiber::tests::test_acc0_position_actuator ... ok
[INFO] [stdout] test forward::fiber::tests::test_dampratio_skip_motor ... ok
[INFO] [stdout] test forward::fiber::tests::test_f0_auto_computation ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_actearly ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_force_isometric_optimal ... ok
[INFO] [stdout] test forward::fiber::tests::test_f0_explicit_not_overridden ... ok
[INFO] [stdout] test forward::fiber::tests::test_force_clamping ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_lengthrange_mode_filter ... ok
[INFO] [stdout] test forward::fiber::tests::test_motor_actuator_unchanged ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_zero_lengthrange ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_force_pennation ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_dynamics_matches_muscle ... ok
[INFO] [stdout] test forward::fiber::tests::test_muscle_act_num_is_one ... ok
[INFO] [stdout] test forward::fiber::tests::test_hill_f0_auto_computation ... ok
[INFO] [stdout] test forward::fiber::tests::test_rk4_activation_single_step ... ok
[INFO] [stdout] test forward::hill::tests::test_activation_asymmetry ... ok
[INFO] [stdout] test forward::hill::tests::test_fv_curve_shape ... ok
[INFO] [stdout] test forward::hill::tests::test_fl_curve_shape ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_at_one ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_at_zero ... ok
[INFO] [stdout] test forward::hill::tests::test_fp_curve_shape ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_smooth_blend ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_hard_switch ... ok
[INFO] [stdout] test forward::fiber::tests::test_muscle_force_at_optimal_length ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_active_fl_curve ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_passive_fl_curve ... ok
[INFO] [stdout] test forward::fiber::tests::test_muscle_params_transferred ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_deactivation ... ok
[INFO] [stdout] test forward::millard::spotcheck::curves_match_opensim_anchors ... ok
[INFO] [stdout] test forward::millard::spotcheck::force_velocity_reduces_shortening_force ... ok
[INFO] [stdout] test forward::millard::spotcheck::min_fiber_clamp_freezes_velocity ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_cylinder_cylinder_intersecting ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_cylinder_plane_contact ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_cylinder_sphere_intersecting ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_cylinder_sphere_separated ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_distance_just_touching_spheres ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_distance_overlapping_spheres_return_none ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_distance_separated_boxes ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_distance_separated_spheres ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_ellipsoid_ellipsoid_intersecting ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_activation_ctrl_clamped ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_ellipsoid_sphere_intersecting ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_ellipsoid_sphere_separated ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_epa_contact_spheres ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_epa_contact_zero_iterations ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_epa_contact_zero_tolerance ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_sphere_box_intersecting ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_spheres_intersecting ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_spheres_separated ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_tetrahedra ... ok
[INFO] [stdout] test gjk_epa::tests::test_posed_shape_aabb ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_box ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_ellipsoid_plane_contact ... ok
[INFO] [stdout] test forward::hill::tests::test_sigmoid_boundaries ... ok
[INFO] [stdout] test gjk_epa::tests::test_posed_shape_support ... ok
[INFO] [stdout] test forward::millard::spotcheck::curve_anchors_are_exact ... ok
[INFO] [stdout] test forward::millard::spotcheck::isometric_force_at_optimal_length ... ok
[INFO] [stdout] test gjk_epa::tests::test_gjk_convex_mesh ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_cap_aligned ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_radial ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_slightly_off_axis ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_sphere ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_cylinder ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_top_vs_bottom ... ok
[INFO] [stdout] test heightfield::tests::test_heightfield_box_contact ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_ellipsoid ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_ellipsoid_equals_sphere ... ok
[INFO] [stdout] test heightfield::tests::test_heightfield_capsule_contact ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_45_degrees ... ok
[INFO] [stdout] test gjk_epa::tests::test_support_face_points_cylinder_rotated ... ok
[INFO] [stdout] test heightfield::tests::test_heightfield_sphere_contact_on_slope ... ok
[INFO] [stdout] test heightfield::tests::test_heightfield_with_pose ... ok
[INFO] [stdout] test jacobian::jac_site_tests::accumulate_agrees_with_mj_jac_multi_joint ... ok
[INFO] [stdout] test heightfield::tests::test_heightfield_sphere_contact ... ok
[INFO] [stdout] test jacobian::jac_site_tests::mj_jac_multi_joint_body_matches_fd ... ok
[INFO] [stdout] test forward::fiber::tests::test_lengthrange_simulation_motor_mode_all ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_body_com_consistent ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_free_rotation_body_frame ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_ball_body_frame_axes ... ok
[INFO] [stdout] test jacobian::jac_site_tests::jac_site_slide_joint ... ok
[INFO] [stdout] test jacobian::jac_site_tests::jac_site_agrees_with_accumulate_hinge ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_free_translation ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_geom_consistent ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_jacr_hinge_cross_check ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_point_combines_correctly ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_hinge_basic ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_multi_joint_chain_dimensions_and_fd ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_world_body_returns_zeros ... ok
[INFO] [stdout] test joint_visitor::tests::forward_cvel_matches_joint_subspace ... ok
[INFO] [stdout] test joint_visitor::tests::multi_hinge_body_subspace_matches_fd ... ok
[INFO] [stdout] test joint_visitor::tests::offset_pivot_hinge_subspace_matches_fd ... ok
[INFO] [stdout] test joint_visitor::tests::slide_then_hinge_body_subspace_matches_fd ... ok
[INFO] [stdout] test mesh::tests::mesh_mesh_brute_force_matches_bvh ... ok
[INFO] [stdout] test mesh::tests::mesh_sphere_brute_force_matches_bvh ... ok
[INFO] [stdout] test linalg::cholesky_tests::in_place_cholesky_rejects_non_spd ... ok
[INFO] [stdout] test linalg::cholesky_tests::in_place_cholesky_matches_nalgebra ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_slide_basic ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_site_delegates_to_mj_jac ... ok
[INFO] [stdout] test mesh::tests::test_closest_point_on_triangle_face ... ok
[INFO] [stdout] test mesh::tests::test_closest_points_on_segments ... ok
[INFO] [stdout] test mesh::tests::test_mesh_aabb ... ok
[INFO] [stdout] test mesh::tests::mesh_capsule_brute_force_matches_bvh ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_edge_touching ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_identical_position ... ok
[INFO] [stdout] test mesh::tests::test_bvh_query ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_overlapping_cubes ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_separate_cubes ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_tetrahedra ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_contact_rotated_cubes ... ok
[INFO] [stdout] test mesh::tests::test_mesh_creation ... ok
[INFO] [stdout] test mesh::tests::test_mesh_sphere_contact_miss ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_contact_normal_direction ... ok
[INFO] [stdout] test mesh::tests::test_mesh_mesh_deepest_contact ... ok
[INFO] [stdout] test mesh::tests::test_mesh_sphere_contact ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_identical_triangles ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_coplanar_overlapping ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_aabb_rejection ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_coplanar_separate ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_crossing ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_edge_edge ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_parallel_overlapping ... ok
[INFO] [stdout] test contact::tests::test_box_box_contact ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_face_to_face_coplanar ... ok
[INFO] [stdout] test constraint::assembly::dt33_tendon_margin_tests::t4_disable_limit_ignores_tendon_margin ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_parallel_separate ... ok
[INFO] [stdout] test mesh::tests::test_triangle_normal ... ok
[INFO] [stdout] test mesh::tests::test_triangle_sphere_contact_hit ... ok
[INFO] [stdout] test plugin::tests::capabilities_bitfield ... ok
[INFO] [stdout] test plugin::tests::capabilities_bitor_and_from ... ok
[INFO] [stdout] test plugin::tests::t13_plugin_with_empty_config ... ok
[INFO] [stdout] test plugin::tests::t14_multiple_instances_state_addresses ... ok
[INFO] [stdout] test plugin::tests::t15_multi_capability_dispatch ... ok
[INFO] [stdout] test mesh::tests::test_closest_point_on_triangle_vertex ... ok
[INFO] [stdout] test mesh::tests::test_triangle_capsule_contact ... ok
[INFO] [stdout] test plugin::tests::t11_plugin_advance_in_integration ... ok
[INFO] [stdout] test plugin::tests::t16_plugin_reset_restores_state ... ok
[INFO] [stdout] test plugin::tests::t1_registry_register_and_lookup ... ok
[INFO] [stdout] test batch::tests::env_returns_none_out_of_bounds ... ok
[INFO] [stdout] test plugin::tests::t7_actuator_plugin_dispatch ... ok
[INFO] [stdout] test plugin::tests::t8_passive_plugin_dispatch ... ok
[INFO] [stdout] test plugin::tests::t9_sensor_plugin_stage_dispatch ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_intersection_vertex_face ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_penetrating_crossing ... ok
[INFO] [stdout] test mesh::tests::test_tri_tri_tilted_overlap ... ok
[INFO] [stdout] test mesh::tests::test_triangle_sphere_contact_miss ... ok
[INFO] [stdout] test raycast::tests::test_ray_triangle_intersection ... ok
[INFO] [stdout] test plugin::tests::t1_registry_duplicate_panics - should panic ... ok
[INFO] [stdout] test raycast::tests::test_raycast_box_hit ... ok
[INFO] [stdout] test raycast::tests::test_raycast_box_miss ... ok
[INFO] [stdout] test raycast::tests::test_raycast_capsule_hit_body ... ok
[INFO] [stdout] test raycast::tests::test_raycast_max_distance_zero ... ok
[INFO] [stdout] test plugin::tests::t6_data_plugin_state_allocation ... ok
[INFO] [stdout] test raycast::tests::test_raycast_ellipsoid_hit ... ok
[INFO] [stdout] test raycast::tests::test_raycast_flat_heightfield ... ok
[INFO] [stdout] test raycast::tests::test_raycast_plane_hit ... ok
[INFO] [stdout] test raycast::tests::test_raycast_negative_max_distance ... ok
[INFO] [stdout] test raycast::tests::test_raycast_plane_parallel ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_mesh_geom ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_geomgroup_filter ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_plane_geom ... ok
[INFO] [stdout] test raycast::tests::test_raycast_shape_dispatch ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_hits_closest ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_bodyexclude ... ok
[INFO] [stdout] test raycast::tests::test_raycast_sphere_hit ... ok
[INFO] [stdout] test raycast::tests::test_raycast_sphere_max_distance ... ok
[INFO] [stdout] test raycast::tests::test_raycast_sphere_inside ... ok
[INFO] [stdout] test raycast::tests::test_raycast_scene_no_hit ... ok
[INFO] [stdout] test raycast::tests::test_raycast_sphere_miss ... ok
[INFO] [stdout] test raycast::tests::test_raycast_convex_mesh_not_bounding_sphere ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_free_ball_fd_validation ... ok
[INFO] [stdout] test jacobian::mj_jac_tests::mj_jac_body_delegates_to_mj_jac ... ok
[INFO] [stdout] test forward::hill::tests::test_hill_force_velocity_curve ... ok
[INFO] [stdout] test dynamics::factor::sparse_factorization_tests::batch_solve_matches_single ... ok
[INFO] [stdout] test derivatives::hybrid::muscle_vel_deriv_tests::dt54_mujoco_fv_deriv_plateau ... ok
[INFO] [stdout] test derivatives::fd::inverse_fd_tests::dt51_dfda_approx_mass_matrix_3link ... ok
[INFO] [stdout] test sdf::octree_detect::tests::dedup_merges_nearby ... ok
[INFO] [stdout] test sdf::octree_detect::tests::conservative_local_roundtrip ... ok
[INFO] [stdout] test sdf::octree_detect::tests::overlapping_spheres_produce_contacts ... ok
[INFO] [stdout] test sdf::octree_detect::tests::stacked_spheres_vertical_force ... ok
[INFO] [stdout] test sdf::octree_detect::tests::budget_limits_contacts ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase1c_bowl_wall_contact_count ... ok
[INFO] [stdout] test sdf::octree_detect::tests::separated_spheres_no_contacts ... ok
[INFO] [stdout] test sdf::octree_detect::tests::select_representatives_spreads ... ok
[INFO] [stdout] test sdf::octree_detect::tests::world_aabb_identity_pose ... ok
[INFO] [stdout] test sdf::operations::tests::stabilize_identity_on_cardinal ... ok
[INFO] [stdout] test sdf::operations::tests::stabilize_zeroes_sub_threshold_components ... ok
[INFO] [stdout] test sdf::octree_detect::tests::newton_contact_on_sphere_surface ... ok
[INFO] [stdout] test raycast::tests::test_raycast_cylinder_hit ... ok
[INFO] [stdout] test sdf::operations::tests::stabilize_preserves_large_lateral ... ok
[INFO] [stdout] test sdf::operations::tests::stabilize_preserves_significant_components ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase1b_bowl_rejects_exterior_sphere ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_no_collision ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_transformed_poses ... ok
[INFO] [stdout] test sdf::operations::tests::v2_margin_detects_near_contact ... ok
[INFO] [stdout] test sdf::operations::tests::v2_contact_when_overlapping ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_sphere_box ... ok
[INFO] [stdout] test sdf::operations::tests::v2_stacking_coarse_resolution ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase1a_bowl_captures_sphere ... ok
[INFO] [stdout] test sdf::operations::tests::v2_no_collision_when_separated ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_barely_touching ... ok
[INFO] [stdout] test sdf::operations::tests::v2_no_contact_beyond_margin ... ok
[INFO] [stdout] test sdf::primitives::tests::test_capsule_initpoints_changes_sample_count ... ok
[INFO] [stdout] test sdf::operations::tests::v2_stacking_scenario ... ok
[INFO] [stdout] test sdf::operations::tests::v2_symmetric_net_force ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_different_resolutions ... ok
[INFO] [stdout] test linalg::cholesky_tests::in_place_cholesky_1x1 ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase2b_tube_allows_axial_slide ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_box_box ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::operations::tests::test_sdf_sdf_contact_collision ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase2a_tube_radial_constraint ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_box_contact ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_with_translated_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_ellipsoid_initpoints_changes_sample_count ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_cylinder_contact_cap_hit ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_cylinder_initpoints_changes_sample_count ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_capsule_contact ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_contact_with_rotation ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_cylinder_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_contact_cube ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_convex_mesh_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_flat_disk ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_elongated ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_cylinder_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_with_rotation ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_cylinder_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_box_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_tilted_terrain ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_cylinder_contact_with_rotation ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_ellipsoid_with_translated_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_entirely_above ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_outside_xy_bounds ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_box_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_with_translated_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_point_contact ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_inverted_normal ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_heightfield_contact_with_transformed_poses ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_box_sdf ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_sphere_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_sphere_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_no_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_tilted_plane ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_collision ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_plane_contact_deep_penetration ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_with_transformed_poses ... ok
[INFO] [stdout] test sdf::shape::tests::concave_plane_still_multi_contact ... ok
[INFO] [stdout] test sdf::shape::tests::concave_concave_takes_fallback_path ... ok
[INFO] [stdout] test sdf::shape::tests::concave_plane_takes_fallback_path ... ok
[INFO] [stdout] test sdf::shape::tests::concave_convex_takes_fallback_path ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_cube_mesh ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_with_pose ... ok
[INFO] [stdout] test sdf::primitives::tests::test_sdf_triangle_mesh_contact_with_rotation ... ok
[INFO] [stdout] test sdf::shape::tests::sphere_plane_takes_analytical_single_contact ... ok
[INFO] [stdout] test sdf::shape::tests::sphere_sphere_takes_analytical_path ... ok
[INFO] [stdout] test sdf::shapes::concave::tests::effective_radius_always_none ... ok
[INFO] [stdout] test sdf::shapes::sphere::tests::effective_radius_is_constant_for_any_direction ... ok
[INFO] [stdout] test sensor::sensor_tests::test_accelerometer_at_rest_reads_gravity ... ok
[INFO] [stdout] test sensor::sensor_tests::test_ball_angvel_sensor ... ok
[INFO] [stdout] test sdf::shape::tests::concave_sphere_takes_fallback_path ... ok
[INFO] [stdout] test sensor::sensor_tests::test_accelerometer_in_free_fall_reads_zero ... ok
[INFO] [stdout] test sensor::sensor_tests::test_actuator_vel_sensor ... ok
[INFO] [stdout] test sdf::shapes::concave::tests::sdf_grid_returns_underlying_grid ... ok
[INFO] [stdout] test sensor::sensor_tests::test_frame_quat_sensor ... ok
[INFO] [stdout] test sensor::sensor_tests::test_joint_vel_sensor_reads_correctly ... ok
[INFO] [stdout] test sdf::shapes::convex::tests::effective_radius_matches_analytical_for_sphere ... ok
[INFO] [stdout] test sdf::shapes::sphere::tests::sdf_grid_returns_underlying_grid ... ok
[INFO] [stdout] test sensor::sensor_tests::test_joint_pos_sensor_reads_correctly ... ok
[INFO] [stdout] test sensor::sensor_tests::test_ball_quat_sensor_reads_quaternion ... ok
[INFO] [stdout] test sensor::sensor_tests::test_force_sensor_at_rest_in_gravity ... ok
[INFO] [stdout] test sensor::sensor_tests::test_jointvel_ignores_ball_joint ... ok
[INFO] [stdout] test sensor::sensor_tests::test_actuator_pos_sensor ... ok
[INFO] [stdout] test sensor::sensor_tests::test_ball_quat_sensor_normalizes ... ok
[INFO] [stdout] test sensor::sensor_tests::test_jointpos_ignores_ball_joint ... ok
[INFO] [stdout] test sensor::sensor_tests::test_magnetometer_identity_frame ... ok
[INFO] [stdout] test sensor::sensor_tests::test_sensor_cutoff_clamps_value ... ok
[INFO] [stdout] test sensor::sensor_tests::test_magnetometer_zero_field ... ok
[INFO] [stdout] test sensor::sensor_tests::test_multiple_sensors_coexist ... ok
[INFO] [stdout] test sensor::sensor_tests::test_rangefinder_cutoff_preserves_no_hit_sentinel ... ok
[INFO] [stdout] test sensor::sensor_tests::test_rangefinder_hits_sphere ... ok
[INFO] [stdout] test sensor::sensor_tests::test_rangefinder_ignores_objects_behind_sensor ... ok
[INFO] [stdout] test sensor::sensor_tests::test_rangefinder_no_geoms_to_hit ... ok
[INFO] [stdout] test sensor::sensor_tests::test_subtree_angmom_spinning ... ok
[INFO] [stdout] test sensor::sensor_tests::test_subtree_com_sensor ... ok
[INFO] [stdout] test sensor::sensor_tests::test_tendon_pos_sensor_no_tendon ... ok
[INFO] [stdout] test sensor::sensor_tests::test_tendon_vel_sensor_no_tendon ... ok
[INFO] [stdout] test sensor::sensor_tests::test_torque_sensor_at_rest_in_gravity ... ok
[INFO] [stdout] test sensor::sensor_tests::test_touch_sensor_no_contact ... ok
[INFO] [stdout] test sensor::sensor_tests::test_touch_sensor_with_contact ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::ninety_degrees_about_z ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::ninety_degrees_about_x ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::identity_difference_is_zero ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::relative_rotation ... ok
[INFO] [stdout] test sensor::sensor_tests::test_sensor_no_cutoff_when_zero ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::shortest_path_wraps ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::small_angle_near_zero ... ok
[INFO] [stdout] test tendon::wrap_math::wrap_inside_tests::t11_segment_crosses_circle ... ok
[INFO] [stdout] test sensor::sensor_tests::test_sensor_write_with_undersized_buffer_does_not_panic ... ok
[INFO] [stdout] test sensor::sensor_tests::test_subtree_angmom_at_rest ... ok
[INFO] [stdout] test tendon::wrap_math::wrap_inside_tests::t12_endpoint_at_surface ... ok
[INFO] [stdout] test sensor::sensor_tests::test_sensor_cutoff_negative_clamps ... ok
[INFO] [stdout] test tendon::wrap_math::wrap_inside_tests::t5_newton_convergence_and_tangency ... ok
[INFO] [stdout] test test_fixtures::arms::tests::reaching_2dof_shape ... ok
[INFO] [stdout] test tendon::spatial::subquat_tests::opposite_quaternions_give_pi ... ok
[INFO] [stdout] test test_fixtures::chains::tests::bistable_chain_handles_n_1 ... ok
[INFO] [stdout] test test_fixtures::chains::tests::hinge_chain_10_shape ... ok
[INFO] [stdout] test test_fixtures::chains::tests::bistable_chain_4_shape ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::conformance_fixtures_well_formed ... ok
[INFO] [stdout] test test_fixtures::bodies::tests::free_body_diag_shape ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::contact_fixtures_well_formed ... ok
[INFO] [stdout] test tendon::wrap_math::wrap_inside_tests::t13_fallback_on_circle ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::contact_oracle_rows_and_response ... ok
[INFO] [stdout] test test_fixtures::arms::tests::reaching_6dof_shape ... ok
[INFO] [stdout] test test_fixtures::arms::tests::reaching_6dof_obstacle_shape ... ok
[INFO] [stdout] test test_fixtures::bodies::tests::cart_pole_shape ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::damped_fixtures_have_damping ... ok
[INFO] [stdout] test test_fixtures::particles::tests::bistable_1dof_shape ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::contact_rollout_oracle_engaged ... ok
[INFO] [stdout] test test_fixtures::particles::tests::ratchet_shape ... ok
[INFO] [stdout] test test_fixtures::arms::tests::reaching_6dof_diverges_without_armature ... ok
[INFO] [stdout] test test_fixtures::particles::tests::single_slide_shape ... ok
[INFO] [stdout] test test_fixtures::particles::tests::stochastic_resonance_shape ... ok
[INFO] [stdout] test test_fixtures::bodies::tests::builder_test_minimal_shape ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_mocap_shape ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_basic_shape ... ok
[INFO] [stdout] test test_fixtures::arms::tests::reaching_6dof_stable_under_gravity ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_with_angle_sensor_shape ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_with_tip_site_shape ... ok
[INFO] [stdout] test test_fixtures::bodies::tests::hinge_chain_2dof_inertial_shape ... ok
[INFO] [stdout] test test_fixtures::particles::tests::sho_1d_shape ... ok
[INFO] [stdout] test types::model_init::joint_layout_tests::ball_last_on_body_is_valid ... ok
[INFO] [stdout] test types::model_init::joint_layout_tests::free_sharing_body_panics - should panic ... ok
[INFO] [stdout] test types::model_factories::tests::multi_joint_body_is_well_formed_and_steps ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_clamped_shape ... ok
[INFO] [stdout] test types::model_init::joint_layout_tests::ball_not_last_on_body_panics - should panic ... ok
[INFO] [stdout] test test_fixtures::pendulums::tests::pendulum_bench_shape ... ok
[INFO] [stdout] test types::data::tests::data_reset_field_inventory ... ok
[INFO] [stdout] test test_fixtures::conformance::tests::contact_damped_case_is_damped_and_engaged ... ok
[INFO] [stdout] test tests::test_model_data_basic ... ok
[INFO] [stdout] test validation::tests::energy_conservation_no_samples ... ok
[INFO] [stdout] test validation::tests::equilibrium_tracker_converges ... ok
[INFO] [stdout] test validation::tests::equilibrium_tracker_no_samples ... ok
[INFO] [stdout] test validation::tests::energy_monotonicity_no_samples ... ok
[INFO] [stdout] test validation::tests::equilibrium_tracker_window_prunes ... ok
[INFO] [stdout] test tests::test_model_data_energy ... ok
[INFO] [stdout] test validation::tests::all_passed_works ... ok
[INFO] [stdout] test validation::tests::energy_conservation_drift ... ok
[INFO] [stdout] test validation::tests::energy_conservation_zero_initial ... ok
[INFO] [stdout] test validation::tests::energy_monotonicity_decreasing ... ok
[INFO] [stdout] test validation::tests::energy_monotonicity_spike ... ok
[INFO] [stdout] test validation::tests::limit_tracker_within_range ... ok
[INFO] [stdout] test validation::tests::period_tracker_basic ... ok
[INFO] [stdout] test validation::tests::period_tracker_no_crossings ... ok
[INFO] [stdout] test validation::tests::quat_norm_tracker_drift ... ok
[INFO] [stdout] test validation::tests::quat_norm_tracker_no_samples ... ok
[INFO] [stdout] test validation::tests::quat_rotation_angle_90_about_x ... ok
[INFO] [stdout] test validation::tests::quat_rotation_angle_identity ... ok
[INFO] [stdout] test validation::tests::limit_tracker_violation ... ok
[INFO] [stdout] test validation::tests::period_tracker_time_backwards ... ok
[INFO] [stdout] test validation::tests::quat_norm_tracker_unit ... ok
[INFO] [stdout] test validation::tests::quat_rotation_angle_180_about_z ... ok
[INFO] [stdout] test validation::tests::equilibrium_tracker_zero_expected ... ok
[INFO] [stdout] test validation::tests::limit_tracker_no_samples ... ok
[INFO] [stdout] test types::validation::tests::test_is_bad ... ok
[INFO] [stdout] test validation::tests::energy_conservation_stable ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase2c_tube_captures_pin_at_multiple_azimuths ... ok
[INFO] [stdout] test sdf::shape::tests::convex_box_plane_takes_multi_contact ... ok
[INFO] [stdout] test test_fixtures::particles::tests::ising_pair_shape ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase3b_hinge_axial_constraint ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase3a_hinge_radial_constraint ... ok
[INFO] [stdout] test sdf::concave_collision_tests::phase3c_hinge_rotation_free ... ok
[INFO] [stdout] 
[INFO] [stdout] test result: ok. 717 passed; 0 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.68s
[INFO] [stdout] 
[INFO] [stderr]    Doc-tests sim_core
[INFO] [stdout] 
[INFO] [stdout] running 12 tests
[INFO] [stdout] test src/batch.rs - batch (line 14) ... ignored
[INFO] [stdout] test src/derivatives/mod.rs - derivatives (line 43) ... ignored
[INFO] [stdout] test src/forward/mod.rs - forward::Data::step1 (line 115) ... ignored
[INFO] [stdout] test src/joint_visitor.rs - joint_visitor::JointVisitor (line 40) ... ignored
[INFO] [stdout] test src/joint_visitor.rs - joint_visitor::Model::visit_joints (line 93) ... ignored
[INFO] [stdout] test src/lib.rs - (line 39) ... ignored
[INFO] [stdout] test src/mesh.rs - mesh (line 24) ... ignored
[INFO] [stdout] test src/mesh.rs - mesh::mesh_mesh_contact (line 886) ... ignored
[INFO] [stdout] test src/types/model.rs - types::model::Model::name2id (line 1202) ... ignored
[INFO] [stdout] test src/types/model_factories.rs - types::model_factories::Model::n_link_pendulum (line 33) ... ignored
[INFO] [stdout] test src/validation.rs - validation (line 9) ... ignored
[INFO] [stdout] test src/sdf/mod.rs - sdf (line 25) ... ok
[INFO] [stdout] 
[INFO] [stdout] test result: ok. 1 passed; 0 failed; 11 ignored; 0 measured; 0 filtered out; finished in 0.04s
[INFO] [stdout] 
[INFO] [stdout] all doctests ran in 0.48s; merged doctests compilation took 0.43s
[INFO] running `Command { std: "docker" "inspect" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] running `Command { std: "docker" "rm" "-f" "c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32", kill_on_drop: false }`
[INFO] [stdout] c22ac9ea88a20bd28889490875eba8a86c1adc0d3e4ae46a258c110e01f0af32
