CI Ubuntu

Better rotation matrix identity check. (#180) #1127

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Run time

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Job	Run time
py-cpu-ubuntu	9m 20s
cpp-simd-opt-ubuntu	7m 31s
py-gpu-ubuntu	19m 40s
cpp-simd-dev-ubuntu	18m 26s
cpp-opt-ubuntu	6m 34s
cpp-dev-ubuntu	16m 41s
	1h 18m 12s