13:04:28 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
13:04:29 evaluator INFO:duckietown-challenges:evaluation: Preparing here..
13:04:29 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
13:04:29 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90
13:04:29 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate...
13:04:29 evaluator INFO:duckietown-challenges:evaluation: Preparation done.
13:04:29 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml
13:04:29 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more)
13:04:29 evaluator launch.sh >  Starting xvfb
13:04:29 evaluator launch.sh >  Started xvfb with PID 92
13:04:29 evaluator launch.sh >  Now running gym_simulation_launcher.py
13:04:29 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
13:04:29 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
13:04:29 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1
13:04:29 evaluator 
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0
13:04:29 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0
13:04:29 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
13:04:29 evaluator        launcher|gym_simulation_launcher.py:48   - main           | launcher parameters:
13:04:29 evaluator 
13:04:29 evaluator {
13:04:29 evaluator     "challenge": "LF", 
13:04:29 evaluator     "episodes": 5, 
13:04:29 evaluator     "steps_per_episode": 500, 
13:04:29 evaluator     "environment-constructor": "Simulator", 
13:04:29 evaluator     "include_map": true, 
13:04:29 evaluator     "environment-parameters": {
13:04:29 evaluator         "seed": 123, 
13:04:29 evaluator         "map_name": "loop_empty", 
13:04:29 evaluator         "max_steps": 500001, 
13:04:29 evaluator         "domain_rand": 0, 
13:04:29 evaluator         "camera_width": 640, 
13:04:29 evaluator         "camera_height": 480, 
13:04:29 evaluator         "accept_start_angle_deg": 4, 
13:04:29 evaluator         "full_transparency": true, 
13:04:29 evaluator         "distortion": true
13:04:29 evaluator     }, 
13:04:29 evaluator     "agent-info": {
13:04:29 evaluator         "challenge": "LF"
13:04:29 evaluator     }
13:04:29 evaluator }
13:04:29 evaluator        launcher|gym_simulation_launcher.py:59   - main           | using gym-duckietown version 2018.10.1
13:04:30 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
13:04:30 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
13:04:30 evaluator  gym-duckietown|   simulator.py:490  - _load_map      | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml"
13:04:30 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj"
13:04:30 evaluator  gym-duckietown|     objmesh.py:238  - _load_mtl      | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl"
13:04:30 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj"
13:04:30 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png"
13:04:31 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj"
13:04:31 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png"
13:04:31 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png"
13:04:31 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png"
13:04:31 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png"
13:04:31 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png"
13:04:31 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [4.05833625 0.         2.17835003] 1.62929007381
13:04:35 evaluator        launcher|gym_simulation_launcher.py:74   - main           | Logging gym state to: /tmp/tmp56Rjf6/episodes
13:04:35 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [2.75442323 0.         3.0079666 ] 4.83604950287
13:04:35 evaluator        launcher|gym_simulation_launcher.py:89   - main           | Simulator listening to incoming connections...
13:04:35 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep000
13:04:35 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
13:04:35 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
13:04:35 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.57449761 0.         1.00806868] 0.0328325810557
13:04:35 evaluator        launcher|gym_simulation_launcher.py:237  - run_episode    | received ping: {u'topic': 1, u'ip': u'192.168.0.2', u'id': u'37443', u'msg': u'0'}
13:04:35 evaluator        launcher|gym_simulation_launcher.py:240  - run_episode    | received 2, resetting: {u'topic': 2, u'ip': u'192.168.0.2', u'id': u'37443', u'msg': u'0'}
13:04:35 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.9473256  0.         2.19364627] 4.70207132071
13:04:38 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.645, done=False
13:04:39 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more)
13:04:39 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.634, done=False
13:04:40 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.493, done=False
13:04:41 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.871, done=False
13:04:41 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.501, done=False
13:04:42 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-3.356, done=False
13:04:43 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-4.301, done=False
13:04:43 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
13:04:43 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep000
13:04:43 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 171 steps are enough
13:04:43 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep001
13:04:43 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
13:04:43 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
13:04:43 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.94220351 0.         1.23114947] 4.68721314392
13:04:48 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.571, done=False
13:04:49 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more)
13:04:49 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.566, done=False
13:04:50 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-0.543, done=False
13:04:50 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-0.494, done=False
13:04:51 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-0.424, done=False
13:04:52 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-0.375, done=False
13:04:53 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-0.329, done=False
13:04:54 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-0.244, done=False
13:04:55 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-0.182, done=False
13:04:56 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.142, done=False
13:04:56 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.904, done=False
13:04:57 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=288, reward=-1.124, done=False
13:04:58 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=312, reward=-1.713, done=False
13:04:59 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more)
13:04:59 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=336, reward=-2.54, done=False
13:05:00 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=360, reward=-3.495, done=False
13:05:00 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
13:05:00 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep001
13:05:00 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 375 steps are enough
13:05:00 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep002
13:05:00 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
13:05:00 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
13:05:00 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [0.84497723 0.         1.12248482] 4.62469817798
13:05:05 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.003, done=False
13:05:06 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=0.122, done=False
13:05:07 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=0.264, done=False
13:05:08 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=0.395, done=False
13:05:08 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=0.303, done=False
13:05:09 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more)
13:05:09 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=0.232, done=False
13:05:10 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=0.149, done=False
13:05:11 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=0.077, done=False
13:05:12 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=0.017, done=False
13:05:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.03, done=False
13:05:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.077, done=False
13:05:14 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=288, reward=-0.114, done=False
13:05:15 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=312, reward=-0.217, done=False
13:05:16 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=336, reward=-0.349, done=False
13:05:17 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=360, reward=-0.469, done=False
13:05:18 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=384, reward=-0.602, done=False
13:05:19 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
13:05:19 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep002
13:05:19 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 404 steps are enough
13:05:19 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep003
13:05:19 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
13:05:19 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
13:05:19 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.00329777 0.         0.86708317] 0.0349480490083
13:05:19 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more)
13:05:23 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-1.316, done=False
13:05:24 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-1.347, done=False
13:05:25 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.367, done=False
13:05:26 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.362, done=False
13:05:27 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-1.363, done=False
13:05:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.184, done=False
13:05:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.363, done=False
13:05:29 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more)
13:05:29 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-2.776, done=False
13:05:30 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-3.401, done=False
13:05:31 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-4.171, done=False
13:05:32 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
13:05:32 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep003
13:05:32 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 259 steps are enough
13:05:32 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep004
13:05:32 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
13:05:32 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
13:05:32 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [1.72410152 0.         3.21929481] 0.0317184229532
13:05:36 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-2.2, done=False
13:05:37 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-2.199, done=False
13:05:38 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-2.199, done=False
13:05:39 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more)
13:05:39 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-2.194, done=False
13:05:40 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.199, done=False
13:05:40 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.19, done=False
13:05:41 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.159, done=False
13:05:42 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-1.95, done=False
13:05:43 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-1.048, done=False
13:05:44 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.029, done=False
13:05:45 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.857, done=False
13:05:45 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
13:05:45 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep004
13:05:45 evaluator 13:04:27 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1
13:04:27 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14
13:04:28 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more)
13:04:29 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
13:04:29 solution INFO:duckietown-challenges:solution:Starting.
13:04:29 solution INFO:duckietown-challenges:solution:Creating model.
13:04:29 solution INFO:duckietown-challenges:solution:Making environment
13:04:29 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
13:04:29 solution INFO:duckietown-challenges:solution:Reset environment
13:04:32 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:04:36 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:04:46 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:05:03 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:05:22 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:05:35 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
13:05:45 solution INFO:duckietown-challenges:solution:Finished.
13:05:45 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml
13:05:46 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution().
13:05:46 solution Starting submission
13:05:46 solution (u'starting sub socket on', 8902)
       launcher|gym_simulation_launcher.py:119  - main           | 271 steps are enough
13:05:45 evaluator        launcher|gym_simulation_launcher.py:140  - main           | Simulation done.
13:05:45 evaluator        launcher|gym_simulation_launcher.py:152  - main           | Clean exit.
13:05:45 evaluator        launcher|gym_simulation_launcher.py:263  - <module>       | success
13:05:45 evaluator starting pub socket on port 8902
13:05:45 evaluator launch.sh >  gym_simulation_launcher terminated with return code 0
13:05:45 evaluator launch.sh >  Killing xvfb...
13:05:45 evaluator launch.sh >  Killed.
13:05:45 evaluator launch.sh >  Graceful exit of launch.sh with return code 0
13:05:46 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish
13:05:46 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0
13:05:46 evaluator INFO:duckietown-challenges:evaluation: saving files
13:05:46 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully.
13:05:46 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml