13:04:27 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 13:04:28 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 13:04:28 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 13:04:28 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 13:04:28 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 13:04:28 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 13:04:28 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 13:04:28 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 13:04:28 evaluator launch.sh > Starting xvfb 13:04:28 evaluator launch.sh > Started xvfb with PID 92 13:04:28 evaluator launch.sh > Now running gym_simulation_launcher.py 13:04:28 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 13:04:28 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 13:04:28 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 13:04:28 evaluator 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 13:04:28 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 13:04:28 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 13:04:28 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 13:04:28 evaluator 13:04:28 evaluator { 13:04:28 evaluator "challenge": "LF", 13:04:28 evaluator "episodes": 5, 13:04:28 evaluator "steps_per_episode": 500, 13:04:28 evaluator "environment-constructor": "Simulator", 13:04:28 evaluator "include_map": true, 13:04:28 evaluator "environment-parameters": { 13:04:28 evaluator "seed": 123, 13:04:28 evaluator "map_name": "loop_empty", 13:04:28 evaluator "max_steps": 500001, 13:04:28 evaluator "domain_rand": 0, 13:04:28 evaluator "camera_width": 640, 13:04:28 evaluator "camera_height": 480, 13:04:28 evaluator "accept_start_angle_deg": 4, 13:04:28 evaluator "full_transparency": true, 13:04:28 evaluator "distortion": true 13:04:28 evaluator }, 13:04:28 evaluator "agent-info": { 13:04:28 evaluator "challenge": "LF" 13:04:28 evaluator } 13:04:28 evaluator } 13:04:28 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 13:04:29 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 13:04:29 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 13:04:29 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 13:04:29 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 13:04:29 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 13:04:29 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 13:04:29 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 13:04:30 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 13:04:30 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 13:04:30 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 13:04:30 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 13:04:30 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 13:04:30 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 13:04:30 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 13:04:33 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmpno57IE/episodes 13:04:33 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 13:04:33 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 13:04:33 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 13:04:33 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:04:33 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:04:33 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 13:04:33 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'172.31.0.2', u'id': u'77363', u'msg': u'0'} 13:04:33 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'172.31.0.2', u'id': u'77363', u'msg': u'0'} 13:04:33 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 13:04:38 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 13:04:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.648, done=False 13:04:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.683, done=False 13:04:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.56, done=False 13:04:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.912, done=False 13:04:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.566, done=False 13:04:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.438, done=False 13:04:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.395, 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 | 169 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 13:04:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.582, done=False 13:04:48 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 13:04:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.536, done=False 13:04:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.452, done=False 13:04:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.357, done=False 13:04:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.258, done=False 13:04:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.125, done=False 13:04:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.029, done=False 13:04:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.233, done=False 13:04:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.28, done=False 13:04:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.018, done=False 13:04:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-1.019, done=False 13:04:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.748, done=False 13:04:58 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 13:04:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-0.653, done=False 13:04:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-1.629, done=False 13:04:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-2.693, done=False 13:05:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=-3.5, 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 | 385 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=-0.03, done=False 13:05:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.064, done=False 13:05:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.158, done=False 13:05:08 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 13:05:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.213, done=False 13:05:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.257, done=False 13:05:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.303, done=False 13:05:10 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.334, done=False 13:05:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.373, done=False 13:05:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.376, done=False 13:05:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.341, done=False 13:05:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.29, done=False 13:05:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=0.222, done=False 13:05:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=0.193, done=False 13:05:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=0.176, done=False 13:05:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=0.149, done=False 13:05:18 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 13:05:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=0.154, done=False 13:05:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=408, reward=0.167, done=False 13:05:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=432, reward=0.127, done=False 13:05:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=456, reward=-0.19, done=False 13:05:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=480, reward=-0.761, done=False 13:05:23 evaluator launcher|gym_simulation_launcher.py:255 - run_episode | breaking because steps = 500 13:05:23 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 13:05:23 evaluator launcher|gym_simulation_launcher.py:119 - main | 500 steps are enough 13:05:23 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 13:05:23 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:05:23 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:05:23 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 13:05:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.335, done=False 13:05:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.363, done=False 13:05:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.377, done=False 13:05:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.379, done=False 13:05:27 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.391, done=False 13:05:28 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 13:05:28 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.227, done=False 13:05:29 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.41, done=False 13:05:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.847, done=False 13:05:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.512, done=False 13:05:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.343, 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 13:05:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.226, done=False 13:05:38 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more) 13:05:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.281, done=False 13:05:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.317, done=False 13:05:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.319, done=False 13:05:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.345, done=False 13:05:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.387, done=False 13:05:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.416, done=False 13:05:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.119, done=False 13:05:44 evaluator launcher|gym_s13:04:27 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 13:04:27 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 13:04:27 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more) 13:04:28 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 13:04:28 solution INFO:duckietown-challenges:solution:Starting. 13:04:28 solution INFO:duckietown-challenges:solution:Creating model. 13:04:28 solution INFO:duckietown-challenges:solution:Making environment 13:04:28 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 13:05:35 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:05:47 solution INFO:duckietown-challenges:solution:Finished. 13:05:47 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 13:05:48 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 13:05:48 solution Starting submission 13:05:48 solution (u'starting sub socket on', 8902) imulation_launcher.py:231 - run_episode | step_count=216, reward=-1.096, done=False 13:05:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.027, done=False 13:05:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.983, done=False 13:05:47 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:05:47 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 13:05:47 evaluator launcher|gym_simulation_launcher.py:119 - main | 270 steps are enough 13:05:47 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 13:05:47 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 13:05:47 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 13:05:47 evaluator starting pub socket on port 8902 13:05:47 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 13:05:47 evaluator launch.sh > Killing xvfb... 13:05:47 evaluator launch.sh > Killed. 13:05:47 evaluator launch.sh > Graceful exit of launch.sh with return code 0 13:05:48 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 13:05:48 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 13:05:48 evaluator INFO:duckietown-challenges:evaluation: saving files 13:05:48 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 13:05:48 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml