13:36:40 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 13:36:41 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 13:36:41 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 13:36:41 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 91 13:36:41 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 13:36:41 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 13:36:41 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 13:36:41 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 13:36:41 evaluator launch.sh > Starting xvfb 13:36:41 evaluator launch.sh > Started xvfb with PID 93 13:36:41 evaluator launch.sh > Now running gym_simulation_launcher.py 13:36:41 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 13:36:42 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 13:36:42 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 13:36:42 evaluator 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 13:36:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 13:36:42 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 13:36:42 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 13:36:42 evaluator 13:36:42 evaluator { 13:36:42 evaluator "challenge": "LF", 13:36:42 evaluator "episodes": 5, 13:36:42 evaluator "steps_per_episode": 500, 13:36:42 evaluator "environment-constructor": "Simulator", 13:36:42 evaluator "include_map": true, 13:36:42 evaluator "environment-parameters": { 13:36:42 evaluator "seed": 123, 13:36:42 evaluator "map_name": "loop_empty", 13:36:42 evaluator "max_steps": 500001, 13:36:42 evaluator "domain_rand": 0, 13:36:42 evaluator "camera_width": 640, 13:36:42 evaluator "camera_height": 480, 13:36:42 evaluator "accept_start_angle_deg": 4, 13:36:42 evaluator "full_transparency": true, 13:36:42 evaluator "distortion": true 13:36:42 evaluator }, 13:36:42 evaluator "agent-info": { 13:36:42 evaluator "challenge": "LF" 13:36:42 evaluator } 13:36:42 evaluator } 13:36:42 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 13:36:42 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 13:36:42 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 13:36:42 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 13:36:42 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 13:36:42 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 13:36:43 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 13:36:43 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 13:36:43 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 13:36:43 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 13:36:46 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmp4ByFBF/episodes 13:36:46 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 13:36:46 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 13:36:46 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 13:36:46 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:36:46 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:36:46 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 13:36:46 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'192.168.208.2', u'id': u'20648', u'msg': u'0'} 13:36:46 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'192.168.208.2', u'id': u'20648', u'msg': u'0'} 13:36:46 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 13:36:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.64, done=False 13:36:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.627, done=False 13:36:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.487, done=False 13:36:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.852, done=False 13:36:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.502, done=False 13:36:51 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 13:36:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.317, done=False 13:36:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.19, done=False 13:36:53 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:36:53 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 13:36:53 evaluator launcher|gym_simulation_launcher.py:119 - main | 171 steps are enough 13:36:53 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 13:36:53 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:36:53 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:36:53 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 13:36:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.59, done=False 13:36:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.603, done=False 13:36:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.622, done=False 13:37:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.659, done=False 13:37:01 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 13:37:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.736, done=False 13:37:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.812, done=False 13:37:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.907, done=False 13:37:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-1.072, done=False 13:37:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.275, done=False 13:37:05 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-1.504, done=False 13:37:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-2.531, done=False 13:37:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-2.9, done=False 13:37:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-3.478, done=False 13:37:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-4.228, done=False 13:37:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-5.064, done=False 13:37:10 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:37:10 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 13:37:10 evaluator launcher|gym_simulation_launcher.py:119 - main | 382 steps are enough 13:37:10 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 13:37:10 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:37:10 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:37:10 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 13:37:11 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 13:37:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=0.017, done=False 13:37:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.188, done=False 13:37:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.351, done=False 13:37:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.315, done=False 13:37:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.233, done=False 13:37:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.176, done=False 13:37:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.098, done=False 13:37:21 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 13:37:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.031, done=False 13:37:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.191, done=False 13:37:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.316, done=False 13:37:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.42, done=False 13:37:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.521, done=False 13:37:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-0.621, done=False 13:37:27 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-0.694, done=False 13:37:27 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:37:27 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 13:37:27 evaluator launcher|gym_simulation_launcher.py:119 - main | 338 steps are enough 13:37:27 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 13:37:27 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:37:27 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:37:27 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 13:37:31 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 13:37:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.337, done=False 13:37:33 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.368, done=False 13:37:34 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.396, done=False 13:37:35 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.456, done=False 13:37:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.481, done=False 13:37:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.292, done=False 13:37:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.406, done=False 13:37:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.756, done=False 13:37:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.311, done=False 13:37:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.062, done=False 13:37:41 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:37:41 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 13:37:41 evaluator launcher|gym_simulation_launcher.py:119 - main | 258 steps are enough 13:37:41 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 13:37:41 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 13:37:41 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 13:37:41 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 13:37:41 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 13:37:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.223, done=False 13:37:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.262, done=False 13:37:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.269, done=False 13:37:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.256, done=False 13:37:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.262, done=False 13:37:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.273, done=False 13:37:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.289, done=False 13:37:51 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more) 13:37:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.051, done=False 13:37:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.044, done=False 13:37:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.006, done=False 13:37:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.934, done=False 13:37:54 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 13:37:54 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 13:37:54 evaluator launcher|gym_simulation_launcher.py:119 - main | 270 steps are enough 13:37:54 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 13:37:54 evaluator launcher|gym_simulation_launcher.py13:36:39 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 13:36:39 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 13:36:40 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more) 13:36:41 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 13:36:41 solution INFO:duckietown-challenges:solution:Starting. 13:36:41 solution INFO:duckietown-challenges:solution:Creating model. 13:36:41 solution INFO:duckietown-challenges:solution:Making environment 13:36:41 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 13:36:42 solution INFO:duckietown-challenges:solution:Reset environment 13:36:45 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:36:56 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:37:13 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:37:30 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:37:44 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 13:37:54 solution INFO:duckietown-challenges:solution:Finished. 13:37:54 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 13:37:55 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 13:37:55 solution Starting submission 13:37:55 solution (u'starting sub socket on', 8902) :152 - main | Clean exit. 13:37:54 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 13:37:54 evaluator starting pub socket on port 8902 13:37:54 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 13:37:54 evaluator launch.sh > Killing xvfb... 13:37:54 evaluator launch.sh > Killed. 13:37:54 evaluator launch.sh > Graceful exit of launch.sh with return code 0 13:37:55 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 13:37:55 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 13:37:55 evaluator INFO:duckietown-challenges:evaluation: saving files 13:37:55 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 13:37:55 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml