03:58:55 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 03:58:56 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 03:58:56 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 03:58:56 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 12 03:58:56 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 03:58:56 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 03:58:56 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 03:58:56 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 03:58:56 evaluator launch.sh > Starting xvfb 03:58:56 evaluator launch.sh > Started xvfb with PID 14 03:58:56 evaluator launch.sh > Now running gym_simulation_launcher.py 03:58:57 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 03:58:58 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 03:58:58 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 03:58:58 evaluator 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 03:58:58 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 03:58:58 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 03:58:58 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 03:58:58 evaluator 03:58:58 evaluator { 03:58:58 evaluator "challenge": "LF", 03:58:58 evaluator "episodes": 5, 03:58:58 evaluator "steps_per_episode": 500, 03:58:58 evaluator "environment-constructor": "Simulator", 03:58:58 evaluator "include_map": true, 03:58:58 evaluator "environment-parameters": { 03:58:58 evaluator "seed": 123, 03:58:58 evaluator "map_name": "loop_pedestrians", 03:58:58 evaluator "max_steps": 500000, 03:58:58 evaluator "domain_rand": 0, 03:58:58 evaluator "camera_width": 640, 03:58:58 evaluator "camera_height": 480, 03:58:58 evaluator "accept_start_angle_deg": 4, 03:58:58 evaluator "full_transparency": true, 03:58:58 evaluator "distortion": true 03:58:58 evaluator }, 03:58:58 evaluator "agent-info": { 03:58:58 evaluator "challenge": "LF" 03:58:58 evaluator } 03:58:58 evaluator } 03:58:58 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 03:58:59 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 03:58:59 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 03:58:59 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_pedestrians.yaml" 03:58:59 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 03:58:59 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 03:58:59 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 03:58:59 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 03:59:00 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 03:59:00 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/barrier.obj" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/barrier.png" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 03:59:00 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 03:59:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 03:59:02 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmpURSExk/episodes 03:59:02 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 03:59:02 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 03:59:02 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 03:59:02 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 03:59:02 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 03:59:02 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 03:59:02 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'192.168.224.3', u'id': u'81504', u'msg': u'0'} 03:59:02 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'192.168.224.3', u'id': u'81504', u'msg': u'0'} 03:59:02 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 03:59:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.623, done=False 03:59:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.549, done=False 03:59:05 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.366, done=False 03:59:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.685, done=False 03:59:06 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 03:59:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.346, done=False 03:59:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.166, done=False 03:59:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.151, done=False 03:59:09 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 03:59:09 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 03:59:09 evaluator launcher|gym_simulation_launcher.py:119 - main | 170 steps are enough 03:59:09 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 03:59:09 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 03:59:09 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 03:59:09 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.76064694 0. 1.32780327] 4.70968603566 03:59:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.442, done=False 03:59:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.487, done=False 03:59:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.502, done=False 03:59:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.476, done=False 03:59:16 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 03:59:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.469, done=False 03:59:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.481, done=False 03:59:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.47, done=False 03:59:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.395, done=False 03:59:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.286, done=False 03:59:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.997, done=False 03:59:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.429, done=False 03:59:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.957, done=False 03:59:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-1.953, done=False 03:59:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-3.004, done=False 03:59:26 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 03:59:26 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 03:59:26 evaluator launcher|gym_simulation_launcher.py:119 - main | 356 steps are enough 03:59:26 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 03:59:26 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 03:59:26 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 03:59:26 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.19991874 0. 1.04887923] 3.10261496322 03:59:26 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 03:59:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.993, done=False 03:59:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.386, done=False 03:59:33 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.387, done=False 03:59:34 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.501, done=False 03:59:34 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 03:59:34 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 03:59:34 evaluator launcher|gym_simulation_launcher.py:119 - main | 113 steps are enough 03:59:34 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 03:59:34 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 03:59:34 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 03:59:34 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.65733059 0. 2.53968888] 3.71783871533 03:59:36 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 03:59:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.833, done=False 03:59:40 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 03:59:40 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 03:59:40 evaluator launcher|gym_simulation_launcher.py:119 - main | 42 steps are enough 03:59:40 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 03:59:40 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 03:59:40 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 03:59:40 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.73122222 0. 0.98704716] 3.03336507754 03:59:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.414, done=False 03:59:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.294, done=False 03:59:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.198, done=False 03:59:46 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 03:59:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.117, done=False 03:59:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.023, done=False 03:03:58:55 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 03:58:55 solution INFO:duckietown-challenges:duckietown-challenges 3.2.13 03:58:56 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more) 03:58:57 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 03:58:57 solution INFO:duckietown-challenges:solution:Starting. 03:58:57 solution INFO:duckietown-challenges:solution:Creating model. 03:58:57 solution INFO:duckietown-challenges:solution:Making environment 03:58:57 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 03:58:59 solution INFO:duckietown-challenges:solution:Reset environment 03:59:02 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 03:59:12 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 03:59:29 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 03:59:37 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 03:59:43 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 03:59:56 solution INFO:duckietown-challenges:solution:Finished. 03:59:56 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 03:59:56 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 03:59:56 solution Starting submission 03:59:56 solution (u'starting sub socket on', 8902) 59:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.887, done=False 03:59:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.696, done=False 03:59:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.434, done=False 03:59:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.161, done=False 03:59:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.116, done=False 03:59:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.326, done=False 03:59:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.07, done=False 03:59:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-2.727, done=False 03:59:56 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 03:59:56 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 03:59:56 evaluator launcher|gym_simulation_launcher.py:119 - main | 325 steps are enough 03:59:56 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 03:59:56 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 03:59:56 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 03:59:56 evaluator starting pub socket on port 8902 03:59:56 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 03:59:56 evaluator launch.sh > Killing xvfb... 03:59:56 evaluator launch.sh > Killed. 03:59:56 evaluator launch.sh > Graceful exit of launch.sh with return code 0 03:59:56 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 03:59:56 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 03:59:56 evaluator INFO:duckietown-challenges:evaluation: saving files 03:59:56 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 03:59:58 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml