10:41:24 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:41:25 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 10:41:25 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:41:25 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 10:41:25 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 10:41:25 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 10:41:25 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 10:41:25 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:41:25 evaluator launch.sh > Starting xvfb 10:41:25 evaluator launch.sh > Started xvfb with PID 92 10:41:25 evaluator launch.sh > Now running gym_simulation_launcher.py 10:41:25 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:41:26 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:41:26 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 10:41:26 evaluator 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 10:41:26 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 10:41:26 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 10:41:26 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 10:41:26 evaluator 10:41:26 evaluator { 10:41:26 evaluator "challenge": "LF", 10:41:26 evaluator "episodes": 5, 10:41:26 evaluator "steps_per_episode": 500, 10:41:26 evaluator "environment-constructor": "Simulator", 10:41:26 evaluator "include_map": true, 10:41:26 evaluator "environment-parameters": { 10:41:26 evaluator "seed": 123, 10:41:26 evaluator "map_name": "loop_empty", 10:41:26 evaluator "max_steps": 500001, 10:41:26 evaluator "domain_rand": 0, 10:41:26 evaluator "camera_width": 640, 10:41:26 evaluator "camera_height": 480, 10:41:26 evaluator "accept_start_angle_deg": 4, 10:41:26 evaluator "full_transparency": true, 10:41:26 evaluator "distortion": true 10:41:26 evaluator }, 10:41:26 evaluator "agent-info": { 10:41:26 evaluator "challenge": "LF" 10:41:26 evaluator } 10:41:26 evaluator } 10:41:26 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 10:41:27 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:41:27 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:41:27 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 10:41:27 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 10:41:27 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 10:41:27 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 10:41:27 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 10:41:27 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 10:41:27 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 10:41:27 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 10:41:28 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 10:41:28 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 10:41:28 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 10:41:28 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 10:41:31 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmpW0DNJn/episodes 10:41:31 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 10:41:31 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 10:41:31 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:41:31 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:41:31 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:41:31 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 10:41:31 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'192.168.192.2', u'id': u'58320', u'msg': u'0'} 10:41:31 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'192.168.192.2', u'id': u'58320', u'msg': u'0'} 10:41:31 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 10:41:35 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 10:41:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.98, done=False 10:41:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.355, done=False 10:41:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-3.207, done=False 10:41:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-4.228, done=False 10:41:39 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:41:39 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:41:39 evaluator launcher|gym_simulation_launcher.py:119 - main | 115 steps are enough 10:41:39 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 10:41:39 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:41:39 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:41:39 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 10:41:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.525, done=False 10:41:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.297, done=False 10:41:45 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 10:41:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.216, done=False 10:41:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.016, done=False 10:41:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.061, done=False 10:41:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.338, done=False 10:41:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-1.275, done=False 10:41:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.123, done=False 10:41:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.692, done=False 10:41:52 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:41:52 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 10:41:52 evaluator launcher|gym_simulation_launcher.py:119 - main | 232 steps are enough 10:41:52 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:41:52 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:41:52 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:41:52 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 10:41:55 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 10:41:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.123, done=False 10:41:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.413, done=False 10:42:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.581, done=False 10:42:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.884, done=False 10:42:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.135, done=False 10:42:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-1.489, done=False 10:42:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-1.702, done=False 10:42:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.105, done=False 10:42:05 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 10:42:05 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-2.541, done=False 10:42:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-3.012, done=False 10:42:06 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:42:06 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:42:06 evaluator launcher|gym_simulation_launcher.py:119 - main | 251 steps are enough 10:42:06 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 10:42:06 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:42:06 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:42:07 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 10:42:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.676, done=False 10:42:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.264, done=False 10:42:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.702, done=False 10:42:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.888, done=False 10:42:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-3.964, done=False 10:42:15 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 10:42:15 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:42:15 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 10:42:15 evaluator launcher|gym_simulation_launcher.py:119 - main | 133 steps are enough 10:42:15 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 10:42:15 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:42:15 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:42:16 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 10:42:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.967, done=False 10:42:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.465, done=False 10:42:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.74, done=False 10:42:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.12, done=False 10:42:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.705, done=False 10:42:25 evaluator gym-duckietown| simulator.py:1244 - step 10:41:26 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 10:41:26 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 10:41:26 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:41:26 solution INFO:duckietown-challenges:solution:Starting. 10:41:26 solution INFO:duckietown-challenges:solution:Creating model. 10:41:26 solution INFO:duckietown-challenges:solution:Making environment 10:41:26 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:41:27 solution INFO:duckietown-challenges:solution:Reset environment 10:41:30 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:41:34 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:41:42 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:41:55 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:42:09 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:42:18 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:42:25 solution INFO:duckietown-challenges:solution:Finished. 10:42:25 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 10:42:25 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 10:42:25 solution Starting submission 10:42:25 solution (u'starting sub socket on', 8902) | Stopping the simulator because we are at an invalid pose. 10:42:25 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 10:42:25 evaluator launcher|gym_simulation_launcher.py:119 - main | 130 steps are enough 10:42:25 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 10:42:25 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 10:42:25 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 10:42:25 evaluator starting pub socket on port 8902 10:42:25 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 10:42:25 evaluator launch.sh > Killing xvfb... 10:42:25 evaluator launch.sh > Killed. 10:42:25 evaluator launch.sh > Graceful exit of launch.sh with return code 0 10:42:25 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 10:42:25 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 10:42:25 evaluator INFO:duckietown-challenges:evaluation: saving files 10:42:25 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 10:42:25 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml