10:57:32 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:57:32 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 10:57:32 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:57:32 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 10:57:32 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 10:57:32 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 10:57:32 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 10:57:32 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:57:32 evaluator launch.sh > Starting xvfb 10:57:32 evaluator launch.sh > Started xvfb with PID 92 10:57:32 evaluator launch.sh > Now running gym_simulation_launcher.py 10:57:33 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:57:33 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:57:33 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 10:57:33 evaluator 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 10:57:33 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 10:57:33 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 10:57:33 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 10:57:33 evaluator 10:57:33 evaluator { 10:57:33 evaluator "challenge": "LF", 10:57:33 evaluator "episodes": 5, 10:57:33 evaluator "steps_per_episode": 500, 10:57:33 evaluator "environment-constructor": "Simulator", 10:57:33 evaluator "include_map": true, 10:57:33 evaluator "environment-parameters": { 10:57:33 evaluator "seed": 123, 10:57:33 evaluator "map_name": "loop_empty", 10:57:33 evaluator "max_steps": 500001, 10:57:33 evaluator "domain_rand": 0, 10:57:33 evaluator "camera_width": 640, 10:57:33 evaluator "camera_height": 480, 10:57:33 evaluator "accept_start_angle_deg": 4, 10:57:33 evaluator "full_transparency": true, 10:57:33 evaluator "distortion": true 10:57:33 evaluator }, 10:57:33 evaluator "agent-info": { 10:57:33 evaluator "challenge": "LF" 10:57:33 evaluator } 10:57:33 evaluator } 10:57:33 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 10:57:34 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:57:34 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:57:34 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 10:57:34 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 10:57:34 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 10:57:34 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 10:57:34 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 10:57:34 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 10:57:34 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 10:57:34 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 10:57:35 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 10:57:35 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 10:57:35 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 10:57:35 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 10:57:38 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmplnQFgF/episodes 10:57:38 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 10:57:38 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 10:57:38 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:57:38 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:57:38 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:57:38 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 10:57:38 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'172.31.0.2', u'id': u'99431', u'msg': u'0'} 10:57:38 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'99431', u'msg': u'0'} 10:57:38 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 10:57:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.635, done=False 10:57:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.657, done=False 10:57:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.573, done=False 10:57:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.977, done=False 10:57:42 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 10:57:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.632, done=False 10:57:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.474, done=False 10:57:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.419, done=False 10:57:44 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:57:44 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:57:44 evaluator launcher|gym_simulation_launcher.py:119 - main | 170 steps are enough 10:57:44 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 10:57:44 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:57:44 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:57:44 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 10:57:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.622, done=False 10:57:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.646, done=False 10:57:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.644, done=False 10:57:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.655, done=False 10:57:52 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 10:57:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.605, done=False 10:57:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.541, done=False 10:57:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.489, done=False 10:57:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.449, done=False 10:57:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.389, done=False 10:57:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.303, done=False 10:57:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.993, done=False 10:57:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-1.117, done=False 10:57:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-1.645, done=False 10:58:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-2.47, done=False 10:58:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-3.414, done=False 10:58:02 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:02 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 10:58:02 evaluator launcher|gym_simulation_launcher.py:119 - main | 375 steps are enough 10:58:02 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:58:02 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:02 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:02 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 10:58:02 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 10:58:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.038, done=False 10:58:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.021, done=False 10:58:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.064, done=False 10:58:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.07, done=False 10:58:10 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.068, done=False 10:58:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.059, done=False 10:58:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.066, done=False 10:58:12 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 10:58:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.089, done=False 10:58:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.098, done=False 10:58:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.122, done=False 10:58:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.138, done=False 10:58:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=0.146, done=False 10:58:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=0.178, done=False 10:58:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=0.208, done=False 10:58:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=0.221, done=False 10:58:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=0.195, done=False 10:58:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=408, reward=0.172, done=False 10:58:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=432, reward=0.166, done=False 10:58:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=456, reward=0.352, done=False 10:58:22 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 10:58:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=480, reward=-0.078, done=False 10:58:24 evaluator launcher|gym_simulation_launcher.py:255 - run_episode | breaking because steps = 500 10:58:24 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:58:24 evaluator launcher|gym_simulation_launcher.py:119 - main | 500 steps are enough 10:58:24 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 10:58:24 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:24 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:24 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 10:58:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.358, done=False 10:58:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.423, done=False 10:58:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.489, done=False 10:58:27 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.541, done=False 10:58:28 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.617, done=False 10:58:29 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.461, done=False 10:58:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.617, done=False 10:58:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.991, done=False 10:58:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.579, done=False 10:58:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.329, done=False 10:58:32 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 10:58:33 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:33 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 10:58:33 evaluator launcher|gym_simulation_launcher.py:119 - main | 258 steps are enough 10:58:33 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 10:58:33 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:33 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:33 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 10:58:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.214, done=False 10:58:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.23, done=False 10:58:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.225, done=False 10:58:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.2, done=False 10:58:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.189, done=False 10:58:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.216, done=False 10:58:42 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more) 10:58:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.249, done=False 10:58:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.027, done=False 10:58:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.07, done=False 10:58:46 evaluator launcher|10:57:33 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 10:57:33 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 10:57:33 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:57:33 solution INFO:duckietown-challenges:solution:Starting. 10:57:33 solution INFO:duckietown-challenges:solution:Creating model. 10:57:33 solution INFO:duckietown-challenges:solution:Making environment 10:57:33 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:57:34 solution INFO:duckietown-challenges:solution:Reset environment 10:57:37 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:57:47 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:05 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:36 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:48 solution INFO:duckietown-challenges:solution:Finished. 10:58:48 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 10:58:49 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 10:58:49 solution Starting submission 10:58:49 solution (u'starting sub socket on', 8902) gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.026, done=False 10:58:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.896, done=False 10:58:48 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:48 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 10:58:48 evaluator launcher|gym_simulation_launcher.py:119 - main | 270 steps are enough 10:58:48 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 10:58:48 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 10:58:48 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 10:58:48 evaluator starting pub socket on port 8902 10:58:48 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 10:58:48 evaluator launch.sh > Killing xvfb... 10:58:48 evaluator launch.sh > Killed. 10:58:48 evaluator launch.sh > Graceful exit of launch.sh with return code 0 10:58:48 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 10:58:48 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 10:58:48 evaluator INFO:duckietown-challenges:evaluation: saving files 10:58:48 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 10:58:49 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml