03:58:04 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
03:58:05 evaluator INFO:duckietown-challenges:evaluation: Preparing here..
03:58:05 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
03:58:05 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90
03:58:05 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate...
03:58:05 evaluator INFO:duckietown-challenges:evaluation: Preparation done.
03:58:05 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml
03:58:05 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more)
03:58:05 evaluator launch.sh >  Starting xvfb
03:58:05 evaluator launch.sh >  Started xvfb with PID 92
03:58:05 evaluator launch.sh >  Now running gym_simulation_launcher.py
03:58:05 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
03:58:06 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
03:58:06 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1
03:58:06 evaluator 
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0
03:58:06 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0
03:58:06 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
03:58:06 evaluator        launcher|gym_simulation_launcher.py:48   - main           | launcher parameters:
03:58:06 evaluator 
03:58:06 evaluator {
03:58:06 evaluator     "challenge": "LF", 
03:58:06 evaluator     "episodes": 5, 
03:58:06 evaluator     "steps_per_episode": 500, 
03:58:06 evaluator     "environment-constructor": "Simulator", 
03:58:06 evaluator     "include_map": true, 
03:58:06 evaluator     "environment-parameters": {
03:58:06 evaluator         "seed": 123, 
03:58:06 evaluator         "map_name": "loop_empty", 
03:58:06 evaluator         "max_steps": 500001, 
03:58:06 evaluator         "domain_rand": 0, 
03:58:06 evaluator         "camera_width": 640, 
03:58:06 evaluator         "camera_height": 480, 
03:58:06 evaluator         "accept_start_angle_deg": 4, 
03:58:06 evaluator         "full_transparency": true, 
03:58:06 evaluator         "distortion": true
03:58:06 evaluator     }, 
03:58:06 evaluator     "agent-info": {
03:58:06 evaluator         "challenge": "LF"
03:58:06 evaluator     }
03:58:06 evaluator }
03:58:06 evaluator        launcher|gym_simulation_launcher.py:59   - main           | using gym-duckietown version 2018.10.1
03:58:06 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
03:58:06 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
03:58:06 evaluator  gym-duckietown|   simulator.py:490  - _load_map      | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml"
03:58:06 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj"
03:58:06 evaluator  gym-duckietown|     objmesh.py:238  - _load_mtl      | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl"
03:58:06 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj"
03:58:06 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png"
03:58:07 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj"
03:58:07 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png"
03:58:07 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png"
03:58:07 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png"
03:58:07 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png"
03:58:07 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png"
03:58:07 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [4.05833625 0.         2.17835003] 1.62929007381
03:58:11 evaluator        launcher|gym_simulation_launcher.py:74   - main           | Logging gym state to: /tmp/tmpdeaz5j/episodes
03:58:11 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [2.75442323 0.         3.0079666 ] 4.83604950287
03:58:11 evaluator        launcher|gym_simulation_launcher.py:89   - main           | Simulator listening to incoming connections...
03:58:11 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep000
03:58:11 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
03:58:11 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
03:58:11 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.57449761 0.         1.00806868] 0.0328325810557
03:58:11 evaluator        launcher|gym_simulation_launcher.py:237  - run_episode    | received ping: {u'topic': 1, u'ip': u'172.18.0.3', u'id': u'94346', u'msg': u'0'}
03:58:11 evaluator        launcher|gym_simulation_launcher.py:240  - run_episode    | received 2, resetting: {u'topic': 2, u'ip': u'172.18.0.3', u'id': u'94346', u'msg': u'0'}
03:58:11 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.9473256  0.         2.19364627] 4.70207132071
03:58:15 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more)
03:58:15 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.6, done=False
03:58:16 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.547, done=False
03:58:17 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.369, done=False
03:58:18 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.737, done=False
03:58:19 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.417, done=False
03:58:20 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-3.297, done=False
03:58:20 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
03:58:20 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-1000, done=True
03:58:20 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep000
03:58:20 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 168 steps are enough
03:58:20 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep001
03:58:20 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
03:58:20 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
03:58:20 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.94220351 0.         1.23114947] 4.68721314392
03:58:25 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more)
03:58:26 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.547, done=False
03:58:26 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.458, done=False
03:58:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-0.334, done=False
03:58:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-0.192, done=False
03:58:29 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-0.08, done=False
03:58:30 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=0.007, done=False
03:58:31 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=0.097, done=False
03:58:32 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=0.248, done=False
03:58:33 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=0.396, done=False
03:58:34 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=0.281, done=False
03:58:35 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.66, done=False
03:58:35 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more)
03:58:36 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=288, reward=-0.397, done=False
03:58:37 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=312, reward=-0.976, done=False
03:58:38 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=336, reward=-1.926, done=False
03:58:39 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=360, reward=-2.956, done=False
03:58:39 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
03:58:39 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep001
03:58:39 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 379 steps are enough
03:58:39 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep002
03:58:39 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
03:58:39 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
03:58:39 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [0.84497723 0.         1.12248482] 4.62469817798
03:58:44 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.022, done=False
03:58:45 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more)
03:58:45 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=0.099, done=False
03:58:46 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=0.219, done=False
03:58:47 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=0.354, done=False
03:58:48 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=0.256, done=False
03:58:49 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=0.11, done=False
03:58:49 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-0.026, done=False
03:58:50 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-0.195, done=False
03:58:51 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-0.408, done=False
03:58:52 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.618, done=False
03:58:53 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
03:58:53 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep002
03:58:53 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 255 steps are enough
03:58:53 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep003
03:58:53 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
03:58:53 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
03:58:53 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.00329777 0.         0.86708317] 0.0349480490083
03:58:55 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more)
03:58:58 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-1.348, done=False
03:58:59 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-1.379, done=False
03:59:00 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.449, done=False
03:59:01 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.53, done=False
03:59:02 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-1.621, done=False
03:59:03 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.516, done=False
03:59:03 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.717, done=False
03:59:04 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-3.139, done=False
03:59:05 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more)
03:59:05 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-3.753, done=False
03:59:06 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-4.517, done=False
03:59:07 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
03:59:07 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep003
03:59:07 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 259 steps are enough
03:59:07 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep004
03:59:07 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
03:59:07 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
03:59:07 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [1.72410152 0.         3.21929481] 0.0317184229532
03:59:12 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-2.206, done=False
03:59:12 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-2.229, done=False
03:59:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-2.282, done=False
03:59:14 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-2.325, done=False
03:59:15 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more)
03:59:15 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.379, done=False
03:59:16 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.429, done=False
03:59:17 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.436, done=False
03:59:18 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-2.177, done=False
03:59:18 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-1.155, done=False
03:59:19 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.102, done=False
03:59:20 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.854, done=False
03:59:20 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
03:59:20 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep004
03:59:20 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 271 steps are enough
03:59:20 evaluator        launcher|gym_simulation_launcher.py:140  - main           | Simulation done.
03:59:20 evaluator        launcher|gym_simulation_launcher.py:152  - main           | Clean exit.
03:59:20 evaluator        launcher|gym_simulation_launcher.py:263  - <module>       | success
03:59:20 evaluator starting pub socket on port 8902
03:59:21 evaluator launch.sh >  gym_simulation_launcher terminated with return code 0
03:59:21 evaluator launch.sh >  Killing xvfb...
03:59:21 evaluator launch.sh >  Killed.
03:59:21 evaluator launch.sh >  Graceful exit of launch.sh with return code 0
03:59:21 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish
03:59:21 eva03:58:05 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1
03:58:05 solution INFO:duckietown-challenges:duckietown-challenges 3.2.13
03:58:06 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
03:58:06 solution INFO:duckietown-challenges:solution:Starting.
03:58:06 solution INFO:duckietown-challenges:solution:Creating model.
03:58:06 solution INFO:duckietown-challenges:solution:Making environment
03:58:06 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
03:58:06 solution INFO:duckietown-challenges:solution:Reset environment
03:58:09 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:58:13 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:58:23 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:58:42 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:58:56 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:59:10 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
03:59:20 solution INFO:duckietown-challenges:solution:Finished.
03:59:20 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml
03:59:21 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution().
03:59:21 solution Starting submission
03:59:21 solution (u'starting sub socket on', 8902)
luator INFO:duckietown-challenges:evaluation: finished with return code 0
03:59:21 evaluator INFO:duckietown-challenges:evaluation: saving files
03:59:21 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully.
03:59:21 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml