09:56:49 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 09:56:50 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 09:56:50 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 09:56:50 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 09:56:50 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 09:56:50 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 09:56:50 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 09:56:50 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 09:56:50 evaluator launch.sh > Starting xvfb 09:56:50 evaluator launch.sh > Started xvfb with PID 92 09:56:50 evaluator launch.sh > Now running gym_simulation_launcher.py 09:56:50 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 09:56:50 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 09:56:50 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 09:56:50 evaluator 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 09:56:50 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 09:56:51 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 09:56:51 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 09:56:51 evaluator 09:56:51 evaluator { 09:56:51 evaluator "challenge": "LF", 09:56:51 evaluator "episodes": 5, 09:56:51 evaluator "steps_per_episode": 500, 09:56:51 evaluator "environment-constructor": "Simulator", 09:56:51 evaluator "include_map": true, 09:56:51 evaluator "environment-parameters": { 09:56:51 evaluator "seed": 123, 09:56:51 evaluator "map_name": "loop_empty", 09:56:51 evaluator "max_steps": 500001, 09:56:51 evaluator "domain_rand": 0, 09:56:51 evaluator "camera_width": 640, 09:56:51 evaluator "camera_height": 480, 09:56:51 evaluator "accept_start_angle_deg": 4, 09:56:51 evaluator "full_transparency": true, 09:56:51 evaluator "distortion": true 09:56:51 evaluator }, 09:56:51 evaluator "agent-info": { 09:56:51 evaluator "challenge": "LF" 09:56:51 evaluator } 09:56:51 evaluator } 09:56:51 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 09:56:51 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 09:56:51 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 09:56:51 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 09:56:51 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 09:56:51 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 09:56:51 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 09:56:51 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 09:56:52 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 09:56:52 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 09:56:52 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 09:56:52 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 09:56:52 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 09:56:52 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 09:56:52 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 09:56:55 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmp9xt_gj/episodes 09:56:55 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 09:56:55 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 09:56:55 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 09:56:55 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 09:56:55 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 09:56:55 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 09:56:55 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'172.30.0.3', u'id': u'40489', u'msg': u'0'} 09:56:55 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'172.30.0.3', u'id': u'40489', u'msg': u'0'} 09:56:55 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 09:56:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.642, done=False 09:56:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.587, done=False 09:56:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.421, done=False 09:56:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.799, done=False 09:56:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.486, done=False 09:57:00 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 09:57:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.314, done=False 09:57:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.261, done=False 09:57:01 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 09:57:01 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 09:57:01 evaluator launcher|gym_simulation_launcher.py:119 - main | 169 steps are enough 09:57:01 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 09:57:01 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 09:57:01 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 09:57:01 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 09:57:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.552, done=False 09:57:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.466, done=False 09:57:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.378, done=False 09:57:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.274, done=False 09:57:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.169, done=False 09:57:10 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 09:57:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.095, done=False 09:57:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.039, done=False 09:57:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.004, done=False 09:57:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.094, done=False 09:57:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.244, done=False 09:57:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.404, done=False 09:57:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.623, done=False 09:57:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-1.285, done=False 09:57:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-2.186, done=False 09:57:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-3.198, done=False 09:57:19 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 09:57:19 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 09:57:19 evaluator launcher|gym_simulation_launcher.py:119 - main | 377 steps are enough 09:57:19 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 09:57:19 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 09:57:19 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 09:57:19 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 09:57:20 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 09:57:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.017, done=False 09:57:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.12, done=False 09:57:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.235, done=False 09:57:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.36, done=False 09:57:27 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.283, done=False 09:57:28 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.121, done=False 09:57:29 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.055, done=False 09:57:30 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 09:57:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.266, done=False 09:57:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.48, done=False 09:57:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.662, done=False 09:57:32 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 09:57:32 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 09:57:32 evaluator launcher|gym_simulation_launcher.py:119 - main | 250 steps are enough 09:57:32 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 09:57:32 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 09:57:32 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 09:57:32 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 09:57:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.355, done=False 09:57:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.416, done=False 09:57:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.444, done=False 09:57:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.43, done=False 09:57:40 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 09:57:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.407, done=False 09:57:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.219, done=False 09:57:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.337, done=False 09:57:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.694, done=False 09:57:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.286, done=False 09:57:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.028, done=False 09:57:46 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 09:57:46 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 09:57:46 evaluator launcher|gym_simulation_launcher.py:119 - main | 260 steps are enough 09:57:46 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 09:57:46 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 09:57:46 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 09:57:46 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 09:57:50 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 09:57:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.222, done=False 09:57:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.275, done=False 09:57:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.333, done=False 09:57:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.386, done=False 09:57:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.427, done=False 09:57:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.474, done=False 09:57:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.452, done=False 09:57:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.134, done=False 09:57:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.049, done=False 09:57:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.056, done=False 09:57:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-1.069, done=False 09:57:59 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 09:57:59 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 09:57:59 evaluator launcher|gym_simulation_launcher.py:119 - main | 269 steps are enough 09:57:59 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 09:57:59 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 09:57:59 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 09:57:59 evaluator starting pub socket on port 8902 09:57:59 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 09:57:59 evaluator launch.sh > Killing xvfb... 09:57:59 evaluator launch.sh > Killed. 09:57:59 evaluator launch.sh > Graceful exit of launch.sh with return code 0 09:58:00 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 09:58:00 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 09:58:00 evaluator INFO:duckietown-challenges:evaluation: saving files09:56:50 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 09:56:50 solution INFO:duckietown-challenges:duckietown-challenges 3.2.13 09:56:51 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 09:56:51 solution INFO:duckietown-challenges:solution:Starting. 09:56:51 solution INFO:duckietown-challenges:solution:Creating model. 09:56:51 solution INFO:duckietown-challenges:solution:Making environment 09:56:51 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 09:56:51 solution INFO:duckietown-challenges:solution:Reset environment 09:56:54 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 09:57:04 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 09:57:22 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 09:57:35 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 09:57:49 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 09:57:59 solution INFO:duckietown-challenges:solution:Finished. 09:57:59 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 09:58:00 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 09:58:00 solution Starting submission 09:58:00 solution (u'starting sub socket on', 8902) 09:58:00 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 09:58:00 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml