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