10:52:22 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:52:22 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 10:52:22 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:52:22 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 10:52:22 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 10:52:22 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 10:52:22 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 10:52:22 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:52:22 evaluator launch.sh > Starting xvfb 10:52:22 evaluator launch.sh > Started xvfb with PID 92 10:52:22 evaluator launch.sh > Now running gym_simulation_launcher.py 10:52:22 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:52:23 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:52:23 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 10:52:23 evaluator 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 10:52:23 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 10:52:23 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 10:52:23 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 10:52:23 evaluator 10:52:23 evaluator { 10:52:23 evaluator "challenge": "LF", 10:52:23 evaluator "episodes": 5, 10:52:23 evaluator "steps_per_episode": 500, 10:52:23 evaluator "environment-constructor": "Simulator", 10:52:23 evaluator "include_map": true, 10:52:23 evaluator "environment-parameters": { 10:52:23 evaluator "seed": 123, 10:52:23 evaluator "map_name": "loop_empty", 10:52:23 evaluator "max_steps": 500001, 10:52:23 evaluator "domain_rand": 0, 10:52:23 evaluator "camera_width": 640, 10:52:23 evaluator "camera_height": 480, 10:52:23 evaluator "accept_start_angle_deg": 4, 10:52:23 evaluator "full_transparency": true, 10:52:23 evaluator "distortion": true 10:52:23 evaluator }, 10:52:23 evaluator "agent-info": { 10:52:23 evaluator "challenge": "LF" 10:52:23 evaluator } 10:52:23 evaluator } 10:52:23 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 10:52:23 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:52:23 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:52:23 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 10:52:23 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 10:52:23 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 10:52:24 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 10:52:24 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 10:52:24 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 10:52:24 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 10:52:28 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmpgmoRg7/episodes 10:52:28 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 10:52:28 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 10:52:28 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:52:28 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:52:28 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:52:28 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 10:52:28 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'172.20.0.2', u'id': u'78468', u'msg': u'0'} 10:52:28 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'172.20.0.2', u'id': u'78468', u'msg': u'0'} 10:52:28 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 10:52:29 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.651, done=False 10:52:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.56, done=False 10:52:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.029, done=False 10:52:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.732, done=False 10:52:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-3.582, done=False 10:52:32 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 10:52:33 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:52:33 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-1000, done=True 10:52:33 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:52:33 evaluator launcher|gym_simulation_launcher.py:119 - main | 144 steps are enough 10:52:33 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 10:52:33 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:52:33 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:52:33 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 10:52:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.67, done=False 10:52:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.843, done=False 10:52:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.154, done=False 10:52:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.521, done=False 10:52:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.98, done=False 10:52:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.593, done=False 10:52:42 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 10:52:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-3.248, done=False 10:52:43 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:52:43 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 10:52:43 evaluator launcher|gym_simulation_launcher.py:119 - main | 175 steps are enough 10:52:43 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:52:43 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:52:43 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:52:43 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 10:52:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=0.142, done=False 10:52:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.266, done=False 10:52:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.077, done=False 10:52:51 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.106, done=False 10:52:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.216, done=False 10:52:52 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 10:52:52 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.308, done=False 10:52:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.225, done=False 10:52:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.009, done=False 10:52:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.05, done=False 10:52:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.135, done=False 10:52:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.157, done=False 10:52:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=0.133, done=False 10:52:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=0.034, done=False 10:52:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=0.055, done=False 10:53:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-0.169, done=False 10:53:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=-0.343, done=False 10:53:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=408, reward=-0.262, done=False 10:53:02 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 10:53:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=432, reward=0.095, done=False 10:53:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=456, reward=-0.385, done=False 10:53:04 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:53:04 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:53:04 evaluator launcher|gym_simulation_launcher.py:119 - main | 475 steps are enough 10:53:04 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 10:53:04 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:53:04 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:53:04 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 10:53:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.382, done=False 10:53:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.434, done=False 10:53:10 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.532, done=False 10:53:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.631, done=False 10:53:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.691, done=False 10:53:12 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 10:53:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.664, done=False 10:53:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-3.093, done=False 10:53:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-3.748, done=False 10:53:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-4.445, done=False 10:53:16 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:53:16 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 10:53:16 evaluator launcher|gym_simulation_launcher.py:119 - main | 231 steps are enough 10:53:16 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 10:53:16 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:53:16 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:53:16 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 10:53:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.172, done=False 10:53:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.22, done=False 10:53:22 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 10:53:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.374, done=False 10:53:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.75, done=False 10:53:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-3.227, done=False 10:53:24 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:53:24 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 10:53:24 evaluator launcher|gym_simulation_launcher.py:119 - main | 123 steps are enough 10:53:24 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 10:53:24 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 10:53:24 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 10:53:24 evaluator starting pub socket on port 8902 10:53:24 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 10:53:24 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 10:53:24 evaluator launch.sh > Killing xvfb... 10:53:24 evaluator launch.sh > Killed. 10:53:24 evaluator launch.sh > Graceful exit of launch.sh with return code 0 10:53:24 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 10:53:24 evaluator INFO:duckietown-challenges:evaluation: saving files 10:53:24 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 10:53:25 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml 10:52:23 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 10:52:23 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 10:52:23 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:52:23 solution INFO:duckietown-challenges:solution:Starting. 10:52:23 solution INFO:duckietown-challenges:solution:Creating model. 10:52:23 solution INFO:duckietown-challenges:solution:Making environment 10:52:23 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:52:24 solution INFO:duckietown-challenges:solution:Reset environment 10:52:27 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:52:36 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:52:46 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:53:07 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:53:19 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:53:24 solution INFO:duckietown-challenges:solution:Finished. 10:53:24 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 10:53:25 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 10:53:25 solution Starting submission 10:53:25 solution (u'starting sub socket on', 8902)