10:57:36 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:57:36 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 10:57:36 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:57:36 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 10:57:36 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 10:57:36 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 10:57:36 evaluator launch.sh > Starting xvfb 10:57:36 evaluator launch.sh > Started xvfb with PID 92 10:57:36 evaluator launch.sh > Now running gym_simulation_launcher.py 10:57:36 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 10:57:36 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:57:37 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:57:37 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:57:37 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 10:57:37 evaluator 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 10:57:37 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 10:57:37 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 10:57:37 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 10:57:37 evaluator 10:57:37 evaluator { 10:57:37 evaluator "challenge": "LF", 10:57:37 evaluator "episodes": 5, 10:57:37 evaluator "steps_per_episode": 500, 10:57:37 evaluator "environment-constructor": "Simulator", 10:57:37 evaluator "include_map": true, 10:57:37 evaluator "environment-parameters": { 10:57:37 evaluator "seed": 123, 10:57:37 evaluator "map_name": "loop_empty", 10:57:37 evaluator "max_steps": 500001, 10:57:37 evaluator "domain_rand": 0, 10:57:37 evaluator "camera_width": 640, 10:57:37 evaluator "camera_height": 480, 10:57:37 evaluator "accept_start_angle_deg": 4, 10:57:37 evaluator "full_transparency": true, 10:57:37 evaluator "distortion": true 10:57:37 evaluator }, 10:57:37 evaluator "agent-info": { 10:57:37 evaluator "challenge": "LF" 10:57:37 evaluator } 10:57:37 evaluator } 10:57:37 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 10:57:38 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:57:38 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:57:38 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 10:57:38 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 10:57:38 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 10:57:38 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 10:57:38 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 10:57:39 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 10:57:39 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 10:57:39 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 10:57:39 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 10:57:39 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 10:57:39 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 10:57:39 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 10:57:42 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmp_V4FFS/episodes 10:57:42 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 10:57:42 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 10:57:42 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:57:42 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:57:42 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:57:42 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 10:57:42 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'192.168.16.3', u'id': u'5573', u'msg': u'0'} 10:57:42 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'192.168.16.3', u'id': u'5573', u'msg': u'0'} 10:57:42 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 10:57:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.655, done=False 10:57:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.637, done=False 10:57:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.53, done=False 10:57:46 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 10:57:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.906, done=False 10:57:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.549, done=False 10:57:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.354, done=False 10:57:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.284, done=False 10:57:49 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:57:49 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:57:49 evaluator launcher|gym_simulation_launcher.py:119 - main | 170 steps are enough 10:57:49 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 10:57:49 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:57:49 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:57:49 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 10:57:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.562, done=False 10:57:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.511, done=False 10:57:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.447, done=False 10:57:56 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 10:57:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.394, done=False 10:57:57 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.326, done=False 10:57:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.247, done=False 10:57:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.209, done=False 10:58:00 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-0.179, done=False 10:58:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-0.18, done=False 10:58:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.185, done=False 10:58:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.964, done=False 10:58:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-1.154, done=False 10:58:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-1.724, done=False 10:58:05 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-2.533, done=False 10:58:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-3.477, done=False 10:58:06 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:06 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 10:58:06 evaluator launcher|gym_simulation_launcher.py:119 - main | 377 steps are enough 10:58:06 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:58:06 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:06 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:06 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 10:58:06 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 10:58:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.039, done=False 10:58:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.008, done=False 10:58:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.05, done=False 10:58:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.09, done=False 10:58:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.124, done=False 10:58:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.153, done=False 10:58:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.149, done=False 10:58:16 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 10:58:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.155, done=False 10:58:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.138, done=False 10:58:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.106, done=False 10:58:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.071, done=False 10:58:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=0.045, done=False 10:58:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=0.021, done=False 10:58:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=0.04, done=False 10:58:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=0.114, done=False 10:58:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=0.184, done=False 10:58:25 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=408, reward=0.23, done=False 10:58:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=432, reward=0.323, done=False 10:58:26 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=456, reward=0.171, done=False 10:58:26 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 10:58:27 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=480, reward=-0.356, done=False 10:58:28 evaluator launcher|gym_simulation_launcher.py:255 - run_episode | breaking because steps = 500 10:58:28 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:58:28 evaluator launcher|gym_simulation_launcher.py:119 - main | 500 steps are enough 10:58:28 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 10:58:28 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:28 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:28 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 10:58:29 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.327, done=False 10:58:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.367, done=False 10:58:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.383, done=False 10:58:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.42, done=False 10:58:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.451, done=False 10:58:33 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.259, done=False 10:58:34 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.391, done=False 10:58:35 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.831, done=False 10:58:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.506, done=False 10:58:36 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 10:58:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.295, done=False 10:58:37 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:37 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 10:58:37 evaluator launcher|gym_simulation_launcher.py:119 - main | 258 steps are enough 10:58:37 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 10:58:37 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:58:37 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:58:37 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 10:58:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.22, done=False 10:58:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.29, done=False 10:58:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.334, done=False 10:58:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.389, done=False 10:58:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.441, done=False 10:58:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.497, done=False 10:58:46 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more) 10:58:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.514, done=False 10:58:48 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.194, done=False 10:58:49 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.148, done=False 10:58:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.078, done=False 10:58:50 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.87, done=False 10:58:51 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:58:51 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 10:58:51 evaluator launcher|gym_simulation_launcher.py:119 - main | 271 steps are enough 10:58:51 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 10:58:51 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 10:58:51 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 10:58:51 evaluator starting pub socket on port 8902 10:58:51 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 10:58:51 evaluator launch.sh > Killing xvfb... 10:58:51 evaluator launch.sh > Killed. 10:58:51 evaluator launch.sh > Graceful exit of launch.sh with return code 0 10:58:51 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 10:58:51 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 10:58:51 evaluator INFO:duckietown-challenges:evaluation: saving files 10:58:51 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 10:58:52 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml 10:57:37 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 10:57:37 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 10:57:37 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:57:37 solution INFO:duckietown-challenges:solution:Starting. 10:57:37 solution INFO:duckietown-challenges:solution:Creating model. 10:57:37 solution INFO:duckietown-challenges:solution:Making environment 10:57:37 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:57:38 solution INFO:duckietown-challenges:solution:Reset environment 10:57:41 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:57:43 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:57:52 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:09 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:40 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:58:51 solution INFO:duckietown-challenges:solution:Finished. 10:58:51 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 10:58:52 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 10:58:52 solution Starting submission 10:58:52 solution (u'starting sub socket on', 8902)