10:58:54 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:58:54 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 10:58:54 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:58:54 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 24 10:58:54 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 10:58:54 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 10:58:54 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 10:58:54 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:58:54 evaluator launch.sh > Starting xvfb 10:58:54 evaluator launch.sh > Started xvfb with PID 26 10:58:54 evaluator launch.sh > Now running gym_simulation_launcher.py 10:58:55 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 10:58:55 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:58:55 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 10:58:55 evaluator 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 10:58:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 10:58:55 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 10:58:55 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 10:58:55 evaluator 10:58:55 evaluator { 10:58:55 evaluator "challenge": "LF", 10:58:55 evaluator "episodes": 5, 10:58:55 evaluator "steps_per_episode": 500, 10:58:55 evaluator "environment-constructor": "Simulator", 10:58:55 evaluator "include_map": true, 10:58:55 evaluator "environment-parameters": { 10:58:55 evaluator "seed": 123, 10:58:55 evaluator "map_name": "loop_empty", 10:58:55 evaluator "max_steps": 500001, 10:58:55 evaluator "domain_rand": 0, 10:58:55 evaluator "camera_width": 640, 10:58:55 evaluator "camera_height": 480, 10:58:55 evaluator "accept_start_angle_deg": 4, 10:58:55 evaluator "full_transparency": true, 10:58:55 evaluator "distortion": true 10:58:55 evaluator }, 10:58:55 evaluator "agent-info": { 10:58:55 evaluator "challenge": "LF" 10:58:55 evaluator } 10:58:55 evaluator } 10:58:55 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 10:58:56 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:58:56 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 10:58:56 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 10:58:56 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 10:58:56 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 10:58:56 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 10:58:56 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 10:58:57 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 10:58:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 10:58:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 10:58:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 10:58:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 10:58:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 10:58:57 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 10:59:00 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmp5oi_eT/episodes 10:59:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 10:59:00 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 10:59:00 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:59:00 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:00 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 10:59:00 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'172.20.0.3', u'id': u'54657', u'msg': u'0'} 10:59:00 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'172.20.0.3', u'id': u'54657', u'msg': u'0'} 10:59:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 10:59:00 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:00 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:59:00 evaluator launcher|gym_simulation_launcher.py:122 - main | episode too short with 6 steps 10:59:00 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 10:59:00 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:00 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 10:59:04 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 10:59:05 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:05 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 10:59:05 evaluator launcher|gym_simulation_launcher.py:119 - main | 12 steps are enough 10:59:05 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 10:59:05 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:05 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:05 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 10:59:09 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:09 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 10:59:09 evaluator launcher|gym_simulation_launcher.py:119 - main | 13 steps are enough 10:59:09 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:59:09 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:09 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:09 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 10:59:14 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:14 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:59:14 evaluator launcher|gym_simulation_launcher.py:122 - main | episode too short with 9 steps 10:59:14 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:59:14 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:14 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:14 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 10:59:14 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 10:59:18 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:18 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:59:18 evaluator launcher|gym_simulation_launcher.py:122 - main | episode too short with 9 steps 10:59:18 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:59:18 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:18 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:18 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.71140436 0. 0.7361902 ] 0.0508532557804 10:59:22 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:22 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:59:22 evaluator launcher|gym_simulation_launcher.py:122 - main | episode too short with 8 steps 10:59:22 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 10:59:22 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 10:59:22 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 10:59:22 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.65733059 0. 2.53968888] 3.71783871533 10:59:24 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 10:59:26 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 10:59:26 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 10:59:26 evaluator launcher|gym_simulation_launcher.py:122 - main | episode too short with 2 steps 10:59:26 evaluator launcher|gym_simulation_launcher.py:134 - main | Anomalous error while running episodes: 10:59:26 evaluator Traceback (most recent call last): 10:59:26 evaluator File "gym_simulation_launcher.py", line 94, in main 10:59:26 evaluator raise Exception(msg) # XXX 10:59:26 evaluator Exception: Too many failures: 5 10:59:26 evaluator 10:59:26 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 10:59:26 evaluator launcher|gym_simulation_launcher.py:265 - <module> | anomalous exit of gym_simulation_launcher: 10:59:26 evaluator Traceback (most recent call last): 10:59:26 evaluator File "gym_simulation_launcher.py", line 262, in <module> 10:59:26 evaluator main() 10:59:26 evaluator File "gym_simulation_launcher.py", line 94, in main 10:59:26 evaluator raise Exception(msg) # XXX 10:59:26 evaluator Exception: Too many failures: 5 10:59:26 evaluator 10:59:26 evaluator starting pub socket on port 8902 10:59:26 evaluator launch.sh > gym_simulation_launcher terminated with return code 2 10:59:26 evaluator launch.sh > Killing xvfb... 10:59:26 evaluator launch.sh > Killed. 10:59:26 evaluator launch.sh > Graceful exit of launch.sh with return code 2 10:59:26 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 10:59:26 evaluator INFO:duckietown-challenges:evaluation: finished with return code 2 10:59:26 evaluator ERROR:duckietown-challenges:declare error: 10:59:26 evaluator InvalidEvaluator: 10:59:26 evaluator Traceback (most recent call last): 10:59:26 evaluator File "/workspace/src/duckietown-challenges/src/duckietown_challenges/cie_concrete.py", line 488, in wrap_evaluator 10:59:26 evaluator evaluator.score(cie) 10:59:26 evaluator File "eval.py", line 96, in score 10:59:26 evaluator raise dc.InvalidEvaluator(msg) 10:59:26 evaluator InvalidEvaluator: Gym exited with code 2 10:59:26 evaluator 10:59:26 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml 10:58:54 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 10:58:54 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 10:58:54 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more) 10:58:55 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 10:58:55 solution INFO:duckietown-challenges:solution:Starting. 10:58:55 solution INFO:duckietown-challenges:solution:Creating model. 10:58:55 solution INFO:duckietown-challenges:solution:Making environment 10:58:55 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 10:58:56 solution INFO:duckietown-challenges:solution:Reset environment 10:58:59 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:03 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:08 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:12 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:16 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:21 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:25 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 10:59:26 solution INFO:duckietown-challenges:solution:Finished. 10:59:26 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 10:59:30 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 10:59:30 solution Starting submission 10:59:30 solution (u'starting sub socket on', 8902)