15:36:01 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
15:36:02 evaluator INFO:duckietown-challenges:evaluation: Preparing here..
15:36:02 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
15:36:02 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90
15:36:02 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate...
15:36:02 evaluator INFO:duckietown-challenges:evaluation: Preparation done.
15:36:02 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml
15:36:02 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more)
15:36:02 evaluator launch.sh >  Starting xvfb
15:36:02 evaluator launch.sh >  Started xvfb with PID 92
15:36:02 evaluator launch.sh >  Now running gym_simulation_launcher.py
15:36:02 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
15:36:03 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
15:36:03 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1
15:36:03 evaluator 
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0
15:36:03 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0
15:36:03 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
15:36:03 evaluator        launcher|gym_simulation_launcher.py:48   - main           | launcher parameters:
15:36:03 evaluator 
15:36:03 evaluator {
15:36:03 evaluator     "challenge": "LF", 
15:36:03 evaluator     "episodes": 5, 
15:36:03 evaluator     "steps_per_episode": 500, 
15:36:03 evaluator     "environment-constructor": "Simulator", 
15:36:03 evaluator     "include_map": true, 
15:36:03 evaluator     "environment-parameters": {
15:36:03 evaluator         "seed": 123, 
15:36:03 evaluator         "map_name": "loop_empty", 
15:36:03 evaluator         "max_steps": 500001, 
15:36:03 evaluator         "domain_rand": 0, 
15:36:03 evaluator         "camera_width": 640, 
15:36:03 evaluator         "camera_height": 480, 
15:36:03 evaluator         "accept_start_angle_deg": 4, 
15:36:03 evaluator         "full_transparency": true, 
15:36:03 evaluator         "distortion": true
15:36:03 evaluator     }, 
15:36:03 evaluator     "agent-info": {
15:36:03 evaluator         "challenge": "LF"
15:36:03 evaluator     }
15:36:03 evaluator }
15:36:03 evaluator        launcher|gym_simulation_launcher.py:59   - main           | using gym-duckietown version 2018.10.1
15:36:03 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
15:36:03 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
15:36:03 evaluator  gym-duckietown|   simulator.py:490  - _load_map      | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml"
15:36:03 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj"
15:36:03 evaluator  gym-duckietown|     objmesh.py:238  - _load_mtl      | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl"
15:36:04 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj"
15:36:04 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png"
15:36:04 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj"
15:36:04 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png"
15:36:04 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png"
15:36:05 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png"
15:36:05 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png"
15:36:05 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png"
15:36:05 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [4.05833625 0.         2.17835003] 1.62929007381
15:36:08 evaluator        launcher|gym_simulation_launcher.py:74   - main           | Logging gym state to: /tmp/tmp65nw_9/episodes
15:36:08 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [2.75442323 0.         3.0079666 ] 4.83604950287
15:36:08 evaluator        launcher|gym_simulation_launcher.py:89   - main           | Simulator listening to incoming connections...
15:36:08 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep000
15:36:08 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
15:36:08 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
15:36:08 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.57449761 0.         1.00806868] 0.0328325810557
15:36:08 evaluator        launcher|gym_simulation_launcher.py:237  - run_episode    | received ping: {u'topic': 1, u'ip': u'172.26.0.2', u'id': u'40967', u'msg': u'0'}
15:36:08 evaluator        launcher|gym_simulation_launcher.py:240  - run_episode    | received 2, resetting: {u'topic': 2, u'ip': u'172.26.0.2', u'id': u'40967', u'msg': u'0'}
15:36:08 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.9473256  0.         2.19364627] 4.70207132071
15:36:09 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.64, done=False
15:36:10 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.625, done=False
15:36:11 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.501, done=False
15:36:11 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.887, done=False
15:36:12 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more)
15:36:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.557, done=False
15:36:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-3.414, done=False
15:36:14 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-4.36, done=False
15:36:14 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
15:36:14 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep000
15:36:14 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 170 steps are enough
15:36:14 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep001
15:36:14 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
15:36:14 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
15:36:14 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.94220351 0.         1.23114947] 4.68721314392
15:36:19 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.544, done=False
15:36:20 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.479, done=False
15:36:21 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-0.433, done=False
15:36:22 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-0.397, done=False
15:36:22 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more)
15:36:23 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-0.376, done=False
15:36:24 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-0.347, done=False
15:36:25 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-0.327, done=False
15:36:25 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-0.311, done=False
15:36:26 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-0.285, done=False
15:36:27 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.234, done=False
15:36:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.98, done=False
15:36:29 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=288, reward=-1.143, done=False
15:36:30 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=312, reward=-1.694, done=False
15:36:31 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=336, reward=-2.526, done=False
15:36:32 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=360, reward=-3.491, done=False
15:36:32 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more)
15:36:33 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
15:36:33 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep001
15:36:33 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 376 steps are enough
15:36:33 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep002
15:36:33 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
15:36:33 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
15:36:33 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [0.84497723 0.         1.12248482] 4.62469817798
15:36:38 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.02, done=False
15:36:38 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=0.062, done=False
15:36:40 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=0.173, done=False
15:36:40 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=0.311, done=False
15:36:41 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=0.364, done=False
15:36:42 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=0.259, done=False
15:36:42 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more)
15:36:43 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=0.155, done=False
15:36:44 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=0.053, done=False
15:36:45 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-0.098, done=False
15:36:46 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.258, done=False
15:36:46 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.4, done=False
15:36:47 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=288, reward=-0.536, done=False
15:36:48 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=312, reward=-0.691, done=False
15:36:48 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
15:36:48 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep002
15:36:48 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 318 steps are enough
15:36:48 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep003
15:36:48 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
15:36:48 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
15:36:48 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.00329777 0.         0.86708317] 0.0349480490083
15:36:52 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more)
15:36:53 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-1.322, done=False
15:36:54 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-1.37, done=False
15:36:55 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.429, done=False
15:36:56 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.498, done=False
15:36:57 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-1.533, done=False
15:36:57 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.371, done=False
15:36:58 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.54, done=False
15:36:59 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-2.954, done=False
15:37:00 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-3.587, done=False
15:37:01 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-4.38, done=False
15:37:02 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
15:37:02 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep003
15:37:02 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 258 steps are enough
15:37:02 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep004
15:37:02 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
15:37:02 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
15:37:02 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [1.72410152 0.         3.21929481] 0.0317184229532
15:37:02 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more)
15:37:07 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-2.209, done=False
15:37:08 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-2.273, done=False
15:37:09 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-2.296, done=False
15:37:10 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-2.316, done=False
15:37:11 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.35, done=False
15:37:11 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.364, done=False
15:37:12 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more)
15:37:12 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-2.341, done=False
15:37:13 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=192, reward=-2.085, done=False
15:37:14 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=216, reward=-1.079, done=False
15:37:15 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=240, reward=-0.036, done=False
15:37:16 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=264, reward=-0.914, done=False
15:37:16 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
15:37:16 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep004
15:37:16 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 271 steps are enough
15:37:16 evaluator        launcher|gym_simulation_launcher.py:140  - main           | Simulation done.
15:37:16 evaluator        launcher|gym_simulation_launcher.py:152  - main           | Clean exit.
15:37:16 evaluator        launcher|gym_simulation_launcher.py:263  - <module>       | success
15:37:16 evaluator starting pub socket on port 8902
15:37:16 evaluator launch.sh >  gym_simulation_launcher terminated with return code 0
15:37:16 evaluator launch.sh >  Killing xvfb...
15:37:16 evaluator launch.sh >  Killed.
15:37:16 evaluator launch.sh >  Graceful exit of launch.sh with return code 0
15:37:16 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish
15:37:16 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0
15:37:16 evaluator INFO:duckietown-challenges:evaluation: saving files
15:37:16 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully.
15:37:17 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml
15:36:01 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1
15:36:02 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14
15:36:02 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more)
15:36:03 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
15:36:03 solution INFO:duckietown-challenges:solution:Starting.
15:36:03 solution INFO:duckietown-challenges:solution:Creating model.
15:36:03 solution INFO:duckietown-challenges:solution:Making environment
15:36:03 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
15:36:04 solution INFO:duckietown-challenges:solution:Reset environment
15:36:07 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
15:36:17 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
15:36:36 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
15:36:51 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
15:37:05 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
15:37:16 solution INFO:duckietown-challenges:solution:Finished.
15:37:16 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml
15:37:17 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution().
15:37:17 solution Starting submission
15:37:17 solution (u'starting sub socket on', 8902)