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)