11:15:54 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 11:15:54 evaluator INFO:duckietown-challenges:evaluation: Preparing here.. 11:15:54 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 11:15:54 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90 11:15:54 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate... 11:15:54 evaluator INFO:duckietown-challenges:evaluation: Preparation done. 11:15:54 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml 11:15:54 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more) 11:15:54 evaluator launch.sh > Starting xvfb 11:15:54 evaluator launch.sh > Started xvfb with PID 92 11:15:54 evaluator launch.sh > Now running gym_simulation_launcher.py 11:15:55 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12 11:15:55 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 11:15:55 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1 11:15:55 evaluator 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0 11:15:55 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0 11:15:55 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available. 11:15:55 evaluator launcher|gym_simulation_launcher.py:48 - main | launcher parameters: 11:15:55 evaluator 11:15:55 evaluator { 11:15:55 evaluator "challenge": "LF", 11:15:55 evaluator "episodes": 5, 11:15:55 evaluator "steps_per_episode": 500, 11:15:55 evaluator "environment-constructor": "Simulator", 11:15:55 evaluator "include_map": true, 11:15:55 evaluator "environment-parameters": { 11:15:55 evaluator "seed": 123, 11:15:55 evaluator "map_name": "loop_empty", 11:15:55 evaluator "max_steps": 500001, 11:15:55 evaluator "domain_rand": 0, 11:15:55 evaluator "camera_width": 640, 11:15:55 evaluator "camera_height": 480, 11:15:55 evaluator "accept_start_angle_deg": 4, 11:15:55 evaluator "full_transparency": true, 11:15:55 evaluator "distortion": true 11:15:55 evaluator }, 11:15:55 evaluator "agent-info": { 11:15:55 evaluator "challenge": "LF" 11:15:55 evaluator } 11:15:55 evaluator } 11:15:55 evaluator launcher|gym_simulation_launcher.py:59 - main | using gym-duckietown version 2018.10.1 11:15:56 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 11:15:56 evaluator gym-duckietown| graphics.py:121 - create_frame_buffers| Falling back to non-multisampled frame buffer 11:15:56 evaluator gym-duckietown| simulator.py:490 - _load_map | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml" 11:15:56 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj" 11:15:56 evaluator gym-duckietown| objmesh.py:238 - _load_mtl | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl" 11:15:56 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj" 11:15:56 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png" 11:15:57 evaluator gym-duckietown| objmesh.py:50 - __init__ | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj" 11:15:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png" 11:15:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png" 11:15:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png" 11:15:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png" 11:15:57 evaluator gym-duckietown| graphics.py:60 - load_texture | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png" 11:15:57 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [4.05833625 0. 2.17835003] 1.62929007381 11:16:00 evaluator launcher|gym_simulation_launcher.py:74 - main | Logging gym state to: /tmp/tmpnVRRUX/episodes 11:16:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [2.75442323 0. 3.0079666 ] 4.83604950287 11:16:00 evaluator launcher|gym_simulation_launcher.py:89 - main | Simulator listening to incoming connections... 11:16:00 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep000 11:16:00 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 11:16:00 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 11:16:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.57449761 0. 1.00806868] 0.0328325810557 11:16:00 evaluator launcher|gym_simulation_launcher.py:237 - run_episode | received ping: {u'topic': 1, u'ip': u'192.168.192.3', u'id': u'36905', u'msg': u'0'} 11:16:00 evaluator launcher|gym_simulation_launcher.py:240 - run_episode | received 2, resetting: {u'topic': 2, u'ip': u'192.168.192.3', u'id': u'36905', u'msg': u'0'} 11:16:00 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.9473256 0. 2.19364627] 4.70207132071 11:16:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.632, done=False 11:16:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.651, done=False 11:16:03 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.552, done=False 11:16:04 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.974, done=False 11:16:04 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more) 11:16:05 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.716, done=False 11:16:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-3.609, done=False 11:16:06 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-4.563, done=False 11:16:06 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 11:16:06 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep000 11:16:06 evaluator launcher|gym_simulation_launcher.py:119 - main | 170 steps are enough 11:16:06 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep001 11:16:06 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 11:16:06 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 11:16:06 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.94220351 0. 1.23114947] 4.68721314392 11:16:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.55, done=False 11:16:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-0.492, done=False 11:16:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-0.465, done=False 11:16:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-0.393, done=False 11:16:14 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more) 11:16:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-0.272, done=False 11:16:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-0.141, done=False 11:16:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-0.016, done=False 11:16:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.119, done=False 11:16:18 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.284, done=False 11:16:19 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.399, done=False 11:16:20 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.439, done=False 11:16:21 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-0.601, done=False 11:16:22 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=-1.285, done=False 11:16:23 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=-2.191, done=False 11:16:24 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=-3.201, done=False 11:16:24 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more) 11:16:25 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 11:16:25 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep001 11:16:25 evaluator launcher|gym_simulation_launcher.py:119 - main | 377 steps are enough 11:16:25 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep002 11:16:25 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 11:16:25 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 11:16:25 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [0.84497723 0. 1.12248482] 4.62469817798 11:16:30 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-0.015, done=False 11:16:31 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=0.085, done=False 11:16:32 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=0.15, done=False 11:16:33 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=0.223, done=False 11:16:34 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=0.275, done=False 11:16:34 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more) 11:16:35 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=0.287, done=False 11:16:36 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=0.307, done=False 11:16:37 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=0.31, done=False 11:16:38 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=0.314, done=False 11:16:39 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=0.316, done=False 11:16:40 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=0.318, done=False 11:16:41 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=0.313, done=False 11:16:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=312, reward=0.358, done=False 11:16:42 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=336, reward=0.339, done=False 11:16:43 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=360, reward=0.2, done=False 11:16:44 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=384, reward=0.044, done=False 11:16:44 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (50 secs passed, will wait 550 secs more) 11:16:45 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=408, reward=-0.122, done=False 11:16:46 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=432, reward=-0.403, done=False 11:16:47 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=456, reward=-0.817, done=False 11:16:48 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 11:16:48 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep002 11:16:48 evaluator launcher|gym_simulation_launcher.py:119 - main | 475 steps are enough 11:16:48 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep003 11:16:48 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 11:16:48 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 11:16:48 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [3.00329777 0. 0.86708317] 0.0349480490083 11:16:53 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-1.339, done=False 11:16:54 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-1.368, done=False 11:16:54 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (60 secs passed, will wait 540 secs more) 11:16:55 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-1.416, done=False 11:16:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-1.474, done=False 11:16:56 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-1.531, done=False 11:16:58 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.391, done=False 11:16:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.564, done=False 11:16:59 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.983, done=False 11:17:01 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-3.64, done=False 11:17:02 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-4.467, done=False 11:17:02 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 11:17:02 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep003 11:17:02 evaluator launcher|gym_simulation_launcher.py:119 - main | 259 steps are enough 11:17:02 evaluator launcher|gym_simulation_launcher.py:98 - main | Starting episode ep004 11:17:02 evaluator launcher|gym_simulation_launcher.py:104 - main | Logging basic info 11:17:02 evaluator launcher|gym_simulation_launcher.py:109 - main | Now running episode 11:17:02 evaluator gym-duckietown| simulator.py:471 - reset | Starting at [1.72410152 0. 3.21929481] 0.0317184229532 11:17:04 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (70 secs passed, will wait 530 secs more) 11:17:07 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=24, reward=-2.236, done=False 11:17:08 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=48, reward=-2.315, done=False 11:17:09 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=72, reward=-2.38, done=False 11:17:10 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=96, reward=-2.48, done=False 11:17:11 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=120, reward=-2.593, done=False 11:17:12 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=144, reward=-2.727, done=False 11:17:13 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=168, reward=-2.862, done=False 11:17:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=192, reward=-2.408, done=False 11:17:14 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=216, reward=-1.344, done=False 11:17:14 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (80 secs passed, will wait 520 secs more) 11:17:15 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=240, reward=-0.249, done=False 11:17:16 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=264, reward=-0.667, done=False 11:17:17 evaluator launcher|gym_simulation_launcher.py:231 - run_episode | step_count=288, reward=-1.403, done=False 11:17:17 evaluator gym-duckietown| simulator.py:1244 - step | Stopping the simulator because we are at an invalid pose. 11:17:17 evaluator launcher|gym_simulation_launcher.py:116 - main | Finished episode ep004 11:17:17 evaluator launcher|gym_simulation_launcher.py:119 - main | 291 steps are enough 11:17:17 evaluator launcher|gym_simulation_launcher.py:140 - main | Simulation done. 11:17:17 evaluator launcher|gym_simulation_launcher.py:152 - main | Clean exit. 11:17:17 evaluator launcher|gym_simulation_launcher.py:263 - <module> | success 11:17:17 evaluator starting pub socket on port 8902 11:17:17 evaluator launch.sh > gym_simulation_launcher terminated with return code 0 11:17:17 evaluator launch.sh > Killing xvfb... 11:17:17 evaluator launch.sh > Killed. 11:17:17 evaluator launch.sh > Graceful exit of launch.sh with return code 0 11:17:17 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish 11:17:17 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0 11:17:17 evaluator INFO:duckietown-challenges:evaluation: saving files 11:17:17 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully. 11:17:18 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml 11:15:54 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1 11:15:54 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14 11:15:54 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')]) 11:15:54 solution INFO:duckietown-challenges:solution:Starting. 11:15:54 solution INFO:duckietown-challenges:solution:Creating model. 11:15:54 solution INFO:duckietown-challenges:solution:Making environment 11:15:54 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1 11:15:55 solution INFO:duckietown-challenges:solution:Reset environment 11:15:58 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 11:16:09 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 11:16:28 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 11:16:51 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 11:17:05 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again 11:17:17 solution INFO:duckietown-challenges:solution:Finished. 11:17:17 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml 11:17:18 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution(). 11:17:18 solution Starting submission 11:17:18 solution (u'starting sub socket on', 8902)