10:28:41 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
10:28:41 evaluator INFO:duckietown-challenges:evaluation: Preparing here..
10:28:41 evaluator INFO:duckietown-challenges:evaluation: Solution parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
10:28:41 evaluator DEBUG:duckietown-challenges:evaluation: gym started with pid = 90
10:28:41 evaluator INFO:duckietown-challenges:evaluation: Waiting for Gym to activate...
10:28:41 evaluator INFO:duckietown-challenges:evaluation: Preparation done.
10:28:41 evaluator DEBUG:duckietown-challenges:Written to: /challenge-description/description.yaml
10:28:41 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (0 secs passed, will wait 600 secs more)
10:28:41 evaluator launch.sh >  Starting xvfb
10:28:41 evaluator launch.sh >  Started xvfb with PID 92
10:28:41 evaluator launch.sh >  Now running gym_simulation_launcher.py
10:28:42 evaluator INFO:duckietown-challenges:duckietown-challenges 3.2.12
10:28:42 evaluator INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
10:28:42 evaluator INFO:gym-duckietown:gym-duckietown 2018.10.1
10:28:42 evaluator 
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_obstacles-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-straight_road-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-zigzag_dists-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_dyn_duckiebots-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_pedestrians-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-test_loop_obstacles-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-udem1-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-loop_empty-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-4way-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop-v0
10:28:42 evaluator INFO:gym-duckietown:Registering gym environment id: Duckietown-small_loop_cw-v0
10:28:42 evaluator WARNING:rosout:Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
10:28:42 evaluator        launcher|gym_simulation_launcher.py:48   - main           | launcher parameters:
10:28:42 evaluator 
10:28:42 evaluator {
10:28:42 evaluator     "challenge": "LF", 
10:28:42 evaluator     "episodes": 5, 
10:28:42 evaluator     "steps_per_episode": 500, 
10:28:42 evaluator     "environment-constructor": "Simulator", 
10:28:42 evaluator     "include_map": true, 
10:28:42 evaluator     "environment-parameters": {
10:28:42 evaluator         "seed": 123, 
10:28:42 evaluator         "map_name": "loop_empty", 
10:28:42 evaluator         "max_steps": 500001, 
10:28:42 evaluator         "domain_rand": 0, 
10:28:42 evaluator         "camera_width": 640, 
10:28:42 evaluator         "camera_height": 480, 
10:28:42 evaluator         "accept_start_angle_deg": 4, 
10:28:42 evaluator         "full_transparency": true, 
10:28:42 evaluator         "distortion": true
10:28:42 evaluator     }, 
10:28:42 evaluator     "agent-info": {
10:28:42 evaluator         "challenge": "LF"
10:28:42 evaluator     }
10:28:42 evaluator }
10:28:42 evaluator        launcher|gym_simulation_launcher.py:59   - main           | using gym-duckietown version 2018.10.1
10:28:43 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
10:28:43 evaluator  gym-duckietown|    graphics.py:121  - create_frame_buffers| Falling back to non-multisampled frame buffer
10:28:43 evaluator  gym-duckietown|   simulator.py:490  - _load_map      | loading map file "/workspace/gym-duckietown/gym_duckietown/maps/loop_empty.yaml"
10:28:43 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.obj"
10:28:43 evaluator  gym-duckietown|     objmesh.py:238  - _load_mtl      | loading materials from "/workspace/gym-duckietown/gym_duckietown/meshes/duckiebot.mtl"
10:28:43 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/duckie.obj"
10:28:43 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/duckie.png"
10:28:44 evaluator  gym-duckietown|     objmesh.py:50   - __init__       | loading mesh "/workspace/gym-duckietown/gym_duckietown/meshes/cone.obj"
10:28:44 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/cone.png"
10:28:44 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/floor_1.png"
10:28:44 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_left_1.png"
10:28:44 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/straight_1.png"
10:28:44 evaluator  gym-duckietown|    graphics.py:60   - load_texture   | loading texture "/workspace/gym-duckietown/gym_duckietown/textures/curve_right_1.png"
10:28:44 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [4.05833625 0.         2.17835003] 1.62929007381
10:28:47 evaluator        launcher|gym_simulation_launcher.py:74   - main           | Logging gym state to: /tmp/tmpILw9FR/episodes
10:28:47 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [2.75442323 0.         3.0079666 ] 4.83604950287
10:28:47 evaluator        launcher|gym_simulation_launcher.py:89   - main           | Simulator listening to incoming connections...
10:28:47 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep000
10:28:47 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
10:28:47 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
10:28:47 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.57449761 0.         1.00806868] 0.0328325810557
10:28:47 evaluator        launcher|gym_simulation_launcher.py:237  - run_episode    | received ping: {u'topic': 1, u'ip': u'192.168.208.2', u'id': u'1408', u'msg': u'0'}
10:28:47 evaluator        launcher|gym_simulation_launcher.py:240  - run_episode    | received 2, resetting: {u'topic': 2, u'ip': u'192.168.208.2', u'id': u'1408', u'msg': u'0'}
10:28:47 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.9473256  0.         2.19364627] 4.70207132071
10:28:48 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.915, done=False
10:28:49 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-1.996, done=False
10:28:50 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-2.31, done=False
10:28:51 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-3.322, done=False
10:28:51 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (10 secs passed, will wait 590 secs more)
10:28:52 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-4.569, done=False
10:28:52 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
10:28:52 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep000
10:28:52 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 125 steps are enough
10:28:52 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep001
10:28:52 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
10:28:52 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
10:28:52 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.94220351 0.         1.23114947] 4.68721314392
10:28:57 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-0.408, done=False
10:28:58 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-0.104, done=False
10:28:59 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-0.202, done=False
10:29:00 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
10:29:00 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep001
10:29:00 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 94 steps are enough
10:29:00 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep002
10:29:00 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
10:29:00 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
10:29:00 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [0.84497723 0.         1.12248482] 4.62469817798
10:29:01 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (20 secs passed, will wait 580 secs more)
10:29:05 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=0.053, done=False
10:29:06 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=0.002, done=False
10:29:07 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-0.13, done=False
10:29:09 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-0.594, done=False
10:29:09 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-1.385, done=False
10:29:10 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.373, done=False
10:29:11 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (30 secs passed, will wait 570 secs more)
10:29:12 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-3.062, done=False
10:29:12 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
10:29:12 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep002
10:29:12 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 179 steps are enough
10:29:12 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep003
10:29:12 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
10:29:12 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
10:29:12 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [3.00329777 0.         0.86708317] 0.0349480490083
10:29:17 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-1.469, done=False
10:29:18 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-1.374, done=False
10:29:19 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=72, reward=-1.366, done=False
10:29:20 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=96, reward=-1.39, done=False
10:29:21 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=120, reward=-2.167, done=False
10:29:21 evaluator DEBUG:duckietown-challenges:Output /challenge-solution-output/output-solution.yaml not ready yet (40 secs passed, will wait 560 secs more)
10:29:22 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=144, reward=-2.524, done=False
10:29:22 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=168, reward=-3.538, done=False
10:29:23 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
10:29:23 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep003
10:29:23 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 185 steps are enough
10:29:23 evaluator        launcher|gym_simulation_launcher.py:98   - main           | Starting episode ep004
10:29:23 evaluator        launcher|gym_simulation_launcher.py:104  - main           | Logging basic info
10:29:23 evaluator        launcher|gym_simulation_launcher.py:109  - main           | Now running episode
10:29:23 evaluator  gym-duckietown|   simulator.py:471  - reset          | Starting at [1.72410152 0.         3.21929481] 0.0317184229532
10:29:28 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=24, reward=-2.344, done=False
10:29:29 evaluator        launcher|gym_simulation_launcher.py:231  - run_episode    | step_count=48, reward=-2.821, done=False
10:29:30 evaluator  gym-duckietown|   simulator.py:1244 - step           | Stopping the simulator because we are at an invalid pose.
10:29:30 evaluator        launcher|gym_simulation_launcher.py:116  - main           | Finished episode ep004
10:29:30 evaluator        launcher|gym_simulation_launcher.py:119  - main           | 66 steps are enough
10:29:30 evaluator        launcher|gym_simulation_launcher.py:140  - main           | Simulation done.
10:29:30 evaluator        launcher|gym_simulation_launcher.py:152  - main           | Clean exit.
10:29:30 evaluator        launcher|gym_simulation_launcher.py:263  - <module>       | success
10:29:30 evaluator starting pub socket on port 8902
10:29:30 evaluator launch.sh >  gym_simulation_launcher terminated with return code 0
10:29:30 evaluator launch.sh >  Killing xvfb...
10:29:30 evaluator launch.sh >  Killed.
10:29:30 evaluator launch.sh >  Graceful exit of launch.sh with return code 0
10:29:31 evaluator INFO:duckietown-challenges:evaluation: waiting for gym to finish
10:29:31 evaluator INFO:duckietown-challenges:evaluation: finished with return code 0
10:29:31 evaluator INFO:duckietown-challenges:evaluation: saving files
10:29:31 evaluator INFO:duckietown-challenges:evaluation: score() terminated gracefully.
10:29:31 evaluator DEBUG:duckietown-challenges:Written to: /challenge-results/challenge_results.yaml
10:28:41 solution INFO:gym-duckietown-agent:gym-duckietown-agent 2018.10.1
10:28:41 solution INFO:duckietown-challenges:duckietown-challenges 3.2.14
10:28:41 solution DEBUG:duckietown-challenges:Output /challenge-description/description.yaml not ready yet (0 secs passed, will wait 600 secs more)
10:28:42 solution INFO:duckietown-challenges:solution:Parameters: OrderedDict([('env', 'Duckietown-Lf-Lfv-Navv-Silent-v1')])
10:28:42 solution INFO:duckietown-challenges:solution:Starting.
10:28:42 solution INFO:duckietown-challenges:solution:Creating model.
10:28:42 solution INFO:duckietown-challenges:solution:Making environment
10:28:42 solution INFO:duckietown-slimremote:duckietown-slimremote 2018.10.1
10:28:43 solution INFO:duckietown-challenges:solution:Reset environment
10:28:46 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
10:28:55 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
10:29:03 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
10:29:15 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
10:29:26 solution INFO:duckietown-slimremote:Simulator not ready - wait 1 second and try again
10:29:30 solution INFO:duckietown-challenges:solution:Finished.
10:29:30 solution DEBUG:duckietown-challenges:Written to: /challenge-solution-output/output-solution.yaml
10:29:31 solution INFO:duckietown-challenges:solution:Graceful termination of wrap_solution().
10:29:31 solution Starting submission
10:29:31 solution (u'starting sub socket on', 8902)