AI Driving Olympics Home Challenges Submissions

Submission 13309

Submission13309
Competingyes
Challengeaido5-LFV_multi-real-validation
UserRobert Moni 🇭🇺
Date submitted
Last status update
Completecomplete
DetailsEvaluation is complete.
Sisters
Result💚
Jobseval0: 61013 eval0-videos: 61542 eval0-visualize: 61555 eval1: 61039 eval1-videos: 61541 eval1-visualize: 61538 eval2: 61101 eval2-videos: 61548 eval2-visualize: 61556
Next
User labelspeedRL
Admin priority80
Blessingn/a
User priority80

61556

Click the images to see detailed statistics about the episode.

sync

tmp

visualization

61555

Click the images to see detailed statistics about the episode.

sync

tmp

visualization

61548

robot

watchtower

61542

robot

watchtower

61541

robot

watchtower

61538

Click the images to see detailed statistics about the episode.

sync

tmp

visualization

61101

scenario/drawing.html

61039

scenario/drawing.html

61013

scenario/drawing.html

Evaluation jobs for this submission

See previous jobs for previous versions of challenges
Job IDstepstatusup to datedate starteddate completeddurationmessage
61556eval2-visualizesuccessyes0:05:16
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driven_lanedir_consec0.9230007584823658
survival_time18.52392578125
deviation-center-line0.563383601868976
in-drivable-lane12.17961057027181


other stats
deviation-heading2.5730963369549777
driven_any1.737597858985345
driven_lanedir0.9223660693910491
visualized-eval2-passed1
No reset possible
61555eval0-visualizesuccessyes0:05:06
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driven_lanedir_consec0.7489199681917635
survival_time23.238643566767376
deviation-center-line0.48211640028023495
in-drivable-lane15.951054652531942


other stats
deviation-heading3.20263144624829
driven_any2.005860417048193
driven_lanedir0.7683443781223148
visualized-eval0-passed1
No reset possible
61553eval2-visualizehost-erroryes0:01:29
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61552eval0-visualizehost-erroryes0:01:19
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61551eval2-visualizehost-erroryes0:01:22
Error while running [...]
Error while running Docker Compose:

Could not run command
│    cmd: [docker-compose, -p, gpu-production-1-01_616611541d30-job61551-790372, up, --no-start,
│          --renew-anon-volumes]
│ stdout: ''
│  sderr: ''
│      e: Command '['docker-compose', '-p', 'gpu-production-1-01_616611541d30-job61551-790372', 'up', '--no-start', '--renew-anon-volumes']' returned non-zero exit status 1.
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61550eval0-visualizehost-erroryes0:01:18
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61548eval2-videossuccessyes0:04:12
all ok, 10 bags proc [...]
all ok, 10 bags processed
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61547eval2-visualizehost-erroryes0:02:27
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61543eval0-visualizehost-erroryes0:02:29
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61542eval0-videossuccessyes0:04:14
all ok, 10 bags proc [...]
all ok, 10 bags processed
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61541eval1-videossuccessyes0:07:36
all ok, 10 bags proc [...]
all ok, 10 bags processed
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61540eval2-videoshost-erroryes0:01:22
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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No reset possible
61539eval2-visualizehost-erroryes0:01:24
Uncaught exception: [...]
Uncaught exception:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 53, in get_services_id
    container = client.containers.get(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/models/containers.py", line 880, in get
    resp = self.client.api.inspect_container(container_id)
  File "/usr/local/lib/python3.8/dist-packages/docker/utils/decorators.py", line 16, in wrapped
    raise errors.NullResource(
docker.errors.NullResource: Resource ID was not provided

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 745, in get_cr
    cr = run_single(
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/runner.py", line 959, in run_single
    write_logs(wd, project, services=config["services"])
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 120, in write_logs
    services2id: Dict[ServiceName, ContainerID] = get_services_id(wd, project, services)
  File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges_runner/docker_compose.py", line 63, in get_services_id
    raise DockerComposeFail(msg, output=output.decode(), names=names) from e
duckietown_challenges_runner.docker_compose.DockerComposeFail: Cannot get process ids
│ output: ''
│  names: {}
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61538eval1-visualizesuccessyes0:12:13
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driven_lanedir_consec4.32152953110542
survival_time58.62402764956156
deviation-center-line1.561342638694309
in-drivable-lane33.142394622166954


other stats
deviation-heading8.690447496941593
driven_any7.752756394676189
driven_lanedir4.435425415257038
visualized-eval1-passed1
No reset possible
61101eval2successyes0:08:35
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61039eval1successyes0:13:21
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61013eval0successyes0:19:46
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61011eval0abortedyes0:41:45
DEBUG:commons:versio [...]
DEBUG:commons:version: 6.1.7 *
INFO:typing:version: 6.1.8
DEBUG:aido_schemas:aido-protocols version 6.0.33 path /usr/local/lib/python3.8/dist-packages
INFO:nodes:version 6.1.1 path /usr/local/lib/python3.8/dist-packages pyparsing 2.4.6
2020-12-12 08:56:14.779275: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:17.287871: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcuda.so.1
2020-12-12 08:56:17.295077: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1716] Found device 0 with properties: 
pciBusID: 0000:03:00.0 name: GeForce GTX 1080 Ti computeCapability: 6.1
coreClock: 1.582GHz coreCount: 28 deviceMemorySize: 10.91GiB deviceMemoryBandwidth: 451.17GiB/s
2020-12-12 08:56:17.295139: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:17.297963: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcublas.so.10
2020-12-12 08:56:17.299731: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcufft.so.10
2020-12-12 08:56:17.300089: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcurand.so.10
2020-12-12 08:56:17.301895: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusolver.so.10
2020-12-12 08:56:17.303036: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusparse.so.10
2020-12-12 08:56:17.307239: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudnn.so.7
2020-12-12 08:56:17.308802: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1858] Adding visible gpu devices: 0
2020-12-12 08:56:17.309336: I tensorflow/core/platform/cpu_feature_guard.cc:142] This TensorFlow binary is optimized with oneAPI Deep Neural Network Library (oneDNN)to use the following CPU instructions in performance-critical operations:  AVX2 FMA
To enable them in other operations, rebuild TensorFlow with the appropriate compiler flags.
2020-12-12 08:56:17.316998: I tensorflow/core/platform/profile_utils/cpu_utils.cc:104] CPU Frequency: 2599935000 Hz
2020-12-12 08:56:17.317800: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x80cf590 initialized for platform Host (this does not guarantee that XLA will be used). Devices:
2020-12-12 08:56:17.317824: I tensorflow/compiler/xla/service/service.cc:176]   StreamExecutor device (0): Host, Default Version
2020-12-12 08:56:17.515164: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x8089b90 initialized for platform CUDA (this does not guarantee that XLA will be used). Devices:
2020-12-12 08:56:17.515241: I tensorflow/compiler/xla/service/service.cc:176]   StreamExecutor device (0): GeForce GTX 1080 Ti, Compute Capability 6.1
2020-12-12 08:56:17.517123: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1716] Found device 0 with properties: 
pciBusID: 0000:03:00.0 name: GeForce GTX 1080 Ti computeCapability: 6.1
coreClock: 1.582GHz coreCount: 28 deviceMemorySize: 10.91GiB deviceMemoryBandwidth: 451.17GiB/s
2020-12-12 08:56:17.517237: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:17.517330: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcublas.so.10
2020-12-12 08:56:17.517392: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcufft.so.10
2020-12-12 08:56:17.517453: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcurand.so.10
2020-12-12 08:56:17.517514: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusolver.so.10
2020-12-12 08:56:17.517575: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusparse.so.10
2020-12-12 08:56:17.517641: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudnn.so.7
2020-12-12 08:56:17.520644: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1858] Adding visible gpu devices: 0
2020-12-12 08:56:17.520745: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:18.070185: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1257] Device interconnect StreamExecutor with strength 1 edge matrix:
2020-12-12 08:56:18.070244: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1263]      0 
2020-12-12 08:56:18.070255: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1276] 0:   N 
2020-12-12 08:56:18.071992: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1402] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 1024 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1080 Ti, pci bus id: 0000:03:00.0, compute capability: 6.1)
DEBUG:ipce:version 6.0.36 path /usr/local/lib/python3.8/dist-packages
INFO:nodes_wrapper:checking implementation
INFO:nodes_wrapper:checking implementation OK
DEBUG:nodes_wrapper:run_loop
  fin: /fifos/ego2-in
 fout: fifo:/fifos/ego2-out
INFO:nodes_wrapper:Fifo /fifos/ego2-out created. I will block until a reader appears.
INFO:nodes_wrapper:Fifo reader appeared for /fifos/ego2-out.
INFO:nodes_wrapper:Node RLlibAgent starting reading
 fi_desc: /fifos/ego2-in
 fo_desc: fifo:/fifos/ego2-out
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: init()
WARNING:config.config:Found paths with seed 0:
WARNING:config.config:0: ./models/config_dump_0000.yml
WARNING:config.config:Found checkpoints in ./models:
WARNING:config.config:0: ./models/PPO_0_2020-12-01_12-35-491qh00ibf/checkpoint_226/checkpoint-226
WARNING:config.config:1: ./models/PPO_0_2020-12-01_12-35-491qh00ibf/checkpoint_236/checkpoint-236
WARNING:config.config:Config loaded from ./models/config_dump_0000.yml
WARNING:config.config:Model checkpoint loaded from ./models/PPO_0_2020-12-01_12-35-491qh00ibf/checkpoint_226/checkpoint-226
WARNING:config.config:Updating default config values by: 
 env_config:
  mode: inference

WARNING:config.config:Env_config.mode is 'inference', some hyperparameters will be overwritten by: 
 rllib_config:
  num_workers: 0
  num_gpus: 0
  callbacks: {}
ray_init_config:
  num_cpus: 1
  memory: 2097152000
  object_store_memory: 209715200
  redis_max_memory: 209715200
  local_mode: true

INFO:nodes_wrapper:d7fa46488480:RLlibAgent: === Wrappers ===================================
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: Observation wrappers
 <ClipImageWrapper<DummyDuckietownGymLikeEnv instance>>
<ResizeWrapper<ClipImageWrapper<DummyDuckietownGymLikeEnv instance>>>
<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<DummyDuckietownGymLikeEnv instance>>>>
<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<DummyDuckietownGymLikeEnv instance>>>>>
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: Action wrappers
 <Heading2WheelVelsWrapper<NormalizeWrapper<ObservationBufferWrapper<ResizeWrapper<ClipImageWrapper<DummyDuckietownGymLikeEnv instance>>>>>>
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: Reward wrappers
 
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: === Config ===================================
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: seed: 0
experiment_name: Debug
algo: PPO
algo_config_files:
  PPO: config/algo/ppo.yml
  general: config/algo/general.yml
env_config:
  mode: inference
  episode_max_steps: 500
  resized_input_shape: (84, 84)
  crop_image_top: true
  top_crop_divider: 3
  grayscale_image: false
  frame_stacking: true
  frame_stacking_depth: 3
  motion_blur: false
  action_type: heading
  reward_function: posangle
  distortion: true
  accepted_start_angle_deg: 4
  simulation_framerate: 30
  frame_skip: 1
  action_delay_ratio: 0.0
  training_map: multimap1
  domain_rand: false
  dynamics_rand: false
  camera_rand: false
  frame_repeating: 0.0
  spawn_obstacles: false
  obstacles:
    duckie:
      density: 0.5
      static: true
    duckiebot:
      density: 0
      static: false
  spawn_forward_obstacle: false
  wandb:
    project: duckietown-rllib
  experiment_name: Debug
  seed: 0
ray_init_config:
  num_cpus: 1
  webui_host: 127.0.0.1
  memory: 2097152000
  object_store_memory: 209715200
  redis_max_memory: 209715200
  local_mode: true
restore_seed: -1
restore_experiment_idx: 0
restore_checkpoint_idx: 0
debug_hparams:
  rllib_config:
    num_workers: 1
    num_gpus: 0
  ray_init_config:
    num_cpus: 1
    memory: 2097152000
    object_store_memory: 209715200
    redis_max_memory: 209715200
    local_mode: true
inference_hparams:
  rllib_config:
    num_workers: 0
    num_gpus: 0
    callbacks: {}
  ray_init_config:
    num_cpus: 1
    memory: 2097152000
    object_store_memory: 209715200
    redis_max_memory: 209715200
    local_mode: true
timesteps_total: 1000000.0
rllib_config:
  num_workers: 0
  sample_batch_size: 265
  num_gpus: 0
  train_batch_size: 4096
  gamma: 0.99
  lr: 5.0e-05
  monitor: false
  evaluation_interval: 50
  evaluation_num_episodes: 2
  evaluation_config:
    monitor: false
  seed: 1234
  lambda: 0.95
  sgd_minibatch_size: 128
  vf_loss_coeff: 0.5
  entropy_coeff: 0.0
  clip_param: 0.2
  vf_clip_param: 0.2
  grad_clip: 0.5
  env: Duckietown
  callbacks: {}
  env_config:
    mode: inference
    episode_max_steps: 500
    resized_input_shape: (84, 84)
    crop_image_top: true
    top_crop_divider: 3
    grayscale_image: false
    frame_stacking: true
    frame_stacking_depth: 3
    motion_blur: false
    action_type: heading
    reward_function: posangle
    distortion: true
    accepted_start_angle_deg: 4
    simulation_framerate: 30
    frame_skip: 1
    action_delay_ratio: 0.0
    training_map: multimap1
    domain_rand: false
    dynamics_rand: false
    camera_rand: false
    frame_repeating: 0.0
    spawn_obstacles: false
    obstacles:
      duckie:
        density: 0.5
        static: true
      duckiebot:
        density: 0
        static: false
    spawn_forward_obstacle: false
    wandb:
      project: duckietown-rllib
    experiment_name: Debug
    seed: 0

2020-12-12 08:56:18,608	INFO trainer.py:428 -- Tip: set 'eager': true or the --eager flag to enable TensorFlow eager execution
2020-12-12 08:56:18,625	ERROR syncer.py:39 -- Log sync requires rsync to be installed.
2020-12-12 08:56:18,625	WARNING deprecation.py:29 -- DeprecationWarning: `sample_batch_size` has been deprecated. Use `rollout_fragment_length` instead. This will raise an error in the future!
2020-12-12 08:56:18,626	INFO trainer.py:583 -- Current log_level is WARN. For more information, set 'log_level': 'INFO' / 'DEBUG' or use the -v and -vv flags.
2020-12-12 08:56:18.639974: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1716] Found device 0 with properties: 
pciBusID: 0000:03:00.0 name: GeForce GTX 1080 Ti computeCapability: 6.1
coreClock: 1.582GHz coreCount: 28 deviceMemorySize: 10.91GiB deviceMemoryBandwidth: 451.17GiB/s
2020-12-12 08:56:18.640046: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:18.640087: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcublas.so.10
2020-12-12 08:56:18.640116: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcufft.so.10
2020-12-12 08:56:18.640143: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcurand.so.10
2020-12-12 08:56:18.640171: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusolver.so.10
2020-12-12 08:56:18.640197: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusparse.so.10
2020-12-12 08:56:18.640228: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudnn.so.7
2020-12-12 08:56:18.642158: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1858] Adding visible gpu devices: 0
2020-12-12 08:56:18.642200: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1257] Device interconnect StreamExecutor with strength 1 edge matrix:
2020-12-12 08:56:18.642212: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1263]      0 
2020-12-12 08:56:18.642220: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1276] 0:   N 
2020-12-12 08:56:18.643682: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1402] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 1024 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1080 Ti, pci bus id: 0000:03:00.0, compute capability: 6.1)
2020-12-12 08:56:19.101134: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudnn.so.7
2020-12-12 08:56:19.914246: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcublas.so.10
2020-12-12 08:56:23.235300: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1716] Found device 0 with properties: 
pciBusID: 0000:03:00.0 name: GeForce GTX 1080 Ti computeCapability: 6.1
coreClock: 1.582GHz coreCount: 28 deviceMemorySize: 10.91GiB deviceMemoryBandwidth: 451.17GiB/s
2020-12-12 08:56:23.235398: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudart.so.10.1
2020-12-12 08:56:23.235449: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcublas.so.10
2020-12-12 08:56:23.235484: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcufft.so.10
2020-12-12 08:56:23.235517: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcurand.so.10
2020-12-12 08:56:23.235552: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusolver.so.10
2020-12-12 08:56:23.235587: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcusparse.so.10
2020-12-12 08:56:23.235622: I tensorflow/stream_executor/platform/default/dso_loader.cc:48] Successfully opened dynamic library libcudnn.so.7
2020-12-12 08:56:23.236796: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1858] Adding visible gpu devices: 0
2020-12-12 08:56:23.236842: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1257] Device interconnect StreamExecutor with strength 1 edge matrix:
2020-12-12 08:56:23.236854: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1263]      0 
2020-12-12 08:56:23.236866: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1276] 0:   N 
2020-12-12 08:56:23.238196: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1402] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 1024 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1080 Ti, pci bus id: 0000:03:00.0, compute capability: 6.1)
2020-12-12 08:56:24,328	INFO trainable.py:217 -- Getting current IP.
2020-12-12 08:56:24,329	WARNING util.py:37 -- Install gputil for GPU system monitoring.
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: Restoring checkpoint from: ./models/PPO_0_2020-12-01_12-35-491qh00ibf/checkpoint_226/checkpoint-226
2020-12-12 08:56:24,394	INFO trainable.py:217 -- Getting current IP.
2020-12-12 08:56:24,395	INFO trainable.py:422 -- Restored on 172.17.0.6 from checkpoint: ./models/PPO_0_2020-12-01_12-35-491qh00ibf/checkpoint_226/checkpoint-226
2020-12-12 08:56:24,395	INFO trainable.py:430 -- Current state after restoring: {'_iteration': 226, '_timesteps_total': 958240, '_time_total': 9001.660576820374, '_episodes_total': 2836}
INFO:nodes_wrapper:d7fa46488480:RLlibAgent: Starting episode "episode".
ERROR:nodes_wrapper:Error in node RLlibAgent: 
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
    res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
1 Physical GPUs, 1 Logical GPUs
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 100, in ipce_from_object_
    if is_SpecialForm(cast(TypeLike, ob)):
  File "/usr/local/lib/python3.8/dist-packages/zuper_typing/annotations_tricks.py", line 177, in is_SpecialForm
    is_Any(x)
  File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 881, in sigterm_handler
    sys.exit(signal.SIGTERM)
SystemExit: Signals.SIGTERM

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
    res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
    return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
    raise ZValueError(msg, expected=T, ob=ob) from e
zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'back_right'. It is supposed to be of type @expected.
│ expected: dataclass aido_schemas.schemas.RGB
│            field       r : float
│            field       g : float
│            field       b : float
│                  __doc__    Values between 0, 1.
│       ob: LEDSCommands
│           │ center: RGB(r=0.0, g=0.0, b=0.0)
│           │ front_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ front_right: RGB(r=0.0, g=0.0, b=0.0)
│           │ back_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ back_right: RGB(r=0.0, g=0.0, b=0.0)

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
    handle_message_node(parsed, receiver0, context0)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 531, in handle_message_node
    call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
    f(**kwargs)
  File "solution.py", line 89, in on_received_get_commands
    context.write('commands', commands)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 98, in write
    self._write(topic, data, timing, with_schema)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 144, in _write
    data = ipce_from_object(data, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
    return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
    raise ZValueError(msg, expected=T, ob=ob) from e
zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'LEDS'. It is supposed to be of type @expected.
│ expected: dataclass aido_schemas.schemas.LEDSCommands
│            field      center : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field  front_left : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field front_right : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field   back_left : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field  back_right : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│       ob: DB20Commands
│           │ wheels: PWMCommands(motor_left=0.6499999761581421, motor_right=0.0)
│           │ LEDS:
│           │ LEDSCommands
│           │ │ center: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ front_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ front_right: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ back_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ back_right: RGB(r=0.0, g=0.0, b=0.0)

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 243, in run_loop
    loop(node_name, fi, fo, node, protocol, tin, tout, config=config, fi_desc=fin, fo_desc=fout)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 378, in loop
    raise InternalProblem(msg) from e  # XXX
zuper_nodes.structures.InternalProblem: Exception while handling a message on topic "get_commands".

| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
|     res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 100, in ipce_from_object_
|     if is_SpecialForm(cast(TypeLike, ob)):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_typing/annotations_tricks.py", line 177, in is_SpecialForm
|     is_Any(x)
|   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 881, in sigterm_handler
|     sys.exit(signal.SIGTERM)
| SystemExit: Signals.SIGTERM
| 
| The above exception was the direct cause of the following exception:
| 
| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
|     res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
|     return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
|     raise ZValueError(msg, expected=T, ob=ob) from e
| zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'back_right'. It is supposed to be of type @expected.
| │ expected: dataclass aido_schemas.schemas.RGB
| │            field       r : float
| │            field       g : float
| │            field       b : float
| │                  __doc__    Values between 0, 1.
| │       ob: LEDSCommands
| │           │ center: RGB(r=0.0, g=0.0, b=0.0)
| │           │ front_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ front_right: RGB(r=0.0, g=0.0, b=0.0)
| │           │ back_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ back_right: RGB(r=0.0, g=0.0, b=0.0)
| 
| The above exception was the direct cause of the following exception:
| 
| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
|     handle_message_node(parsed, receiver0, context0)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 531, in handle_message_node
|     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|     f(**kwargs)
|   File "solution.py", line 89, in on_received_get_commands
|     context.write('commands', commands)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 98, in write
|     self._write(topic, data, timing, with_schema)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 144, in _write
|     data = ipce_from_object(data, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
|     return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
|     raise ZValueError(msg, expected=T, ob=ob) from e
| zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'LEDS'. It is supposed to be of type @expected.
| │ expected: dataclass aido_schemas.schemas.LEDSCommands
| │            field      center : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field  front_left : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field front_right : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field   back_left : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field  back_right : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │       ob: DB20Commands
| │           │ wheels: PWMCommands(motor_left=0.6499999761581421, motor_right=0.0)
| │           │ LEDS:
| │           │ LEDSCommands
| │           │ │ center: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ front_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ front_right: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ back_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ back_right: RGB(r=0.0, g=0.0, b=0.0)
| 

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
    res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 100, in ipce_from_object_
    if is_SpecialForm(cast(TypeLike, ob)):
  File "/usr/local/lib/python3.8/dist-packages/zuper_typing/annotations_tricks.py", line 177, in is_SpecialForm
    is_Any(x)
  File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 881, in sigterm_handler
    sys.exit(signal.SIGTERM)
SystemExit: Signals.SIGTERM

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
    res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
    return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
    raise ZValueError(msg, expected=T, ob=ob) from e
zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'back_right'. It is supposed to be of type @expected.
│ expected: dataclass aido_schemas.schemas.RGB
│            field       r : float
│            field       g : float
│            field       b : float
│                  __doc__    Values between 0, 1.
│       ob: LEDSCommands
│           │ center: RGB(r=0.0, g=0.0, b=0.0)
│           │ front_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ front_right: RGB(r=0.0, g=0.0, b=0.0)
│           │ back_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ back_right: RGB(r=0.0, g=0.0, b=0.0)

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
    handle_message_node(parsed, receiver0, context0)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 531, in handle_message_node
    call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
    f(**kwargs)
  File "solution.py", line 89, in on_received_get_commands
    context.write('commands', commands)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 98, in write
    self._write(topic, data, timing, with_schema)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 144, in _write
    data = ipce_from_object(data, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
    res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
    return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
  File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
    raise ZValueError(msg, expected=T, ob=ob) from e
zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'LEDS'. It is supposed to be of type @expected.
│ expected: dataclass aido_schemas.schemas.LEDSCommands
│            field      center : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field  front_left : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field front_right : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field   back_left : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│            field  back_right : dataclass aido_schemas.schemas.RGB
│                                 field       r : float
│                                 field       g : float
│                                 field       b : float
│                                       __doc__    Values between 0, 1.
│       ob: DB20Commands
│           │ wheels: PWMCommands(motor_left=0.6499999761581421, motor_right=0.0)
│           │ LEDS:
│           │ LEDSCommands
│           │ │ center: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ front_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ front_right: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ back_left: RGB(r=0.0, g=0.0, b=0.0)
│           │ │ back_right: RGB(r=0.0, g=0.0, b=0.0)

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 243, in run_loop
    loop(node_name, fi, fo, node, protocol, tin, tout, config=config, fi_desc=fin, fo_desc=fout)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 378, in loop
    raise InternalProblem(msg) from e  # XXX
zuper_nodes.structures.InternalProblem: Exception while handling a message on topic "get_commands".

| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
|     res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 100, in ipce_from_object_
|     if is_SpecialForm(cast(TypeLike, ob)):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_typing/annotations_tricks.py", line 177, in is_SpecialForm
|     is_Any(x)
|   File "/usr/local/lib/python3.8/dist-packages/ray/worker.py", line 881, in sigterm_handler
|     sys.exit(signal.SIGTERM)
| SystemExit: Signals.SIGTERM
| 
| The above exception was the direct cause of the following exception:
| 
| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 219, in ipce_from_object_dataclass_instance
|     res[k] = ipce_from_object(v, T, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
|     return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
|     raise ZValueError(msg, expected=T, ob=ob) from e
| zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'back_right'. It is supposed to be of type @expected.
| │ expected: dataclass aido_schemas.schemas.RGB
| │            field       r : float
| │            field       g : float
| │            field       b : float
| │                  __doc__    Values between 0, 1.
| │       ob: LEDSCommands
| │           │ center: RGB(r=0.0, g=0.0, b=0.0)
| │           │ front_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ front_right: RGB(r=0.0, g=0.0, b=0.0)
| │           │ back_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ back_right: RGB(r=0.0, g=0.0, b=0.0)
| 
| The above exception was the direct cause of the following exception:
| 
| Traceback (most recent call last):
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 355, in loop
|     handle_message_node(parsed, receiver0, context0)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 531, in handle_message_node
|     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|     f(**kwargs)
|   File "solution.py", line 89, in on_received_get_commands
|     context.write('commands', commands)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 98, in write
|     self._write(topic, data, timing, with_schema)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 144, in _write
|     data = ipce_from_object(data, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 42, in ipce_from_object
|     res = ipce_from_object_(ob, suggest_type, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 109, in ipce_from_object_
|     return ipce_from_object_dataclass_instance(ob, globals_=globals_, ieso=ieso)
|   File "/usr/local/lib/python3.8/dist-packages/zuper_ipce/conv_ipce_from_object.py", line 236, in ipce_from_object_dataclass_instance
|     raise ZValueError(msg, expected=T, ob=ob) from e
| zuper_commons.types.exceptions.ZValueError: Could not serialize an object. Problem occurred with the attribute 'LEDS'. It is supposed to be of type @expected.
| │ expected: dataclass aido_schemas.schemas.LEDSCommands
| │            field      center : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field  front_left : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field front_right : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field   back_left : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │            field  back_right : dataclass aido_schemas.schemas.RGB
| │                                 field       r : float
| │                                 field       g : float
| │                                 field       b : float
| │                                       __doc__    Values between 0, 1.
| │       ob: DB20Commands
| │           │ wheels: PWMCommands(motor_left=0.6499999761581421, motor_right=0.0)
| │           │ LEDS:
| │           │ LEDSCommands
| │           │ │ center: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ front_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ front_right: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ back_left: RGB(r=0.0, g=0.0, b=0.0)
| │           │ │ back_right: RGB(r=0.0, g=0.0, b=0.0)
| 

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "solution.py", line 127, in <module>
    main()
  File "solution.py", line 123, in main
    wrap_direct(node=node, protocol=protocol)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/interface.py", line 24, in wrap_direct
    run_loop(node, protocol, args)
  File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 251, in run_loop
    raise Exception(msg) from e
Exception: Error in node RLlibAgent
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60955eval0abortedyes0:00:06
Job shutdown [...]
Job shutdown
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60950eval0abortedyes0:24:22
Job shutdown [...]
Job shutdown
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