File size: 54,929 Bytes
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SLURM_JOB_ID: 2015605
SLURM_JOB_NODELIST: tcml-node11
JobId=2015605 JobName=collect_1009_0
UserId=nguyen(2243) GroupId=ra_staff(5011) MCS_label=N/A
Priority=55 Nice=0 Account=l40s QOS=normal
JobState=RUNNING Reason=None Dependency=(null)
Requeue=1 Restarts=0 BatchFlag=1 Reboot=0 ExitCode=0:0
RunTime=00:00:01 TimeLimit=03:00:00 TimeMin=N/A
SubmitTime=2026-04-16T18:14:15 EligibleTime=2026-04-16T18:14:15
AccrueTime=2026-04-16T18:14:15
StartTime=2026-04-16T18:14:15 EndTime=2026-04-16T21:14:15 Deadline=N/A
SuspendTime=None SecsPreSuspend=0 LastSchedEval=2026-04-16T18:14:15 Scheduler=Main
Partition=day AllocNode:Sid=tcml-login3:2161904
ReqNodeList=(null) ExcNodeList=(null)
NodeList=tcml-node11
BatchHost=tcml-node11
NumNodes=1 NumCPUs=2 NumTasks=1 CPUs/Task=2 ReqB:S:C:T=0:0:*:*
ReqTRES=cpu=2,mem=40G,node=1,billing=13,gres/gpu=1
AllocTRES=cpu=2,mem=40G,node=1,billing=13,gres/gpu=1
Socks/Node=* NtasksPerN:B:S:C=1:0:*:* CoreSpec=*
MinCPUsNode=2 MinMemoryNode=40G MinTmpDiskNode=0
Features=(null) DelayBoot=00:00:00
OverSubscribe=OK Contiguous=0 Licenses=(null) LicensesAlloc=(null) Network=(null)
Command=/mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/scripts/1009_0_Rep0.sh
WorkDir=/mnt/beegfs/home/nguyen/lead
StdErr=/mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/stderr/1009_0.log
StdIn=/dev/null
StdOut=/mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/stdout/1009_0.log
TresPerNode=gres/gpu:1080ti:1
TresPerTask=cpu=2
start python
/home/nguyen/miniconda3/envs/lead/bin/python
/home/nguyen/miniconda3/envs/lead/bin/python3
/home/nguyen/lead
Start python
FREE_STREAMING_PORT: 41352
FREE_WORLD_PORT: 16627
TM_PORT: 34527
4.26.2-0+++UE4+Release-4.26 522 0
Disabling core dumps.
/home/nguyen/miniconda3/envs/lead/bin/python3
Running main() in leaderboard_evaluator_local.py
2026-04-16 18:17:54 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/logging_config.py:145] Logging configured: level=INFO for 'lead' modules
2026-04-16 18:17:54 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/logging_config.py:145] Logging configured: level=INFO for 'lead' modules
Problem reading checkpoint. Found no data
[1m========= Preparing RouteScenario_11 (repetition 0) =========[0m
[1m> Loading the world[0m
[1m> Loading the world[0m
[1m> Load_world time=101.21259212493896
[1m> Setting up the agent[0m
2026-04-16 18:21:15 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:25] WDT: Started
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:110] Starting setup...
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:111] Config file: data/data_routes/50x36_Town13/ParkingCutIn/1009_0.xml
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:112] Route index: 1009_0_route0_04_16_18_21_15
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/base_agent.py:29] Noisy lat ref: 41.09374957104929, Noisy lon ref: -84.83048763399974
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:54] Setup
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_base.py:36] Setup
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:117] Initializing Py123D writers...
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:123] Py123D logs root: data/carla_leaderboard2_py123d/logs
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:124] Py123D maps root: data/carla_leaderboard2_py123d/maps
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:129] Created logs directory: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/logs
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:130] Created maps directory: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/maps
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:162] Py123D writers initialized
2026-04-16 18:21:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/privileged_route_planner.py:556] Setting up the privileged route planner.
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1324] Translation perturbation range: [-0.57m, 0.57m].
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1325] Sampled translation: -0.14m.
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1326] rotation range: [-4.67°, 5.26°], sampled rotation: 1.99°
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_1_perturbated at position (0.31980695853713487, -0.1276235693775201, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_1_perturbated at position (0.31980695853713487, -0.1276235693775201, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_1_perturbated at position (0.31980695853713487, -0.1276235693775201, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_1_perturbated at position (0.31980695853713487, -0.1276235693775201, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_2_perturbated at position (0.16692701659499715, -0.6232320069083682, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_2_perturbated at position (0.16692701659499715, -0.6232320069083682, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_2_perturbated at position (0.16692701659499715, -0.6232320069083682, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_2_perturbated at position (0.16692701659499715, -0.6232320069083682, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_3_perturbated at position (-0.33311865213520897, -0.6306028402507309, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_3_perturbated at position (-0.33311865213520897, -0.6306028402507309, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_3_perturbated at position (-0.33311865213520897, -0.6306028402507309, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_3_perturbated at position (-0.33311865213520897, -0.6306028402507309, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_4_perturbated at position (0.13289200703356674, 0.3561768036116072, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_4_perturbated at position (0.13289200703356674, 0.3561768036116072, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_4_perturbated at position (0.13289200703356674, 0.3561768036116072, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_4_perturbated at position (0.13289200703356674, 0.3561768036116072, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_5_perturbated at position (-0.3664590696647735, 0.32881803536067367, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_5_perturbated at position (-0.3664590696647735, 0.32881803536067367, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_5_perturbated at position (-0.3664590696647735, 0.32881803536067367, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_5_perturbated at position (-0.3664590696647735, 0.32881803536067367, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_6_perturbated at position (-1.3591795737828232, -0.185969300054258, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_6_perturbated at position (-1.3591795737828232, -0.185969300054258, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_6_perturbated at position (-1.3591795737828232, -0.185969300054258, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_6_perturbated at position (-1.3591795737828232, -0.185969300054258, 1.6), size: 800x450px
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:59] Added sensor: lidar1 at position (0.0, 0.0, 2.5)
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:75] Added sensor: lidar2 at position (0.0, 0.0, 2.5)
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:134] Added sensor: imu
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:148] Added sensor: gps
2026-04-16 18:21:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:156] Added sensor: speed
2026-04-16 18:21:17 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
[1m> Running the route[0m
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1324] Translation perturbation range: [-0.57m, 0.57m].
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1325] Sampled translation: -0.40m.
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_utils.py:1326] rotation range: [-4.12°, 5.82°], sampled rotation: -4.05°
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_1 at position (0.32, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_1_perturbated at position (0.31920040433526975, -0.4206665590748819, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_1_perturbated at position (0.31920040433526975, -0.4206665590748819, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_1_perturbated at position (0.31920040433526975, -0.4206665590748819, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_1_perturbated at position (0.31920040433526975, -0.4206665590748819, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_2 at position (0.15, -0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_2_perturbated at position (0.11500735979238981, -0.8974319107525279, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_2_perturbated at position (0.11500735979238981, -0.8974319107525279, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_2_perturbated at position (0.11500735979238981, -0.8974319107525279, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_2_perturbated at position (0.11500735979238981, -0.8974319107525279, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_3 at position (-0.35, -0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_3_perturbated at position (-0.3830367856602494, -0.852132582056063, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_3_perturbated at position (-0.3830367856602494, -0.852132582056063, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_3_perturbated at position (-0.3830367856602494, -0.852132582056063, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_3_perturbated at position (-0.3830367856602494, -0.852132582056063, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_4 at position (0.15, 0.49, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_4_perturbated at position (0.1842430192719256, 0.08011932752423573, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_4_perturbated at position (0.1842430192719256, 0.08011932752423573, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_4_perturbated at position (0.1842430192719256, 0.08011932752423573, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_4_perturbated at position (0.1842430192719256, 0.08011932752423573, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_5 at position (-0.35, 0.48, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_5_perturbated at position (-0.31521409882315315, 0.10546863094974623, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_5_perturbated at position (-0.31521409882315315, 0.10546863094974623, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_5_perturbated at position (-0.31521409882315315, 0.10546863094974623, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_5_perturbated at position (-0.31521409882315315, 0.10546863094974623, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:209] Added sensor: rgb_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: semantics_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: depth_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:235] Added sensor: instance_6 at position (-1.36, 0.0, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: rgb_6_perturbated at position (-1.3566017184248964, -0.30197685710996336, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: semantics_6_perturbated at position (-1.3566017184248964, -0.30197685710996336, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: depth_6_perturbated at position (-1.3566017184248964, -0.30197685710996336, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:266] Added perturbated sensor: instance_6_perturbated at position (-1.3566017184248964, -0.30197685710996336, 1.6), size: 800x450px
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:59] Added sensor: lidar1 at position (0.0, 0.0, 2.5)
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:75] Added sensor: lidar2 at position (0.0, 0.0, 2.5)
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:134] Added sensor: imu
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:148] Added sensor: gps
2026-04-16 18:21:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/common/sensor_setup.py:156] Added sensor: speed
2026-04-16 18:21:24 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:25] WDT: Started
2026-04-16 18:21:24 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:25] WDT: Started
2026-04-16 18:21:24 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:88] Init
2026-04-16 18:21:24 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_base.py:74] Init
2026-04-16 18:21:24 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_base.py:84] Vehicle starts without parking exit.
2026-04-16 18:21:24 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/privileged_route_planner.py:556] Setting up the privileged route planner.
2026-04-16 18:21:26 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_base.py:98] Route setup with 2064 waypoints.
2026-04-16 18:21:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:284] Shuffling weather settings
2026-04-16 18:21:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:296] Chose random weather SoftRainNoon
2026-04-16 18:21:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:297] Chose weather SoftRainNoon
2026-04-16 18:21:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:359] Current weather setting: SoftRainNoon
2026-04-16 18:21:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:223] [DataAgent] Chose JPEG storage quality 30
2026-04-16 18:21:27 [WARNING] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:235] The BEV resolution is not the same as the LiDAR resolution. This might lead to unexpected results
2026-04-16 18:21:45 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:174] Initializing Py123D map and log...
2026-04-16 18:21:45 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:180] Location: town13
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:181] Log name: Town13_Rep0_1009_0_route0_04_16_18_21_15
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:194] Initializing map for location: town13
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:195] Map output directory: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/maps
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:240] Map already converted for town13
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:243] Map writer closed
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:253] Loaded map API from: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/maps/carla/carla_town13.arrow
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:264] Initializing log writer for: Town13_Rep0_1009_0_route0_04_16_18_21_15
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:265] Log output directory: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/logs
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:285] Log metadata created - log_name=Town13_Rep0_1009_0_route0_04_16_18_21_15, location=town13
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:289] Log writer initialized. Data will be saved to: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/logs/Town13_Rep0_1009_0_route0_04_16_18_21_15
2026-04-16 18:21:46 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:189] Py123D initialization complete
2026-04-16 18:21:48 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 0, Time per step: 23256.54 ms
2026-04-16 18:21:53 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 0 (timestamp=0.05s)
2026-04-16 18:22:43 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 10, Time per step: 1991.79 ms
2026-04-16 18:23:35 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 20, Time per step: 2126.15 ms
2026-04-16 18:23:41 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 20 (timestamp=1.05s)
2026-04-16 18:24:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 30, Time per step: 1773.85 ms
2026-04-16 18:25:21 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 40, Time per step: 1911.76 ms
2026-04-16 18:25:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 40 (timestamp=2.05s)
2026-04-16 18:26:14 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 50, Time per step: 2021.48 ms
2026-04-16 18:27:09 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 60, Time per step: 1922.76 ms
2026-04-16 18:27:13 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 60 (timestamp=3.05s)
2026-04-16 18:28:07 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 70, Time per step: 2848.21 ms
2026-04-16 18:29:04 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 80, Time per step: 2051.87 ms
2026-04-16 18:29:08 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 80 (timestamp=4.05s)
2026-04-16 18:30:01 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 90, Time per step: 2808.06 ms
2026-04-16 18:30:41 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:30:52 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:30:59 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 100, Time per step: 2623.31 ms
2026-04-16 18:31:04 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:31:04 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 100 (timestamp=5.05s)
2026-04-16 18:31:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:31:26 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:31:38 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:31:50 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:31:56 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 110, Time per step: 2752.22 ms
2026-04-16 18:32:02 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:23 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:34 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:44 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:50 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 120, Time per step: 2372.28 ms
2026-04-16 18:32:55 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:32:55 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 120 (timestamp=6.05s)
2026-04-16 18:33:05 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:33:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:33:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:33:37 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:33:42 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 130, Time per step: 2072.49 ms
2026-04-16 18:33:47 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:33:59 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:34:11 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:34:22 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:34:33 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:34:39 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 140, Time per step: 1958.25 ms
2026-04-16 18:34:44 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:34:44 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 140 (timestamp=7.05s)
2026-04-16 18:34:56 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:07 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:27 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:32 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 150, Time per step: 2057.21 ms
2026-04-16 18:35:38 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:49 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:35:59 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:36:09 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:36:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:36:25 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 160, Time per step: 1895.71 ms
2026-04-16 18:36:30 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:36:30 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 160 (timestamp=8.05s)
2026-04-16 18:36:41 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:36:52 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:37:03 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:37:09 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=3.7 km/h)
2026-04-16 18:37:14 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:742] Traffic-light map query skipped: no traffic lights within 80 m.
2026-04-16 18:37:17 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=4.1 km/h)
2026-04-16 18:37:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=4.7 km/h)
2026-04-16 18:37:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 170, Time per step: 1796.21 ms
2026-04-16 18:37:28 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=5.2 km/h)
2026-04-16 18:37:31 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=5.4 km/h)
2026-04-16 18:37:39 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=5.7 km/h)
2026-04-16 18:37:42 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=6.1 km/h)
2026-04-16 18:37:51 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=6.6 km/h)
2026-04-16 18:37:53 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=7.1 km/h)
2026-04-16 18:38:01 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=7.7 km/h)
2026-04-16 18:38:04 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=8.3 km/h)
2026-04-16 18:38:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=9.1 km/h)
2026-04-16 18:38:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=9.8 km/h)
2026-04-16 18:38:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 180, Time per step: 2050.86 ms
2026-04-16 18:38:20 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 180 (timestamp=9.05s)
2026-04-16 18:38:23 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=10.6 km/h)
2026-04-16 18:38:26 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=11.5 km/h)
2026-04-16 18:38:34 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=12.3 km/h)
2026-04-16 18:38:37 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=13.1 km/h)
2026-04-16 18:38:45 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=14.0 km/h)
2026-04-16 18:38:48 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:541] [Control] ParkingCutIn: Emergency braking for cut-in vehicle (speed=14.7 km/h)
2026-04-16 18:39:11 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 190, Time per step: 2587.90 ms
2026-04-16 18:39:20 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:551] [Control] ParkingCutIn: Cut-in vehicle cleared (speed=18.2 km/h)
2026-04-16 18:40:09 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 200, Time per step: 2097.09 ms
2026-04-16 18:40:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 200 (timestamp=10.05s)
2026-04-16 18:40:42 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
2026-04-16 18:41:04 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 210, Time per step: 1782.31 ms
2026-04-16 18:42:00 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 220, Time per step: 2030.65 ms
2026-04-16 18:42:05 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 220 (timestamp=11.05s)
2026-04-16 18:42:55 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 230, Time per step: 1627.43 ms
2026-04-16 18:43:48 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 240, Time per step: 1759.38 ms
2026-04-16 18:43:53 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 240 (timestamp=12.05s)
2026-04-16 18:44:38 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 250, Time per step: 1648.30 ms
2026-04-16 18:45:28 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 260, Time per step: 1680.85 ms
2026-04-16 18:45:33 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 260 (timestamp=13.05s)
2026-04-16 18:46:23 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 270, Time per step: 2141.73 ms
2026-04-16 18:47:24 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 280, Time per step: 2015.43 ms
2026-04-16 18:47:30 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 280 (timestamp=14.05s)
2026-04-16 18:48:22 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 290, Time per step: 2015.20 ms
[ClearScenarioType] Removing scenario with ID 140340739947200 automatically after ending.
[CarlaDataProvider] Removed scenario ParkingCutIn with ID 140340739947200
[CarlaDataProvider] Queue after removing ParkingCutIn:
2026-04-16 18:49:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 300, Time per step: 2305.60 ms
2026-04-16 18:49:22 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 300 (timestamp=15.05s)
2026-04-16 18:50:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 310, Time per step: 2844.82 ms
2026-04-16 18:51:14 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 320, Time per step: 3117.57 ms
2026-04-16 18:51:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 320 (timestamp=16.05s)
2026-04-16 18:52:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 330, Time per step: 2820.45 ms
2026-04-16 18:52:50 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [335] Ego target speed adjusted for red light in 29.98m
from 6.75 to 5.92
2026-04-16 18:52:54 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [336] Ego target speed adjusted for red light in 29.71m
from 6.75 to 5.89
2026-04-16 18:53:03 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [337] Ego target speed adjusted for red light in 29.44m
from 6.75 to 5.90
2026-04-16 18:53:06 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [338] Ego target speed adjusted for red light in 29.17m
from 6.75 to 5.95
2026-04-16 18:53:16 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [339] Ego target speed adjusted for red light in 28.89m
from 6.75 to 6.06
2026-04-16 18:53:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [340] Ego target speed adjusted for red light in 28.61m
from 6.75 to 6.05
2026-04-16 18:53:19 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 340, Time per step: 2879.13 ms
2026-04-16 18:53:25 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 340 (timestamp=17.05s)
2026-04-16 18:53:29 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [341] Ego target speed adjusted for red light in 28.33m
from 6.75 to 6.05
2026-04-16 18:53:32 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [342] Ego target speed adjusted for red light in 28.04m
from 6.75 to 6.38
2026-04-16 18:53:44 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [344] Ego target speed adjusted for red light in 27.34m
from 6.75 to 6.98
2026-04-16 18:53:53 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [345] Ego target speed adjusted for red light in 26.95m
from 6.75 to 7.07
2026-04-16 18:53:57 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [346] Ego target speed adjusted for red light in 26.57m
from 6.75 to 7.04
2026-04-16 18:54:05 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [347] Ego target speed adjusted for red light in 26.19m
from 6.75 to 6.98
2026-04-16 18:54:09 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [348] Ego target speed adjusted for red light in 25.83m
from 6.75 to 6.88
2026-04-16 18:54:18 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [349] Ego target speed adjusted for red light in 25.47m
from 6.75 to 6.77
2026-04-16 18:54:22 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [350] Ego target speed adjusted for red light in 25.13m
from 6.75 to 6.65
2026-04-16 18:54:22 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 350, Time per step: 3436.77 ms
2026-04-16 18:54:32 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [351] Ego target speed adjusted for red light in 24.80m
from 6.75 to 6.52
2026-04-16 18:54:35 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [352] Ego target speed adjusted for red light in 24.50m
from 6.75 to 6.11
2026-04-16 18:54:44 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [353] Ego target speed adjusted for red light in 24.25m
from 6.75 to 5.21
2026-04-16 18:54:47 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [354] Ego target speed adjusted for red light in 24.04m
from 6.75 to 5.12
2026-04-16 18:54:55 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [355] Ego target speed adjusted for red light in 23.82m
from 6.75 to 5.19
2026-04-16 18:54:58 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [356] Ego target speed adjusted for red light in 23.59m
from 6.75 to 5.34
2026-04-16 18:55:05 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [357] Ego target speed adjusted for red light in 23.36m
from 6.75 to 5.52
2026-04-16 18:55:08 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [358] Ego target speed adjusted for red light in 23.11m
from 6.75 to 5.73
2026-04-16 18:55:15 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [359] Ego target speed adjusted for red light in 22.84m
from 6.75 to 5.90
2026-04-16 18:55:18 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [360] Ego target speed adjusted for red light in 22.57m
from 6.75 to 5.89
2026-04-16 18:55:18 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:166] Step: 360, Time per step: 2263.74 ms
2026-04-16 18:55:23 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:401] Saved Py123D data at step 360 (timestamp=18.05s)
2026-04-16 18:55:26 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [361] Ego target speed adjusted for red light in 22.30m
from 6.75 to 5.90
2026-04-16 18:55:29 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [362] Ego target speed adjusted for red light in 22.03m
from 6.75 to 5.88
2026-04-16 18:55:37 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [363] Ego target speed adjusted for red light in 21.75m
from 6.75 to 6.11
2026-04-16 18:55:40 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [364] Ego target speed adjusted for red light in 21.44m
from 6.75 to 6.43
2026-04-16 18:55:48 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [365] Ego target speed adjusted for red light in 21.10m
from 6.75 to 6.64
2026-04-16 18:55:51 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [366] Ego target speed adjusted for red light in 20.76m
from 6.75 to 6.64
2026-04-16 18:55:59 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [367] Ego target speed adjusted for red light in 20.42m
from 6.75 to 6.62
2026-04-16 18:56:02 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [368] Ego target speed adjusted for red light in 20.09m
from 6.75 to 6.53
2026-04-16 18:56:10 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert.py:2598] [369] Ego target speed adjusted for red light in 19.76m
from 6.75 to 6.46
[1m> Stopping the route[0m
2026-04-16 18:56:11 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
2026-04-16 18:56:12 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
[1m========= Results of RouteScenario_11 (repetition 0) ------ [92mSUCCESS[0m [1m=========[0m
╒═══════════════════════╤═════════════════════╕
│ Start Time │ 2026-04-16 18:21:24 │
├───────────────────────┼─────────────────────┤
│ End Time │ 2026-04-16 18:56:12 │
├───────────────────────┼─────────────────────┤
│ System Time │ 2088.4s │
├───────────────────────┼─────────────────────┤
│ Game Time │ 18.5s │
├───────────────────────┼─────────────────────┤
│ Ratio (Game / System) │ 0.009 │
╘═══════════════════════╧═════════════════════╛
╒═══════════════════════╤═════════╤═════════╕
│ Criterion │ Result │ Value │
├───────────────────────┼─────────┼─────────┤
│ RouteCompletionTest │ [92mSUCCESS[0m │ 100 % │
├───────────────────────┼─────────┼─────────┤
│ OutsideRouteLanesTest │ [92mSUCCESS[0m │ 0 % │
├───────────────────────┼─────────┼─────────┤
│ CollisionTest │ [92mSUCCESS[0m │ 0 times │
├───────────────────────┼─────────┼─────────┤
│ RunningRedLightTest │ [92mSUCCESS[0m │ 0 times │
├───────────────────────┼─────────┼─────────┤
│ RunningStopTest │ [92mSUCCESS[0m │ 0 times │
├───────────────────────┼─────────┼─────────┤
│ MinSpeedTest │ [92mSUCCESS[0m │ 99.84 % │
├───────────────────────┼─────────┼─────────┤
│ InRouteTest │ [92mSUCCESS[0m │ │
├───────────────────────┼─────────┼─────────┤
│ AgentBlockedTest │ [92mSUCCESS[0m │ │
├───────────────────────┼─────────┼─────────┤
│ Timeout │ [92mSUCCESS[0m │ │
╘═══════════════════════╧═════════╧═════════╛
[1m> Registering the route statistics[0m
2026-04-16 18:56:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:870] Closing Py123D writers...
2026-04-16 18:56:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:871] Final log location: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/logs/Town13_Rep0_1009_0_route0_04_16_18_21_15
2026-04-16 18:56:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:874] Final map location: /mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/maps
2026-04-16 18:56:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_data.py:1141] Shutting down background save thread...
2026-04-16 18:56:12 [INFO] [/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py:877] Cleanup complete - data saved to Py123D format
[1m> Registering the global statistics[0m
2026-04-16 18:56:13 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
2026-04-16 18:56:13 [INFO] [/home/nguyen/miniconda3/envs/lead/lib/python3.10/site-packages/simple_watchdog_timer.py:92] WDT: Stopped
|