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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240304_AB/laps/laps_info.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240304_AB/laps/laps_info.csv
new file mode 100644
index 0000000000000000000000000000000000000000..743f475e71bc2cb922413cf04e4ad1060ea832bc
--- /dev/null
+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240304_AB/laps/laps_info.csv
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/episodes_stats.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/episodes_stats.csv
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index 0000000000000000000000000000000000000000..12cd279efef7500cb155cf36a1f638e4a3fd1e73
--- /dev/null
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/episodes_stats.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/episodes_stats.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68745be33a8272c352bc7ffb41ecde9e361051e4
--- /dev/null
+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/episodes_stats.csv
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/eval_summary.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/eval_summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a995819d96f74284911665ef55c8ba8b111775a6
--- /dev/null
+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/eval_summary.csv
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/laps/20240420_160749.129_raw_data.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/laps/20240420_160749.129_raw_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e8c6d9b00c8bd29495a4f928c9b14a90c1f23a0
--- /dev/null
+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/laps/20240420_160749.129_raw_data.csv
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+2171,62.817,0,57.89310836791992,0.6905293102640099,-0.07234004649420114,20.147674560546875,-213.3809051513672,5696.0810546875,4.724999904632568,0.0,1.0,7,14407,53.0317497253418,-0.7219229340553284,-23.218528747558594,1.984873652458191,-0.01290284376591444,-0.0160471573472023,0.09284128993749619,0,3103.6928844639624,0.0,0.017425992497010157,1.0,-1.0,0.21482953429222107,0.936349093914032,-0.9582660794258118,2015,0.0
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+4603,60.9,0,57.190914154052734,0.6815224680708035,-0.08337865985118911,-6.254646301269531,-201.77281188964844,5605.35546875,1.9800000190734863,0.0,1.0,7,24135,52.23880386352539,-0.7342116832733154,-23.285327911376953,1.9884352684020996,-0.01513238437473774,-0.026392299681901932,-0.0813366174697876,1,3074.8506096862548,0.0,0.007309896791298343,1.0,-1.0,0.07170812040567398,0.8033276200294495,-0.7539405226707458,1996,0.0
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+4609,61.14,0,57.71342468261719,0.6873574356501587,-0.0901637802619413,6.361242294311523,-207.34303283691406,5657.03466796875,1.7549999952316284,0.0,1.0,7,24159,52.86267852783203,-0.6882666349411011,-23.164569854736328,1.9833869934082031,-0.012236555106937885,-0.024479355663061142,-0.030483122915029526,1,3088.640599934879,0.0,0.006503117772695077,1.0,-1.0,0.027106527239084244,0.9257915019989014,-0.8906091451644897,2005,0.0
+4610,61.179,0,57.79713439941406,0.6886464430292546,-0.08511096293666892,8.424920082092285,-208.2461700439453,5662.09521484375,-1.034999966621399,0.0,1.0,7,24163,52.9577751159668,-0.6402667164802551,-23.1594295501709,1.9824141263961792,-0.013375422917306423,-0.011491009965538979,-0.0468008778989315,1,3090.8934065746143,0.0,-0.003707813528421866,1.0,-1.0,-0.07658197730779648,0.9364280700683594,-0.8979310989379883,2006,0.0
+4611,61.218,0,57.88710403442383,0.6900330719124806,-0.07967537118219967,10.49220085144043,-209.14976501464844,5666.3134765625,-0.04500000178813934,0.0,1.0,7,24167,53.04702377319336,-0.6742615699768066,-23.17805290222168,1.9824297428131104,-0.014386574737727642,0.0021598918829113245,0.12013489007949829,1,3093.150318681437,0.0,-0.0001166241346481911,1.0,-1.0,0.02693391963839531,0.937311053276062,-0.9041196703910828,2008,0.0
+4612,61.26,0,57.962772369384766,0.6912732130051714,-0.07384145465247809,12.721818923950195,-210.12388610839844,5694.490234375,-1.5749999284744263,0.0,1.0,7,24171,53.11149597167969,-0.7797166109085083,-23.21086883544922,1.982789397239685,-0.013385806232690811,0.018276287242770195,0.04108329117298126,1,3095.5834921752103,0.0,-0.0058644550955477825,1.0,-1.0,-0.043108731508255005,0.9368196129798889,-0.9159660935401917,2009,0.0
+4613,61.299,0,58.03746795654297,0.6923830436805147,-0.07006804295883165,14.794418334960938,-211.02987670898438,5696.8544921875,0.44999995827674866,0.0,1.0,7,24175,53.181396484375,-0.7770115733146667,-23.245695114135742,1.9836058616638184,-0.015777135267853737,0.015948621556162834,-0.2140452265739441,1,3097.8439623535087,0.0,0.0016363386893090137,1.0,-1.0,0.05625595152378082,0.9356566071510315,-0.9181151390075684,2011,0.0
+4614,61.338,0,58.136775970458984,0.6937120539184624,-0.06758644010534758,16.870290756225586,-211.93756103515625,5683.5869140625,-3.059999942779541,0.0,1.0,7,24179,53.26314926147461,-0.6967591643333435,-23.309276580810547,1.9841073751449585,-0.01577027142047882,0.02100692130625248,0.0189597737044096,1,3100.1115486747585,0.0,-0.011273503965753662,1.0,-1.0,-0.0968238115310669,0.9419491291046143,-0.9415802955627441,2012,0.0
+4615,61.38,0,58.228004455566406,0.694888568292529,-0.06607619839013812,19.10895347595215,-212.91827392578125,5698.09375,3.6449999809265137,0.0,1.0,7,24183,53.33607482910156,-0.6850561499595642,-23.361913681030273,1.9850045442581177,-0.013756380416452885,-0.004740468226373196,0.2082318216562271,1,3102.5556700807647,0.0,0.013527554728966606,1.0,-1.0,0.18600793182849884,0.9392016530036926,-0.9518483877182007,2014,0.0
+4616,61.419,0,58.27943420410156,0.6956045326712783,-0.06432248063376902,21.19007110595703,-213.82960510253906,5737.14453125,-4.049999713897705,0.0,1.0,7,24187,53.37725067138672,-0.7789962291717529,-23.39733123779297,1.984429955482483,-0.012023539282381535,0.011420536786317825,-0.07852137833833694,1,3104.8259933800728,0.0,-0.014888093537706482,1.0,-1.0,-0.2131173461675644,0.9460927248001099,-0.964897871017456,2015,0.0
+4617,61.458,0,58.370540618896484,0.6967389106575967,-0.06351794466609474,23.273283004760742,-214.743408203125,5722.18408203125,6.794999599456787,0.0,1.0,7,24191,53.462528228759766,-0.8066297173500061,-23.432106018066406,1.9850202798843384,-0.011863905936479568,-0.020308755338191986,-0.13881954550743103,1,3107.100422146468,0.0,0.025082453423124207,1.0,-1.0,0.29977908730506897,0.9264712333679199,-0.9697620272636414,2017,0.0
+4618,61.5,0,58.46883010864258,0.6980805103191039,-0.0606383089591364,25.521196365356445,-215.7274932861328,5716.6943359375,-4.454999923706055,0.0,1.0,7,24195,53.56122970581055,-0.7516065835952759,-23.452787399291992,1.9831184148788452,-0.008658002130687237,-0.020302539691329002,0.06732013076543808,1,3109.554396673484,0.0,-0.01649785480560695,1.0,-1.0,-0.3118523061275482,0.9427686929702759,-0.98468416929245,2018,0.0
+4619,61.539,0,58.54563522338867,0.6991490804573806,-0.058049455101407334,27.611587524414062,-216.64285278320312,5731.75390625,3.9600000381469727,0.0,1.0,7,24199,53.63847732543945,-0.7274375557899475,-23.46349334716797,1.9832544326782227,-0.00789745431393385,-0.013805791735649109,0.10531920194625854,1,3111.83731007186,0.0,0.014672770434003723,1.0,-1.0,0.2337796837091446,0.9317618012428284,-0.9852712154388428,2020,0.0
+4620,61.578,0,58.610374450683594,0.7001452833899429,-0.0542431275701087,29.704784393310547,-217.55825805664062,5753.16943359375,-10.350000381469727,0.0,1.0,7,24203,53.68468475341797,-0.7899342775344849,-23.519731521606445,1.9830316305160522,-0.0047273482196033,0.04616715759038925,-0.03974223881959915,1,3114.1224130526825,0.0,-0.03832881963910495,1.0,-1.0,-0.39751189947128296,0.9383824467658997,-0.9899042248725891,2021,0.0
+4621,61.62,0,58.700687408447266,0.7012678409073599,-0.0534986578974091,31.960716247558594,-218.54833984375,5750.40478515625,8.09999942779541,0.0,1.0,7,24207,53.75750732421875,-0.8682589530944824,-23.578035354614258,1.98578941822052,-0.0025240248069167137,0.0157183688133955,-0.009377243928611279,1,3116.5854196072905,0.0,0.029963507586103333,1.0,-1.0,0.51219242811203,0.8813053369522095,-0.9871191382408142,2023,0.0
+4622,61.659,0,58.77922058105469,0.7022448737002734,-0.05283794581964539,34.058719635009766,-219.46871948242188,5755.69970703125,-13.769998550415039,0.0,1.0,7,24211,53.79917907714844,-0.8688330054283142,-23.67452621459961,1.985832929611206,0.001076394459232688,0.06416846066713333,0.015518964268267155,1,3118.877091335453,0.0,-0.05097963727178012,1.0,-1.0,-0.6070735454559326,0.9329707026481628,-0.9892446398735046,2024,0.0
+4623,61.698,0,58.84785842895508,0.7027922690285601,-0.05747077649365846,36.15711212158203,-220.39501953125,5764.0478515625,14.399998664855957,0.0,1.0,7,24215,53.845436096191406,-0.7865716218948364,-23.74547576904297,1.9893020391464233,0.0016608648002147675,0.005235884338617325,-0.10359743982553482,1,3121.17040525045,0.0,0.05332666569290723,1.0,-1.0,0.7822972536087036,0.8416455984115601,-0.986694872379303,2026,0.0
+4624,61.74,0,58.939361572265625,0.7037042960202896,-0.06053752113556699,38.42058181762695,-221.39297485351562,5761.22314453125,-13.364999771118164,0.0,1.0,7,24219,53.907806396484375,-0.746513843536377,-23.832788467407227,1.9871501922607422,0.008662926033139229,0.0054515693336725235,0.10041824728250504,1,3123.644359717291,0.0,-0.04950252241553699,1.0,-1.0,-0.7712188959121704,0.9384402632713318,-0.9898261427879333,2027,0.0
+4625,61.779,0,59.00362014770508,0.7040473766248558,-0.06772576220919377,40.52352523803711,-222.32464599609375,5787.42138671875,11.15999984741211,0.0,1.0,7,24223,53.956180572509766,-0.8071305751800537,-23.87320899963379,1.9888427257537842,0.007841082289814949,-0.012346685864031315,0.07871384173631668,1,3125.9439686818223,0.0,0.04122108899889554,1.0,-1.0,0.680427074432373,0.8278446793556213,-0.9879165291786194,2029,0.0
+4626,61.818,0,59.06772232055664,0.704444121477997,-0.07395826683437777,42.62925720214844,-223.25550842285156,5796.8193359375,-14.714999198913574,0.0,1.0,7,24227,54.00021743774414,-0.864883303642273,-23.93626594543457,1.9873019456863403,0.010172709822654724,0.03339993208646774,-0.12450189143419266,1,3128.2468620200234,0.0,-0.054369278914350616,1.0,-1.0,-0.716927707195282,0.9214524626731873,-0.9862191081047058,2030,0.0
+4627,61.86,0,59.156185150146484,0.7048314722473598,-0.0852446712308927,44.898231506347656,-224.26361083984375,5787.90576171875,14.489998817443848,0.0,1.0,7,24231,54.076412200927734,-0.7993711829185486,-23.985149383544922,1.9900492429733276,0.011030754074454308,-0.022510020062327385,-0.06101387366652489,1,3130.7298485144565,0.0,0.05369946294365491,1.0,-1.0,0.8105155229568481,0.7810558676719666,-0.9884328842163086,2032,0.0
+4628,61.899,0,59.23237228393555,0.7053219516395524,-0.09228932688142326,47.009273529052734,-225.19839477539062,5791.6123046875,-11.969999313354492,0.0,1.0,7,24235,54.146629333496094,-0.6803467869758606,-24.017091751098633,1.9872629642486572,0.016027910634875298,-0.00532796885818243,0.03384210541844368,1,3133.0379421109683,0.0,-0.04417915708484088,1.0,-1.0,-0.7340896129608154,0.9249264597892761,-0.9851222038269043,2033,0.0
+4629,61.938,0,59.298587799072266,0.7055594467801296,-0.1015809487596571,49.12187957763672,-226.13656616210938,5805.76806640625,13.454998970031738,0.0,1.0,7,24239,54.21763610839844,-0.6009011268615723,-24.020904541015625,1.9886001348495483,0.012611241079866886,-0.030179092660546303,-0.00288032041862607,1,3135.3482252899266,0.0,0.049855365686994446,1.0,-1.0,0.7052589058876038,0.7767870426177979,-0.9874235391616821,2035,0.0
+4630,61.98,0,59.37401580810547,0.7061605895701064,-0.10657187392562095,51.4015998840332,-227.14370727539062,5814.2978515625,-10.079999923706055,0.0,1.0,7,24243,54.30777359008789,-0.625058114528656,-24.003808975219727,1.9852111339569092,0.015142088755965233,-0.026650656014680862,0.00783658679574728,1,3137.8421596965927,0.0,-0.037255481547731506,1.0,-1.0,-0.6533313393592834,0.9021419286727905,-0.9850988388061523,2036,0.0
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+2024-04-19 18:00:11,877[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:00:11,883[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:00:11,884[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:00:13,100[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:00:13,101[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:00:13,108[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:00:13,115[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:00:13,117[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:00:13,117[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:00:13,118[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:00:13,119[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:00:13,120[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:00:13,121[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:00:13,122[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:00:13,123[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:00:13,124[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:00:13,125[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:00:13,126[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:00:13,128[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:00:13,129[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:00:13,130[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:00:13,131[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:00:13,132[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:00:13,133[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:00:13,134[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:00:13,134[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:00:13,135[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:00:13,136[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:00:13,136[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:00:13,137[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:00:13,137[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:00:13,139[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:00:13,140[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:00:13,141[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-19 18:03:52,147[INFO] AssettoCorsaEnv.ac_env sensors: [ 9.56545069 10.47661742 12.98447831 19.36662225 46.23604396 30.56998306
+ 9.44909393 5.63838081 4.31926856 3.80195432 3.72054151]
+2024-04-19 18:03:52,148[INFO] AssettoCorsaEnv.ac_env gap: -1.1743504155562354
+2024-04-19 18:03:52,148[INFO] AssettoCorsaEnv.ac_env VehicleSpeed: 33.124359130859375
+2024-04-19 18:03:52,149[INFO] AssettoCorsaEnv.ac_env reward: 0.3585927046599538
+2024-04-19 18:09:36,408[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:09:36,416[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:09:36,418[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:09:37,699[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:09:37,701[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:09:37,711[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:09:37,721[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:09:37,724[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:09:37,726[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:09:37,727[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:09:37,728[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:09:37,729[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:09:37,731[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:09:37,732[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:09:37,734[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:09:37,736[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:09:37,737[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:09:37,739[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:09:37,741[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:09:37,742[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:09:37,743[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:09:37,744[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:09:37,745[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:09:37,746[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:09:37,747[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:09:37,748[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:09:37,749[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:09:37,749[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:09:37,750[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:09:37,751[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:09:37,752[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:09:37,752[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:09:37,753[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:09:37,754[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-19 18:13:00,602[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:13:00,608[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:13:00,610[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:13:01,620[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:13:01,621[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:13:01,629[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:13:01,637[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:13:01,640[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:13:01,641[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:13:01,641[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:13:01,643[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:13:01,644[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:13:01,645[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:13:01,646[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:13:01,647[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:13:01,648[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:13:01,649[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:13:01,649[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:13:01,650[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:13:01,652[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:13:01,653[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:13:01,654[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:13:01,655[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:13:01,656[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:13:01,658[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:13:01,659[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:13:01,661[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:13:01,662[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:13:01,663[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:13:01,664[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:13:01,666[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:13:01,667[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:13:01,667[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:13:01,668[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-19 18:15:07,524[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:15:07,531[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:15:07,532[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:15:08,501[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:15:08,502[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:15:08,509[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:15:08,516[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:15:08,518[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:15:08,519[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:15:08,519[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:15:08,521[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:15:08,521[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:15:08,522[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:15:08,523[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:15:08,524[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:15:08,525[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:15:08,526[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:15:08,526[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:15:08,529[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:15:08,530[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:15:08,531[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:15:08,531[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:15:08,533[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:15:08,533[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:15:08,534[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:15:08,535[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:15:08,536[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:15:08,536[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:15:08,537[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:15:08,538[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:15:08,538[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:15:08,539[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:15:08,540[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:15:08,541[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-19 18:18:30,624[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:18:30,633[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:18:30,634[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:18:31,656[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:18:31,657[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:18:31,664[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:18:31,671[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:18:31,672[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:18:31,673[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:18:31,674[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:18:31,675[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:18:31,675[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:18:31,676[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:18:31,677[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:18:31,678[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:18:31,679[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:18:31,680[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:18:31,680[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:18:31,682[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:18:31,682[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:18:31,683[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:18:31,684[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:18:31,685[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:18:31,686[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:18:31,686[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:18:31,687[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:18:31,688[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:18:31,688[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:18:31,689[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:18:31,689[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:18:31,690[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:18:31,691[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:18:31,691[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:18:31,692[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-19 18:29:49,872[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-19 18:29:49,879[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-19 18:29:49,880[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-19 18:29:50,846[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-19 18:29:50,847[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-19 18:29:50,853[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-19 18:29:50,859[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-19 18:29:50,861[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-19 18:29:50,861[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-19 18:29:50,862[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-19 18:29:50,863[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-19 18:29:50,864[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-19 18:29:50,865[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-19 18:29:50,866[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-19 18:29:50,866[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-19 18:29:50,867[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-19 18:29:50,868[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-19 18:29:50,869[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-19 18:29:50,870[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-19 18:29:50,871[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-19 18:29:50,871[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-19 18:29:50,872[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-19 18:29:50,872[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-19 18:29:50,873[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-19 18:29:50,873[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-19 18:29:50,874[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-19 18:29:50,874[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-19 18:29:50,875[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-19 18:29:50,875[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-19 18:29:50,876[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-19 18:29:50,877[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-19 18:29:50,878[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-19 18:29:50,878[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-19 18:29:50,879[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 16:03:53,632[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 16:03:53,644[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 16:03:53,645[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 16:03:54,772[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 16:03:54,773[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 16:03:54,789[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 16:03:54,796[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 16:03:54,804[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 16:03:54,804[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 16:03:54,805[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 16:03:54,805[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 16:03:54,805[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 16:03:54,805[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 16:03:54,806[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 16:03:54,806[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 16:03:54,806[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 16:03:54,806[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 16:03:54,806[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 16:03:54,807[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 16:03:54,807[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 16:03:54,808[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 16:03:54,808[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 16:03:54,808[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 16:03:54,808[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 16:03:54,809[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 16:03:54,809[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 16:03:54,809[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 16:03:54,809[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 16:03:54,810[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 16:03:54,810[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 16:03:54,810[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 16:03:54,811[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 16:03:54,811[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 16:03:54,811[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 16:03:57,469[INFO] discor.agent num_steps: 10000000
+2024-04-20 16:03:57,470[INFO] discor.agent batch_size: 128
+2024-04-20 16:03:57,470[INFO] discor.agent update_interval: 1
+2024-04-20 16:03:57,470[INFO] discor.agent start_steps: 2000
+2024-04-20 16:03:57,470[INFO] discor.agent log_interval: 10
+2024-04-20 16:03:57,471[INFO] discor.agent eval_interval: 100000
+2024-04-20 16:03:57,471[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 16:03:57,471[INFO] discor.agent seed: 0
+2024-04-20 16:03:57,471[INFO] discor.agent gamma: 0.992
+2024-04-20 16:03:57,472[INFO] discor.agent nstep: 3
+2024-04-20 16:03:57,472[INFO] discor.agent memory_size: 10000000
+2024-04-20 16:03:57,542[INFO] discor.agent loaded model from C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\model\best\
+2024-04-20 16:03:57,542[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 16:03:57,750[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 16:03:57,750[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 16:03:57,750[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 16:03:57,750[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.798935324597192
+2024-04-20 16:03:57,751[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5415973133113103
+2024-04-20 16:03:57,751[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 16:03:57,751[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 16:03:57,752[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 16:03:57,752[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 16:03:57,752[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 16:03:57,752[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 16:03:57,753[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 16:03:57,753[INFO] AssettoCorsaEnv.ac_env LastSplits: [0, 0, 0]
+2024-04-20 16:03:57,754[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 16:03:57,754[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 16:03:57,754[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 16:03:57,754[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 16:03:57,754[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 16:03:57,755[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 16:03:57,755[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 16:03:57,755[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 16:03:57,755[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 16:03:57,756[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 16:03:57,756[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 16:03:57,756[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 16:03:57,756[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 16:03:57,757[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 16:03:57,757[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 16:03:57,757[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 16:03:57,758[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 16:03:57,758[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 16:03:58,764[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 16:03:58,769[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 16:07:49,418[INFO] AssettoCorsaEnv.ac_env Saved raw data to:
+2024-04-20 16:07:49,418[INFO] AssettoCorsaEnv.ac_env C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\\laps\/20240420_160749.129_raw_data.pkl
+2024-04-20 16:07:49,643[INFO] AssettoCorsaEnv.ac_env total_steps: 5717 ep_steps: 5714 ep_reward: 3058.5 LapDist: 588.35 packages lost 35 BestLap: 97.725
+2024-04-20 16:07:49,644[INFO] AssettoCorsaEnv.ac_env speed_mean: 45.73 speed_max: 67.84 max_abs_gap: 2.86 ep_laps: 3
+2024-04-20 16:07:49,645[INFO] AssettoCorsaEnv.ac_env dt avr: -0.009 std: 2.156 min: -99.174 max: 1.401
+2024-04-20 16:07:49,645[WARNING] AssettoCorsaEnv.ac_env Packages lost in the communication with the server. 35 packages lost
+2024-04-20 16:08:43,484[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 16:08:43,491[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 16:08:43,492[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 16:08:44,551[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 16:08:44,552[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 16:08:44,559[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 16:08:44,568[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 16:08:44,570[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 16:08:44,571[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 16:08:44,572[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 16:08:44,573[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 16:08:44,574[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 16:08:44,575[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 16:08:44,576[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 16:08:44,577[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 16:08:44,579[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 16:08:44,581[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 16:08:44,582[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 16:08:44,584[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 16:08:44,586[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 16:08:44,587[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 16:08:44,589[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 16:08:44,592[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 16:08:44,593[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 16:08:44,595[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 16:08:44,597[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 16:08:44,598[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 16:08:44,599[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 16:08:44,600[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 16:08:44,601[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 16:08:44,602[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 16:08:44,603[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 16:08:44,604[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 16:08:44,605[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 16:51:16,443[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 16:51:16,450[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 16:51:16,451[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 16:51:17,557[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 16:51:17,559[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 16:51:17,567[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 16:51:17,573[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 16:51:17,576[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 16:51:17,577[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 16:51:17,578[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 16:51:17,579[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 16:51:17,580[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 16:51:17,581[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 16:51:17,582[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 16:51:17,583[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 16:51:17,584[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 16:51:17,585[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 16:51:17,586[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 16:51:17,587[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 16:51:17,588[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 16:51:17,590[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 16:51:17,590[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 16:51:17,592[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 16:51:17,593[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 16:51:17,594[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 16:51:17,595[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 16:51:17,596[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 16:51:17,596[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 16:51:17,597[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 16:51:17,598[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 16:51:17,599[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 16:51:17,600[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 16:51:17,600[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 16:51:17,601[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:42:36,558[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 17:42:36,567[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 17:42:36,568[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:42:38,715[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 17:42:38,716[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 17:42:38,725[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 17:42:38,735[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 17:42:38,738[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:42:38,739[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:42:38,740[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:42:38,741[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:42:38,742[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:42:38,743[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:42:38,745[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:42:38,746[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:42:38,748[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:42:38,749[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:42:38,750[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 17:42:38,752[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:42:38,753[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:42:38,754[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:42:38,755[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:42:38,756[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:42:38,757[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:42:38,758[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:42:38,758[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:42:38,759[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:42:38,760[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:42:38,761[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:42:38,761[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:42:38,763[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:42:38,765[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:42:38,766[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:42:38,767[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:42:42,019[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:42:42,020[INFO] discor.agent batch_size: 128
+2024-04-20 17:42:42,021[INFO] discor.agent update_interval: 1
+2024-04-20 17:42:42,022[INFO] discor.agent start_steps: 2000
+2024-04-20 17:42:42,023[INFO] discor.agent log_interval: 10
+2024-04-20 17:42:42,024[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:42:42,026[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:42:42,027[INFO] discor.agent seed: 0
+2024-04-20 17:42:42,028[INFO] discor.agent gamma: 0.992
+2024-04-20 17:42:42,030[INFO] discor.agent nstep: 3
+2024-04-20 17:42:42,032[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:42:53,356[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:42:53,505[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:42:53,506[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:42:53,507[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5412896970357952
+2024-04-20 17:42:53,507[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:42:53,508[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:42:53,508[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:42:53,509[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:42:53,510[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:42:53,510[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:42:53,511[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:42:53,511[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.7984106994942817
+2024-04-20 17:42:53,512[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:42:53,512[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:42:53,513[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:42:53,514[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:42:53,515[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:42:53,515[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:42:53,516[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:42:53,516[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:42:53,517[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:42:53,517[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:42:53,518[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:42:53,519[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:42:53,519[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:42:53,519[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:42:53,520[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:42:53,521[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:42:53,521[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:42:53,522[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:42:53,522[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:42:53,523[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:42:54,526[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:42:54,547[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:42:54,932[INFO] AssettoCorsaEnv.ac_env Saved raw data to:
+2024-04-20 17:42:54,932[INFO] AssettoCorsaEnv.ac_env C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\\laps\/20240420_174254.930_raw_data.pkl
+2024-04-20 17:42:54,940[INFO] AssettoCorsaEnv.ac_env total_steps: 6 ep_steps: 3 ep_reward: 0.0 LapDist: 871.32 packages lost 0 BestLap: 97.699
+2024-04-20 17:42:54,941[INFO] AssettoCorsaEnv.ac_env speed_mean: 0.01 speed_max: 0.02 max_abs_gap: 0.00 ep_laps: 1
+2024-04-20 17:43:32,829[INFO] discor.agent saved replay buffer to C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\model\final
+2024-04-20 17:43:32,891[INFO] discor.agent saved models to C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\model\final
+2024-04-20 17:44:05,283[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 2 total_steps: 6
+2024-04-20 17:44:05,284[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:44:06,309[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:44:06,318[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:46:47,359[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 17:46:47,366[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 17:46:47,368[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:46:48,581[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 17:46:48,582[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 17:46:48,592[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 17:46:48,602[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 17:46:48,604[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:46:48,605[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:46:48,606[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:46:48,607[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:46:48,608[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:46:48,609[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:46:48,610[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:46:48,611[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:46:48,612[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:46:48,613[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:46:48,615[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 17:46:48,617[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:46:48,619[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:46:48,620[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:46:48,622[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:46:48,623[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:46:48,624[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:46:48,625[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:46:48,626[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:46:48,627[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:46:48,628[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:46:48,629[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:46:48,630[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:46:48,631[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:46:48,632[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:46:48,633[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:46:48,635[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:46:51,661[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:46:51,662[INFO] discor.agent batch_size: 128
+2024-04-20 17:46:51,663[INFO] discor.agent update_interval: 1
+2024-04-20 17:46:51,664[INFO] discor.agent start_steps: 2000
+2024-04-20 17:46:51,665[INFO] discor.agent log_interval: 10
+2024-04-20 17:46:51,666[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:46:51,668[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:46:51,669[INFO] discor.agent seed: 0
+2024-04-20 17:46:51,671[INFO] discor.agent gamma: 0.992
+2024-04-20 17:46:51,671[INFO] discor.agent nstep: 3
+2024-04-20 17:46:51,672[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:46:53,289[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:46:53,431[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:46:53,431[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:46:53,432[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5457475035700126
+2024-04-20 17:46:53,433[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:46:53,434[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:46:53,435[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:46:53,436[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:46:53,437[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:46:53,437[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:46:53,438[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:46:53,439[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.800623145376498
+2024-04-20 17:46:53,439[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:46:53,440[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:46:53,441[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:46:53,442[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:46:53,443[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:46:53,443[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:46:53,444[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:46:53,445[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:46:53,445[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:46:53,446[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:46:53,447[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:46:53,448[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:46:53,449[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:46:53,451[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:46:53,451[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:46:53,452[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:46:53,453[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:46:53,454[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:46:53,454[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:46:53,455[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:46:54,458[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:46:54,471[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:47:25,421[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 17:47:25,429[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 17:47:25,431[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:47:26,838[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 17:47:26,840[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 17:47:26,846[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 17:47:26,855[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 17:47:26,857[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:47:26,857[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:47:26,859[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:47:26,860[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:47:26,861[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:47:26,862[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:47:26,863[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:47:26,865[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:47:26,866[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:47:26,866[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:47:26,868[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 17:47:26,870[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:47:26,871[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:47:26,872[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:47:26,874[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:47:26,875[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:47:26,875[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:47:26,876[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:47:26,877[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:47:26,878[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:47:26,880[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:47:26,881[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:47:26,882[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:47:26,884[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:47:26,885[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:47:26,887[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:47:26,888[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:47:28,973[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:47:28,974[INFO] discor.agent batch_size: 128
+2024-04-20 17:47:28,976[INFO] discor.agent update_interval: 1
+2024-04-20 17:47:28,977[INFO] discor.agent start_steps: 2000
+2024-04-20 17:47:28,978[INFO] discor.agent log_interval: 10
+2024-04-20 17:47:28,980[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:47:28,981[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:47:28,982[INFO] discor.agent seed: 0
+2024-04-20 17:47:28,984[INFO] discor.agent gamma: 0.992
+2024-04-20 17:47:28,986[INFO] discor.agent nstep: 3
+2024-04-20 17:47:28,987[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:47:37,478[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:47:37,614[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:47:37,615[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:47:37,616[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5441265390465657
+2024-04-20 17:47:37,617[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:47:37,617[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:47:37,618[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:47:37,618[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:47:37,619[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:47:37,620[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:47:37,620[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:47:37,621[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.8006107641902016
+2024-04-20 17:47:37,621[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:47:37,622[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:47:37,622[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:47:37,623[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:47:37,623[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:47:37,624[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:47:37,624[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:47:37,625[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:47:37,625[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:47:37,626[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:47:37,626[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:47:37,627[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:47:37,627[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:47:37,628[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:47:37,628[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:47:37,629[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:47:37,629[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:47:37,630[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:47:37,630[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:47:37,631[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:47:38,636[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:47:38,651[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:50:20,111[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 17:50:20,120[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 17:50:20,122[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:50:21,548[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 17:50:21,549[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 17:50:21,558[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 17:50:21,566[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 17:50:21,568[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:50:21,569[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:50:21,571[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:50:21,572[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:50:21,573[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:50:21,574[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:50:21,575[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:50:21,575[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:50:21,576[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:50:21,577[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:50:21,578[INFO] AssettoCorsaEnv.ac_env self.config.enable_task_id_in_obs: True
+2024-04-20 17:50:21,578[INFO] AssettoCorsaEnv.ac_env task_id: 0 num_tasks: 8
+2024-04-20 17:50:21,579[INFO] AssettoCorsaEnv.ac_env state_dim 133
+2024-04-20 17:50:21,581[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:50:21,582[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:50:21,582[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:50:21,583[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:50:21,584[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:50:21,585[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:50:21,586[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:50:21,586[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:50:21,587[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:50:21,588[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:50:21,589[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:50:21,590[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:50:21,591[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:50:21,592[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:50:21,593[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:50:21,593[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:50:23,850[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:50:23,852[INFO] discor.agent batch_size: 128
+2024-04-20 17:50:23,853[INFO] discor.agent update_interval: 1
+2024-04-20 17:50:23,855[INFO] discor.agent start_steps: 2000
+2024-04-20 17:50:23,856[INFO] discor.agent log_interval: 10
+2024-04-20 17:50:23,858[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:50:23,859[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:50:23,860[INFO] discor.agent seed: 0
+2024-04-20 17:50:23,862[INFO] discor.agent gamma: 0.992
+2024-04-20 17:50:23,863[INFO] discor.agent nstep: 3
+2024-04-20 17:50:23,864[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:50:41,049[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:50:41,245[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:50:41,245[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:50:41,246[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5455027107547237
+2024-04-20 17:50:41,247[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:50:41,248[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:50:41,248[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:50:41,249[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:50:41,250[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:50:41,250[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:50:41,250[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:50:41,251[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.7995232892512787
+2024-04-20 17:50:41,252[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:50:41,252[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:50:41,254[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:50:41,255[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:50:41,256[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:50:41,256[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:50:41,257[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:50:41,258[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:50:41,258[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:50:41,259[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:50:41,259[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:50:41,260[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:50:41,261[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:50:41,261[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:50:41,262[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:50:41,262[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:50:41,263[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:50:41,264[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:50:41,264[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:50:41,265[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:50:42,272[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:50:42,294[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:51:16,442[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\
+2024-04-20 17:51:16,449[INFO] AssettoCorsaEnv.ac_env Setting track ks_barcelona-layout_gp
+2024-04-20 17:51:16,451[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:51:17,693[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp.csv Found 3000 segments downsampled by 10= 300 segments
+2024-04-20 17:51:17,694[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\ks_barcelona-layout_gp-racing_line_fixed.csv
+2024-04-20 17:51:17,702[INFO] AssettoCorsaEnv.reference_lap Using curvature from racing line file
+2024-04-20 17:51:17,710[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 109
+2024-04-20 17:51:17,712[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:51:17,714[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:51:17,715[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:51:17,716[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:51:17,717[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:51:17,718[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:51:17,721[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:51:17,723[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:51:17,725[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:51:17,726[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:51:17,727[INFO] AssettoCorsaEnv.ac_env self.config.enable_task_id_in_obs: True
+2024-04-20 17:51:17,728[INFO] AssettoCorsaEnv.ac_env task_id: 1 num_tasks: 8
+2024-04-20 17:51:17,729[INFO] AssettoCorsaEnv.ac_env state_dim 133
+2024-04-20 17:51:17,730[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:51:17,731[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:51:17,732[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:51:17,732[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:51:17,733[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:51:17,734[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:51:17,734[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:51:17,735[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:51:17,737[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:51:17,738[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:51:17,739[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:51:17,740[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:51:17,741[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:51:17,742[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:51:17,743[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:51:17,745[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:51:20,081[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:51:20,082[INFO] discor.agent batch_size: 128
+2024-04-20 17:51:20,083[INFO] discor.agent update_interval: 1
+2024-04-20 17:51:20,085[INFO] discor.agent start_steps: 2000
+2024-04-20 17:51:20,086[INFO] discor.agent log_interval: 10
+2024-04-20 17:51:20,088[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:51:20,089[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:51:20,091[INFO] discor.agent seed: 0
+2024-04-20 17:51:20,092[INFO] discor.agent gamma: 0.992
+2024-04-20 17:51:20,093[INFO] discor.agent nstep: 3
+2024-04-20 17:51:20,095[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:51:23,498[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:51:23,645[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:51:23,647[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:51:23,649[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5447979539244914
+2024-04-20 17:51:23,650[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:51:23,652[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:51:23,653[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:51:23,654[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:51:23,655[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:51:23,656[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:51:23,657[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:51:23,658[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.8005278283491437
+2024-04-20 17:51:23,659[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:51:23,660[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:51:23,661[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:51:23,662[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:51:23,663[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:51:23,664[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:51:23,665[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:51:23,667[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:51:23,667[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:51:23,669[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:51:23,670[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:51:23,671[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:51:23,672[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:51:23,673[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:51:23,673[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:51:23,674[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:51:23,675[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:51:23,676[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:51:23,677[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:51:23,679[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:51:24,686[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:51:24,703[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 17:52:08,850[INFO] algorithm.discor.misc OS: Windows-10-10.0.19045-SP0 10.0.19045
+Python: 3.9.18
+PyTorch: 1.12.1
+GPU Enabled: True
+Numpy: 1.26.3
+Gym: 0.21.0
+
+2024-04-20 17:52:09,011[INFO] algorithm.discor.misc Git info. Branch dev
+2024-04-20 17:52:09,012[INFO] algorithm.discor.misc commit 2c0404d17af49c1047b831ae0000c5e833317e38
+Author: aremonda Razer
+Date: 2024-04-19
+
+ add entropies to the output
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/model/final/replay_buffer.pkl b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/ks_barcelona-layout_gp/dallara_f317/model/final/replay_buffer.pkl
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/episodes_stats.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/episodes_stats.csv
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/laps/20240420_180520.219_raw_data.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/laps/20240420_180520.219_raw_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8f10871868c2bd94561427555a200f74c76d18e
--- /dev/null
+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/laps/20240420_180520.219_raw_data.csv
@@ -0,0 +1,224 @@
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/laps/20240420_180538.108_raw_data.pkl b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/laps/20240420_180538.108_raw_data.pkl
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/log.log b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/log.log
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+2024-04-20 17:52:09,015[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\
+2024-04-20 17:52:09,023[INFO] AssettoCorsaEnv.ac_env Setting track monza
+2024-04-20 17:52:09,024[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 17:52:20,008[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\monza.csv Found 3760 segments downsampled by 10= 376 segments
+2024-04-20 17:52:20,018[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\monza-racing_line.csv
+2024-04-20 17:52:20,048[INFO] AssettoCorsaEnv.reference_lap Calculating curvature
+2024-04-20 17:52:20,097[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 60
+2024-04-20 17:52:20,099[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 17:52:20,100[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 17:52:20,100[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 17:52:20,101[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 17:52:20,102[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 17:52:20,103[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 17:52:20,104[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 17:52:20,104[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 17:52:20,105[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 17:52:20,106[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 17:52:20,106[INFO] AssettoCorsaEnv.ac_env self.config.enable_task_id_in_obs: True
+2024-04-20 17:52:20,107[INFO] AssettoCorsaEnv.ac_env task_id: 5 num_tasks: 8
+2024-04-20 17:52:20,108[INFO] AssettoCorsaEnv.ac_env state_dim 133
+2024-04-20 17:52:20,109[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 17:52:20,111[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 17:52:20,111[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 17:52:20,112[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 17:52:20,113[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 17:52:20,114[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 17:52:20,115[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 17:52:20,116[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 17:52:20,117[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 17:52:20,118[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 17:52:20,119[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 17:52:20,120[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 17:52:20,121[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 17:52:20,122[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 17:52:20,122[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 17:52:20,123[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 17:52:20,362[INFO] discor.agent num_steps: 10000000
+2024-04-20 17:52:20,364[INFO] discor.agent batch_size: 128
+2024-04-20 17:52:20,365[INFO] discor.agent update_interval: 1
+2024-04-20 17:52:20,366[INFO] discor.agent start_steps: 2000
+2024-04-20 17:52:20,367[INFO] discor.agent log_interval: 10
+2024-04-20 17:52:20,369[INFO] discor.agent eval_interval: 100000
+2024-04-20 17:52:20,371[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 17:52:20,373[INFO] discor.agent seed: 0
+2024-04-20 17:52:20,374[INFO] discor.agent gamma: 0.992
+2024-04-20 17:52:20,375[INFO] discor.agent nstep: 3
+2024-04-20 17:52:20,375[INFO] discor.agent memory_size: 10000000
+2024-04-20 17:52:20,384[INFO] AssettoCorsaEnv.ac_env Saved raw data to:
+2024-04-20 17:52:20,386[INFO] AssettoCorsaEnv.ac_env C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\ks_barcelona-layout_gp\dallara_f317\\laps\/20240420_175220.382_raw_data.pkl
+2024-04-20 17:52:20,401[INFO] AssettoCorsaEnv.ac_env total_steps: 3 ep_steps: 0 ep_reward: 0.0 LapDist: 872.89 packages lost 0 BestLap: 97.699
+2024-04-20 17:52:20,402[INFO] AssettoCorsaEnv.ac_env speed_mean: 0.03 speed_max: 0.03 max_abs_gap: 0.00 ep_laps: 1
+2024-04-20 17:52:27,447[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 17:52:27,665[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 17:52:27,666[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 17:52:27,667[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.545103357357958
+2024-04-20 17:52:27,667[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 17:52:27,668[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 17:52:27,669[INFO] AssettoCorsaEnv.ac_env TrackConfiguration: layout_gp
+2024-04-20 17:52:27,669[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 17:52:27,670[INFO] AssettoCorsaEnv.ac_env TrackName: ks_barcelona
+2024-04-20 17:52:27,671[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 17:52:27,671[INFO] AssettoCorsaEnv.ac_env TrackLength: 4591.88720703125
+2024-04-20 17:52:27,672[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.8005189039653557
+2024-04-20 17:52:27,673[INFO] AssettoCorsaEnv.ac_env LastSplits: [29024, 36806, 31869]
+2024-04-20 17:52:27,673[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 17:52:27,674[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 17:52:27,674[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 17:52:27,675[INFO] AssettoCorsaEnv.ac_env TrackFullName: ks_barcelona-layout_gp
+2024-04-20 17:52:27,675[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 17:52:27,676[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 17:52:27,676[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 17:52:27,677[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 17:52:27,678[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 17:52:27,678[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 17:52:27,679[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 17:52:27,679[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 17:52:27,680[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 17:52:27,680[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 17:52:27,681[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 17:52:27,681[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 17:52:27,682[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 17:52:27,682[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 17:52:58,470[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 2 total_steps: 0
+2024-04-20 17:52:58,472[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 17:52:59,479[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 17:52:59,487[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 18:04:06,465[INFO] __main__ run_path: C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\
+2024-04-20 18:04:06,472[INFO] AssettoCorsaEnv.ac_env Setting track monza
+2024-04-20 18:04:06,474[WARNING] AssettoCorsaEnv.ac_client Controls will be executed locally and not by the server
+2024-04-20 18:04:30,518[INFO] AssettoCorsaEnv.track Track loaded from: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\monza.csv Found 3760 segments downsampled by 10= 376 segments
+2024-04-20 18:04:30,538[INFO] AssettoCorsaEnv.reference_lap Reference Lap. Loading: ../assetto_corsa_gym/AssettoCorsaConfigs\tracks\monza-racing_line.csv
+2024-04-20 18:04:30,563[INFO] AssettoCorsaEnv.reference_lap Calculating curvature
+2024-04-20 18:04:30,628[INFO] AssettoCorsaEnv.sensors_ray_casting spatial_hash len 60
+2024-04-20 18:04:30,638[INFO] AssettoCorsaEnv.ac_env Adding previous obs to state 25*3 = 100
+2024-04-20 18:04:30,638[INFO] AssettoCorsaEnv.ac_env enable_sensors True
+2024-04-20 18:04:30,639[INFO] AssettoCorsaEnv.ac_env use_relative_actions True
+2024-04-20 18:04:30,640[INFO] AssettoCorsaEnv.ac_env use_target_speed False
+2024-04-20 18:04:30,641[INFO] AssettoCorsaEnv.ac_env use_ac_out_of_track: False
+2024-04-20 18:04:30,641[INFO] AssettoCorsaEnv.ac_env send_reset_at_start: True
+2024-04-20 18:04:30,642[INFO] AssettoCorsaEnv.ac_env recover_car_on_done: False
+2024-04-20 18:04:30,642[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_termination: True
+2024-04-20 18:04:30,643[INFO] AssettoCorsaEnv.ac_env enable_low_speed_termination: True
+2024-04-20 18:04:30,644[INFO] AssettoCorsaEnv.ac_env enable_out_of_track_penalty: False
+2024-04-20 18:04:30,645[INFO] AssettoCorsaEnv.ac_env self.config.enable_task_id_in_obs: False
+2024-04-20 18:04:30,646[INFO] AssettoCorsaEnv.ac_env state_dim 125
+2024-04-20 18:04:30,650[INFO] AssettoCorsaEnv.ac_env action_space: Box([-1. -1. -1.], [1. 1. 1.], (3,), float32)
+2024-04-20 18:04:30,651[INFO] AssettoCorsaEnv.ac_env Channels in the observation
+2024-04-20 18:04:30,652[INFO] AssettoCorsaEnv.ac_env speed: scale 80.000000
+2024-04-20 18:04:30,653[INFO] AssettoCorsaEnv.ac_env gap: scale 10.000000
+2024-04-20 18:04:30,653[INFO] AssettoCorsaEnv.ac_env LastFF: scale 1.000000
+2024-04-20 18:04:30,654[INFO] AssettoCorsaEnv.ac_env RPM: scale 10000.000000
+2024-04-20 18:04:30,655[INFO] AssettoCorsaEnv.ac_env accelX: scale 5.000000
+2024-04-20 18:04:30,655[INFO] AssettoCorsaEnv.ac_env accelY: scale 5.000000
+2024-04-20 18:04:30,656[INFO] AssettoCorsaEnv.ac_env actualGear: scale 8.000000
+2024-04-20 18:04:30,657[INFO] AssettoCorsaEnv.ac_env angular_velocity_y: scale 3.141593
+2024-04-20 18:04:30,657[INFO] AssettoCorsaEnv.ac_env local_velocity_x: scale 80.000000
+2024-04-20 18:04:30,658[INFO] AssettoCorsaEnv.ac_env local_velocity_y: scale 10.000000
+2024-04-20 18:04:30,659[INFO] AssettoCorsaEnv.ac_env SlipAngle_fl: scale 25.000000
+2024-04-20 18:04:30,660[INFO] AssettoCorsaEnv.ac_env SlipAngle_fr: scale 25.000000
+2024-04-20 18:04:30,661[INFO] AssettoCorsaEnv.ac_env SlipAngle_rl: scale 25.000000
+2024-04-20 18:04:30,662[INFO] AssettoCorsaEnv.ac_env SlipAngle_rr: scale 25.000000
+2024-04-20 18:04:33,271[INFO] discor.agent num_steps: 10000000
+2024-04-20 18:04:33,272[INFO] discor.agent batch_size: 128
+2024-04-20 18:04:33,273[INFO] discor.agent update_interval: 1
+2024-04-20 18:04:33,274[INFO] discor.agent start_steps: 2000
+2024-04-20 18:04:33,275[INFO] discor.agent log_interval: 10
+2024-04-20 18:04:33,276[INFO] discor.agent eval_interval: 100000
+2024-04-20 18:04:33,277[INFO] discor.agent num_eval_episodes: 1
+2024-04-20 18:04:33,279[INFO] discor.agent seed: 0
+2024-04-20 18:04:33,280[INFO] discor.agent gamma: 0.992
+2024-04-20 18:04:33,281[INFO] discor.agent nstep: 3
+2024-04-20 18:04:33,282[INFO] discor.agent memory_size: 10000000
+2024-04-20 18:05:09,561[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 1 total_steps: 0
+2024-04-20 18:05:09,793[INFO] AssettoCorsaEnv.ac_env Static info:
+2024-04-20 18:05:09,794[INFO] AssettoCorsaEnv.ac_env CarName: dallara_f317
+2024-04-20 18:05:09,796[INFO] AssettoCorsaEnv.ac_env WindDirection: 359
+2024-04-20 18:05:09,797[INFO] AssettoCorsaEnv.ac_env autoShifterOn: 1
+2024-04-20 18:05:09,798[INFO] AssettoCorsaEnv.ac_env CAR_WHEEL_R: [0.26899999380111694, 0.26899999380111694, 0.2784999907016754, 0.2784999907016754]
+2024-04-20 18:05:09,799[INFO] AssettoCorsaEnv.ac_env CAR_WHEELBASE: 2.7993138152104664
+2024-04-20 18:05:09,800[INFO] AssettoCorsaEnv.ac_env penaltiesEnabled: 0
+2024-04-20 18:05:09,801[INFO] AssettoCorsaEnv.ac_env CAR_TRACK: 1.5394924762977031
+2024-04-20 18:05:09,802[INFO] AssettoCorsaEnv.ac_env TrackLength: 5758.66064453125
+2024-04-20 18:05:09,804[INFO] AssettoCorsaEnv.ac_env isCarInPitlane: 0
+2024-04-20 18:05:09,805[INFO] AssettoCorsaEnv.ac_env WindSpeed: 0
+2024-04-20 18:05:09,806[INFO] AssettoCorsaEnv.ac_env TrackConfiguration:
+2024-04-20 18:05:09,808[INFO] AssettoCorsaEnv.ac_env isCarInPit: 0
+2024-04-20 18:05:09,809[INFO] AssettoCorsaEnv.ac_env TrackName: monza
+2024-04-20 18:05:09,810[INFO] AssettoCorsaEnv.ac_env LastSplits: [0, 0, 0]
+2024-04-20 18:05:09,811[INFO] AssettoCorsaEnv.ac_env TrackFullName: monza
+2024-04-20 18:05:09,813[INFO] AssettoCorsaEnv.ac_env AC Mod config:
+2024-04-20 18:05:09,814[INFO] AssettoCorsaEnv.ac_env sampling_freq: 50
+2024-04-20 18:05:09,815[INFO] AssettoCorsaEnv.ac_env sampling_time: 0.02
+2024-04-20 18:05:09,816[INFO] AssettoCorsaEnv.ac_env version: 0.0.1
+2024-04-20 18:05:09,817[INFO] AssettoCorsaEnv.ac_env opponents_server_host_name: 0.0.0.0
+2024-04-20 18:05:09,820[INFO] AssettoCorsaEnv.ac_env ego_server_host_name: 0.0.0.0
+2024-04-20 18:05:09,820[INFO] AssettoCorsaEnv.ac_env enable_profiler: False
+2024-04-20 18:05:09,822[INFO] AssettoCorsaEnv.ac_env vjoy_executed_by_server: False
+2024-04-20 18:05:09,823[INFO] AssettoCorsaEnv.ac_env simulation_management_server_host_name: 0.0.0.0
+2024-04-20 18:05:09,824[INFO] AssettoCorsaEnv.ac_env opponents_server_port: 2346
+2024-04-20 18:05:09,825[INFO] AssettoCorsaEnv.ac_env telemetry_sampling_freq: 0
+2024-04-20 18:05:09,826[INFO] AssettoCorsaEnv.ac_env simulation_management_server_port: 2347
+2024-04-20 18:05:09,827[INFO] AssettoCorsaEnv.ac_env ego_sampling_freq: 25
+2024-04-20 18:05:09,828[INFO] AssettoCorsaEnv.ac_env ego_server_port: 2345
+2024-04-20 18:05:09,829[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 18:05:10,835[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 18:05:10,859[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 18:05:20,203[INFO] AssettoCorsaEnv.ac_env Terminate episode. is_out_of_track
+2024-04-20 18:05:20,204[INFO] AssettoCorsaEnv.ac_env out_of_track. N wheels out: 2. LapDist: 4937.397721026966 x: 664.40 y: 35.82
+2024-04-20 18:05:20,229[INFO] AssettoCorsaEnv.ac_env Saved raw data to:
+2024-04-20 18:05:20,230[INFO] AssettoCorsaEnv.ac_env C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\\laps\/20240420_180520.219_raw_data.pkl
+2024-04-20 18:05:20,254[INFO] AssettoCorsaEnv.ac_env total_steps: 225 ep_steps: 222 ep_reward: 2.6 LapDist: 4937.40 packages lost 0 BestLap: 0.0
+2024-04-20 18:05:20,256[INFO] AssettoCorsaEnv.ac_env speed_mean: 1.33 speed_max: 6.18 max_abs_gap: 8.09 ep_laps: 1
+2024-04-20 18:05:20,257[INFO] AssettoCorsaEnv.ac_env dt avr: 0.041 std: 0.007 min: 0.036 max: 0.108
+2024-04-20 18:05:20,375[INFO] discor.agent new best lap time 0.0
+2024-04-20 18:05:20,410[INFO] discor.agent saved models to C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\model\best_lap_time
+2024-04-20 18:05:20,411[INFO] discor.agent new best reward 2.64116141977286
+2024-04-20 18:05:20,430[INFO] discor.agent saved models to C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\model\best_reward
+2024-04-20 18:05:20,434[INFO] discor.agent Avr step time: 0.041s, actions: 0.0001s, update: 0.000s
+2024-04-20 18:05:20,435[INFO] discor.agent Max step time: 0.110s, actions: 0.0030s, update: 0.000s
+2024-04-20 18:05:20,436[INFO] discor.agent std step time: 0.007s, actions: 0.0002s, update: 0.000s
+2024-04-20 18:05:20,437[INFO] discor.agent step_perf_> thres: 19 / 222
+2024-04-20 18:05:20,441[INFO] discor.agent Episode done. Took 10.81s. Steps per episode: 222. fps: 20.53
+2024-04-20 18:05:24,481[INFO] AssettoCorsaEnv.ac_env Reset AC. Episode 2 total_steps: 225
+2024-04-20 18:05:24,483[INFO] AssettoCorsaEnv.ac_client sending reset to simulation management server
+2024-04-20 18:05:25,497[INFO] AssettoCorsaEnv.ac_client AC Client. Listening at host: localhost port: 2345
+2024-04-20 18:05:25,515[INFO] AssettoCorsaEnv.ac_client Client connected on 2345
+2024-04-20 18:05:38,096[INFO] AssettoCorsaEnv.ac_env Terminate episode. is_out_of_track
+2024-04-20 18:05:38,097[INFO] AssettoCorsaEnv.ac_env out_of_track. N wheels out: 3. LapDist: 4965.794894458086 x: 693.63 y: 43.17
+2024-04-20 18:05:38,122[INFO] AssettoCorsaEnv.ac_env Saved raw data to:
+2024-04-20 18:05:38,123[INFO] AssettoCorsaEnv.ac_env C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\\laps\/20240420_180538.108_raw_data.pkl
+2024-04-20 18:05:38,143[INFO] AssettoCorsaEnv.ac_env total_steps: 534 ep_steps: 306 ep_reward: 8.4 LapDist: 4965.79 packages lost 0 BestLap: 0.0
+2024-04-20 18:05:38,144[INFO] AssettoCorsaEnv.ac_env speed_mean: 2.37 speed_max: 8.72 max_abs_gap: 1.96 ep_laps: 1
+2024-04-20 18:05:38,146[INFO] AssettoCorsaEnv.ac_env dt avr: 0.040 std: 0.002 min: 0.039 max: 0.057
+2024-04-20 18:05:38,263[INFO] discor.agent new best reward 8.416491749714723
+2024-04-20 18:05:38,294[INFO] discor.agent saved models to C:\Users\aremonda\Dropbox\zshared_temp\assetto_corsa_rl\data_sets\ks_barcelona-layout_gp\dallara_f317\20240311_SAC\eval\best\monza\dallara_f317\model\best_reward
+2024-04-20 18:05:38,297[INFO] discor.agent Avr step time: 0.040s, actions: 0.0001s, update: 0.000s
+2024-04-20 18:05:38,298[INFO] discor.agent Max step time: 0.062s, actions: 0.0002s, update: 0.000s
+2024-04-20 18:05:38,300[INFO] discor.agent std step time: 0.002s, actions: 0.0000s, update: 0.000s
+2024-04-20 18:05:38,302[INFO] discor.agent step_perf_> thres: 29 / 306
+2024-04-20 18:05:38,307[INFO] discor.agent Episode done. Took 13.78s. Steps per episode: 306. fps: 22.20
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diff --git a/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/summary.csv b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/summary.csv
new file mode 100644
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+++ b/data_sets/ks_barcelona-layout_gp/dallara_f317/20240311_SAC/eval/best/monza/dallara_f317/summary.csv
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