/home/paulh/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available. warnings.warn("Unable to import Axes3D. This may be due to multiple versions of " Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality. Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade. Users of this version of Gym should be able to simply replace 'import gym' with 'import gymnasium as gym' in the vast majority of cases. See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information. [14:09:34] ============================================================ [14:09:34] Exp 27: fresh weights | truly random roads | variable throttle [14:09:34] Sim: localhost:9091 → donkey-generated-roads-v0 [14:09:34] Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0] [14:09:34] LR=0.0003, ent_coef=0.05, n_steps=1024 [14:09:34] Total=500,000 steps, checkpoint every 10,000 [14:09:34] CTE term: >2.0m for >0.5s [14:09:34] Speed term: <1.0 for >1.5s [14:09:34] Episode cap: 30.0s | Road regen: random seed each checkpoint [14:09:34] BrakeOnUpdateCallback: enabled [14:09:34] ============================================================ [14:09:34] Connecting to sim... INFO:gym_donkeycar.core.client:connecting to localhost:9091 /home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 gym.logger.warn( /home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 gym.logger.warn( WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. Exception in thread Thread-1 (proc_msg): Traceback (most recent call last): File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 102, in proc_msg data = s.recv(1024 * 256) ConnectionResetError: [Errno 104] Connection reset by peer During handling of the above exception, another exception occurred: Traceback (most recent call last): File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner self.run() File "/usr/lib/python3.10/threading.py", line 953, in run self._target(*self._args, **self._kwargs) File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 154, in proc_msg self.on_msg_recv({"msg_type": "aborted"}) File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/sim_client.py", line 48, in on_msg_recv self.msg_handler.on_recv_message(json_obj) File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/envs/donkey_sim.py", line 385, in on_recv_message self.fns[msg_type](message) File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/envs/donkey_sim.py", line 205, in on_abort self.client.stop() File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 75, in stop self.th.join() File "/usr/lib/python3.10/threading.py", line 1093, in join raise RuntimeError("cannot join current thread") RuntimeError: cannot join current thread WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. 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