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Tunnel Circuit Qualification Guide

A submission for the Tunnel Circuit Qualification requires a single zip file that contains two log files and a narrative markdown file. The first log file is a text file that contains scoring and communication information. The second log file contains simulation state information. Refer to the SubT Qualification Guide for information about the narrative markdown file.

There are sixteen artifacts in the tunnel qualification world. In order to pass qualifications, you will need to find at least half of these artifacts. Each artifact found will increase your score by 1. Therefore, in order to pass qualifications you will need to score at least 8 points in the 20 minute time period.


1. Scoring and Communication log file

A new log file will appear in your home directory with the name subt_tunnel_qual_<timestamp>.log after each time the tunnel qualification environment is run. Make sure you submit the correct subt_tunnel_qual_<timestamp>.log file along with your simulation state log file.

2. Simulation state log file

A simulation state log files is automatically created when running the Ignition based Virtual Testbed. This log file is written to ~/.ignition/gazebo/log/<timestamp>/state.tlog . You can verify that your log file has been properly generated by loading it into Ignition Gazebo. It's highly recommended to playback your log files before submission. You can do this as follows:

ign gazebo --playback ~/.ignition/gazebo/log/<timestamp> 

3. Create the final zip file

The final step, after completing your qualification run and filtering the simulation state log file, is to create a zip file that contains both log files. Use the following command:

tar czvf  ~/.igntion/gazebo/log/<timestamp> ~/subt_tunnel_qual_<timestamp>.log

Submit this compressed file as your solution to the Tunnel Qualification.

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