DARPARoboticsChallengeQ&ARound12–QuestionsMar12,2013–Apr05,2013April12,20131ContractualNonewquestionsinthisperiod2ProgrammaticNonewquestionsinthisperiod3Technical3.1GFEPlatformT‐312:WhatarethespecsforthegeneratorrequiredtoruntheAtlasrobot?Whatisthequantityandtype(three‐phase?)ofwallpowerneeded?A:Itwillbe480VAC,3‐phase.ButtheexactspecificationswillbereleasedinearlyJuly2013.T‐313:Isanythingknownyetaboutthelengthanddensity(kg/m)ofthevarioustethersprovidedfortheAtlasrobot?A:TheexactspecificationswillbereleasedinearlyJuly2013.3.2GFESimulationT‐314:GiventhattheproposedAPIfortheBDIcontrollermakesnoprovisionforuser‐providedstateestimates,canweconcludethattheBDIcontrollerhasaccesstoGazebo'sperfectstateinformation,e.g.bodypose?A:TheBDIbehaviorlibraryhasitsowninternalstateestimationthatisbasedonthesameinformationexposedtotheVRCcompetitors(informationprovidedthroughAtlasState.msgonthe/atlas/atlas_stateROStopic).T‐315:Canwerequestthatallmachinesaresynchronizedtoaknownandcommontimeserversuchastime.nist.gov.Thiswillallowcommonverifiedtimesyncforloggingandverification,withoutmuddyingthewaterswithregardcommsbandwidth,orrequiringuserstokillthetimesyncatstartofofficialrun.A:NTPisinstalledonallmachines(sim,router,fieldcomputers)andsynchronizeswithntp.ubuntu.com1DARPARoboticsChallengeQ&ARound12–QuestionsMar12,2013–Apr05,2013April12,20133.3VRCT‐316:WehavebeenpracticingourqualificationroundsandfoundthattheGazebologfileisabout2MBforeverysecondofsimulationtime.Sinceitstakingontheorderofaminuteortwotodothequalificationtasksthismeansthatthefilesarein100‐200MBsizerange.Doyoureallywanttheseemailedtoyou?A:Weareworkingonascriptthatwillgenerateanabbreviatedlogfile,andanticipatereleasingtheseshortly.TheQualGuidehasbeenrevisedtostatethatteamsaretouploadthelogfiles,nottoemailthem.T‐317:Willwebeallowedtoreducethetime‐stepsize/increaseiterationstoimprovethesimfidelity?Ifsowilltherebealimittohowthesemaybeadjusted?A:No‐thetimestepw