Apologies! the 2.0.1 version has been ftp'd over again, the previous one had a gzip error. This one works. Patrick This directories contains subdirectories: connel/ the code for the robot controller. This can be a neural network, or inverse kinematics, or whatever. In the current distribution, an inverse kinematics controller. This code is written for a 6DOF manipulator with rotary joints. simmel/ the forward controller of the robot. Should be connected to the controller, but can also work stand-alone for testing. The shell script `env' sets the hostnames of the computers on which the controller (ROBOT_HOST and CAMERA_HOST) and simulator (BEMMEL_HOST) run. Under UNIX, execute it with `source env`. Since robot-specific code is included, please read the manual page before using this code. bemmel/ the robotdraw program. Can be connected to the forward kinematics simulator. include/ shared include files. Esp. note global_communication.h, which contains the definitions of the messages shared between the programs. matrix/ Robot library. communication/ Communication library. socketnr/ The socket numbers shared between the processes. If any socket blocks (i.e., 'socket in use' message appears during startup of any of the programs), change the socketnr using the next-socket shell script, and restart ALL parties. doc/ Documentation in LaTeX and postscript form. stand-alone-bemmel/ A stand-alone version of bemmel which is designed for drawing 3D geometrical figures, while changing the viewpoint. Of course, the figures can be dumped to xfig format for subsequent touch-up.