
	ROBOT SIMULATOR
	===============

	By Andrew Conway and Craig Dillon,
	contact Craig Dillon,
		cdillon@vis.citri.edu.au,
		Department of Computer Science,
		Melbourne University,
		Australia.

	This package is a graphical robot simulator that does discrete time
	simulation of an arbitrary linked robot arm, with full kinematics and
	dynamics. There is a discrete-time controller and a standard C interface
	so that users can create and test different controller algorithms.

	The robot simulator currently only works on SGI machines, and in a 
	no-graphics mode on other machines. When the IPRS GUI standard is
	established, we will be converting this to run under IPRS, which will
	make it machine independant.

	For Indigos, which have smaller screens than PIs, we have simply
	hacked the window openings to make the whole thing alot smaller. This
	will be done more elegantly later.

	This package is copyright in all the normal ways... we don't mind people
	copying and distributing the code, or using it to inspire new code,
	but full acknowledgement is expected.

	The directories under the robot simulator are the following:

		arc	- an internal directory (ignore)
		chey - an internal directory (ignore)
		demos - sample configuration files
		plan - an internal directory
		src - the main source directory
		text - the documentation
		visual - an internal directory

	To make the simulator, go into the src directory and type:

	unix% make

	The Makefile is standard, and can be editted to suit...

	The documentation is all under the text directory, and discusses the
	simulator at length.

	To run the demos, you will need to run rsim from the local directory.


	NOTE: This is a pre-release style version, and we will tidying it up
	as time goes by, and incorporating new components (including the
	chey directory). 
