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  UberSim - Robot Soccer 3D Simulation Engine
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Project Team:
  Project Leader: Brett Browning   (brettb @ cs.cmu.edu)
  Team Members:   Erick Tryzelaar  (erickt @ andrew.cmu.edu)
                  Michael Bowling  (mhb    @ cs.cmu.edu)
  Affiliation:  School of Computer Science
                Carnegie Mellon University
                5000 Forbes Avenue
                Pittsburgh, PA 15213 USA
                phone: (412) 268-2601

UberSim homepage:
	http://www.cs.cmu.edu/~coral/ubersim-register.html

UberSim is a project aimed at producing a complete simulator for
RoboCup robot soccer teams to use. UberSim has two key parts: realistic
physics and extensible robot classes. In our experience, realistic 
physics are a required part to make code developed in simulation transferable
to the real robot systems. Thus, UberSim is built on top of a realistic
physics simulation engine called Open Dynamics Engine (ODE). We are in
the process of making our robot classes extensible, both in terms of 
paramatrization and in terms of vehicle mechanics. So stay tuned for 
an interesting ride!

UberSim is currently in pre-alpha stage and so is still very much a
work in progress. If you want to help with the UberSim project, 
have bug fixes, or want to use it for your project please let us know.
See the web page for details on how to contact us or email us at the 
addresses above.

For information on the simulator, or programs to use the simulator,
or our publications, see our group homepage at:
  http://www.cs.cmu.edu/~coral/publications/

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  Build Instructions
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To make the programs simply go to the main directory (ie ./ubersim
after untarring it) and run:
	> make
This will make each of the programs in each relevant subtree. So far it
has only been tested under linux (using a debian distribution with a
2.4.17 kernel) and requires OpenGL.

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  Running the System
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To run the system you must set two environment variables:

UBERSIMCONFIG needs to be set to the path pointing to the config files 
located in the config directory ie.: <mypath>/ubersim/config. 

ODEHOME should be set to the path pointing to the ode directory. This
can be found at http://opende.sourceforge.net/


To run the simulator, go to the bin directory and execute
./ubersim. You can download our CMDragons robot soccer software from 
	http://www.cs.cmu.edu/~coral/downloads/ 
to get our 2002 RoboCup software to control a team of robots.

Enjoy!
	Brett
