Translator from Deneb IGRIP/TGRIP device to VRML2(for SGI)
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This translator is used to translate Deneb IGRIP/TGRIP device to VRML2. The
Translator translates the geometry of device and joint kinematics. It also 
creates slides in the VRML world to control the joint values, and generates
several HTML files used to show joint and parts related information.
At present, it works on SGI using Netscape and CosmoPlayer 1.0. 

The package downloaded is named device.tar.gz. There are several C programs
in the package. To compile:

cc -o device device.c yy.tab.c lex.yy.c yyerror.c yywhere.c fun.c -ll -lm


To run:
(a)Make sure there is a file in home directory, called .telpthfig file
which is Deneb software configuration file. If you have IGRIP, the 
configuration file is .igpthfig, you can copy it to .telpthfig. 

(b)Copy the device file to your working directory.

(c)Run the program as following:

	device option deneb_file 

	The options are :
	-y or -Y : VRML Browser with Browser.setDescription function
	-n or -N : VRML Browser without Browser.setDescription function

The result of running the translator , for example "device -y robot" 
includes:
	robot.html -- main HTML page with 4 frames: VRML world frame,
		head frame, joint information frame, part motion 
		information frame. 
	robot.wrl  -- main VRML2 world translated from IGRIP device
	d_robot    -- directory includes all part VRML2 files
	robot_head.html -- HTML file shown on head frame
	robot_joint.html -- HTML file shown on joint information frame
	robot_part.html  -- HTML file shown on part motion information framce
	part_0.html...   -- HTML files related to specific parts

Notes:

(1) The text, texture, curve and surface in part file are ignored. Translation
can continue, but related information lost.

(2) The device version is limited to version 11.

(3) The color in VRML file used the color in part file, it may look different
from your IGRIP/TGRIP device.

(4) The translating is based on the reverse engineering, so it is going to be
as-is.