Translator from Deneb IGRIP/TGRIP workcell to VRML2
     -------------------------------------------------------------

This program can be used to translate devices , workcells generated by 
IGRIP/TGRIP of Deneb Software Company to VRML2. It includes the translation
of geometry information, kinematic information and recording animation. 
Generated VRML2 file can be navigated using VRML2 browser. When clicking 
mouse over any parts with joints associated, the joint moves from initial place
to lower limit then upper limit and back to initial location. When clicking 
mouse over any parts without joint, it starts to play the recording of 
simulation. This program works at SGI now.

To compile:

cc -o workcell workcell.c -lm


To run:

If you have  IGRIP or TGRIP software in your computer, do the following:

   (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)If you want to transfer a device, copy the device file to your
	working directory. If you want to transfer a workcell,,copy workcell 
	file to your working directory. If you want to transfer workcell and 
	recording file,	copy workcell file and recording file to your working 
	directory.

   (c)Run the program as following:

	workcell -option deneb_file vrml_file recording_file time_cycle

	The options are :
	-d : translating the device. 
		Do not need recording_file and time_cycle
	-w : translating the workcell. 
		Do not need recording_file and time_cycle
	-p : translating the workcell and recording simulation. 
		Need recording_file, and time_cycle(second) for the animation.


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) If the device has joint value function such as =sin(dof(2)), it is not
translated.

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

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