The files in this directory are configuration files for the system.

As description of the more important files follows:

.rcc --
	Default configuartion file for the rcc command. Tells the
	rcc command what libraries to use when it links its target programs,
	and what include directory to use. Normally, the rcc command looks for
	a ".rcc" file first in this directory, then in the user's home
	directory, and then in ".", with each description taking precedence
	overriding the previous one. See rcc(1R).

.rciparams --
	Default RCI parameter set file. RCI maintains a set of primitives that
	can get and set named parameters (sort of like sets of environment
	variables). The first reference to the parameter data base causes the
	package to read in sets of predefined parameters from various
	".rciparams" files, seeking first the file here, then a similar file
	in the user's home directory, and finally a file ".". Redefinitoons of
	parameter sets in files searched later take precedence over earlier
	definitions. See rciParameters(3R).

robots --
	This is a configuration file that lists all of the robots which RCI
	can connect to, along with the name of the interface device/driver
	that is to be used to interface to them, and the name of the polling
	interrupt to be used when the robot is being controlled by a control
	task on the aribter CPU.

defaultRobot --
	Name of the system 'default robot', which is returned by the routine
	getDefaultRobot(3R).

site.conf --
	Configuration file defining site-specific parameters.  Installation
	will almost require changing some of the parameters in this file


Each robot known to the RCI system has several configuration files describing
various parameters and the like. These files have the name of the robot, plus
an indicative extension.

<robotName>.jls --
	Specification of all the JLS parameters for the robot. A template
	version of this file is stored in "template.jls" (see JLS(3R)).
	This file is compiled into a binary ".JLS" file using the program 
	makejls(1R) and a default rule defined in this directories Makefile.
	The binary file is the one that is read by the get_jls() routine.

<robotName>.JLS --
	Binary (compiled) JLS parameter information, as described above.

<robotName>.kyn --
	Specification of the parameters in the KYN structure for the robot in
	question; this file is accessed by the get_kyn() routine. This is an 
	ascii file; at the moment, a compilation step is not employed as it 
	is for the JLS structure.

<robotName>.pos --
	List of joint angle positions for the robot in question. This list is
	used by the routine getRobotPosition(3R).
