next up previous
Next: Simulator Back-end Up: Simulator API Previous: RcclSimulationServer and RcclSimulationClient


The simulator's RobotInfo object implements ACME's Info interface to provide data about the static parameters of each device. For example, the number of joints in the Puma robot named ``thumper'' can be obtained by calling RobotInfo's getNumJnts() method with the argument ``thumper''.

These parameters are stored in text files with the extension .jls. The RobotInfo object keeps a JLSFile object for each device. The JLSFile class parses a .jls file when it is instantiated, and stores the appropriate parameters for use by RobotInfo3.

Tim Wellhausen