This is a list of things that should still be done.

	Sometimes the motion scale in traject.c goes > 1.0.
		Check this out.
	the demo program jmove once gave a spurious out-of-range error
		on a setConf command. Check this out.
	Write a document describing how to interface RCI to an
		arbitray robot controller
	Fix function proto-types for var arg functions
	Add DSPL to rciPrintTrsf()
	The acceleration estimation does not consider explicit motion times.
	Decide whether tracking mode should contain monitor limit checks.
(?)	Create primitives to return when the motion queue is empty
	beef up the hand primitives; see about adding a setHand primitive()
	Install RETURN_ERROR() in freePosition().
	change unitDspl(a,b) to unitDspl(a)
(?)	make the action of the RCCL fxn setModes() atomic
	Patch up ARC so the function names are all consistent
	change accessMem to copyMem in RCI
(?)	remove access mask from rciGlobal memory
	Make identTrsf and unitQtrn consistent
	Make the HOW/CHG parallel port interface byte oriented.
	Maybe make the .rciparams stuff be <name>.<field>
	In the documentation, (RCCL man pages), clear up the
		distinction between the ``RCCL trajectory generator''
		and the ``RCCL control level''.
	Merge the 'get' and 'getActive' commands in the man pages
	add robot type code into JLS structure
		update makejls to read this info
		change getRobotInfo.c so that only this info is used
		update RCI ref manual: makejls, JLS, get_jls
		update RCI user guide
		update Installation guide
(?)	What was this ??? -> Fix up some of the RCCL transMotionEval stuff.
(?)	fix stopCurrentMotion so that it kills paused motions as well.
	Features to add to the simulator:
	  	name option
	clean up rciSetTrace and rciClearTrace, and document these
	modify the free program so that we can use the teach pendant to
		free an lock the joints
	Have pumacal check to see if joint 6 on the PUMA 560 has wrapped 
	Fix teachdemo so that we can add parallel commands
	Try to fix the RCI-moper-tgen interaction so that the robot does
		not "drop" when we start a new RCCL/RCI program
	Put a trace bit into moper so that we can tell when a program
		is active
	Fix track.560 so that if there is no joyStick interaction, it
		simulates a random walk instead of an ellipse
	Have zerograv set the limit stop messages on the teach pendant
	Have teachdemo send a beep when it hits a limit stop
	Make it possible to specify the end effector load coefficients in
		the robot ".kyn" file
	Fix teach pendant so that the speed factor is more uniformly
		integrated with the teach pendant and gripper interaction
	Stuff for SGI:
		Make it possible to have the CPU specified
	Double check the freeing of resources by rciClose()
	Possible problem in demo.rccl/playback: toggling hand pos with robot
		in same place may not work properly.
	trsfToRot and trsfToDspl do different things when given a 0
		rotation: one sets the vector, and one does not. Fix this.
	Fix the RCCL User's Guide so that the demo programs are documented
		as being runnable on the simulator 
	Add documentation for the VxWorks vector interrupt stuff. Add
		this to robots.tex and IOdevice.tex
	Resolve the dual use of Newton-meters and Newton-millimeters
		with the RCCL comply and lock primitives.
	Fix the rcc command so that it can pass arguments more correctly
	Document radianToDegree and degreeToRadian
	In sys.Sun4/rciext/mctlFix, this will not be able to
		patch kern_mman.c if /vmunix has been patched.




	


