[TRAJ]
NO_FORCE_HOMING =       1
COORDINATES =           X Y Z C
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 1.0
DEFAULT_ANGULAR_VELOCITY = 45.0
POSITION_FILE = position9.txt
MAX_LINEAR_VELOCITY =   1.2
MAX_ANGULAR_VELOCITY =  90.0

[KINS]
KINEMATICS = trivkins coordinates=xyzc
JOINTS = 4