loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadusr -W lcec_conf maurice.xml
loadrt lcec

addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

net state-op    <= lcec.state-op