Robot on an XY linear unit

trafo[0].id                     45
trafo[0].name                   ROBOT
trafo[0].base[2]                200000
trafo[0].param[0] ... ...

trafo[1].id                     91
trafo[1].name                   LINEAR
trafo[1].zero_orientation[0]    0.0
trafo[1].zero_orientation[1]    0.0
trafo[1].zero_orientation[2]    1.0
trafo[1].zero_position[0]       0.0
trafo[1].zero_position[1]       0.0
trafo[1].zero_position[2]       0.0
trafo[1].number_of_axes         2
trafo[1].chain[0]               0
trafo[1].chain[1]               1
trafo[1].axis[0].type           1
trafo[1].axis[0].orientation[0] 1.0
trafo[1].axis[0].orientation[1] 0.0
trafo[1].axis[0].orientation[2] 0.0
trafo[1].axis[1].type           1
trafo[1].axis[1].orientation[0] 0.0
trafo[1].axis[1].orientation[1] 1.0
trafo[1].axis[1].orientation[2] 0.0
trafo[1].programming_mode       12
trafo[1].rtcp                   1
trafo[1].base[2]                100000

trafo[2].id                     210
trafo[2].group[0].name          LIN_ROB
trafo[2].group[0].chain[0]      LINEAR
trafo[2].group[0].chain[1]      ROBOT
trafo[2].group[0].move_prio[0]  LINEAR
trafo[2].group[0].move_prio[1]  ROBOT