text: #########################################
  # IntegratedMovement.py
  # description: a 3D kinematics service supporting D-H parameters
  # categories: robot, control
  # more info @: http://myrobotlab.org/service/IntegratedMovement
  #########################################
  
  # start the service
  integratedmovement = Runtime.start('integratedmovement','IntegratedMovement')
  