I think you need
[EMCMOT]
EMCMOT = motmod num_extrajoints=1
It's worth knowing that in many (but not all) cases INI file entries are simply copied into the HAL file.
Typically you will see:
(INI)
Code:
[EMCMOT]
EMCMOT = motmod num_extrajoints=1
(HAL)
Code:
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
What you want to end up as the HAL command is something like
Code:
loadrt motmod servo_period_ns=1000000 num_joints=3 num_extrajoints=1
It doesn't matter what order the modifiers after "loadrt motmod" are, which means that you can either have the num_extrajoints as part of the [EMCMOT]EMCMOT substitution, or you can add it yourself to the loadrt..... line
