*   posSpline <dcs-name> mode seconds|unitsPerSec
*   posSpline <dcs-name> smooth <factor>
*   posSpline <dcs-name> key <t> [ local|world <x> <y> <z>]
*   posSpline <dcs-name> key <t> dcs|geo <target-dcs> [ local|world <offx> <offy> <offz> ]
*   posSpline <dcs-name> key <t> dcs|geo <target-dcs> toward dcs|geo <ref-dcs> <dist> [ l|w <offx> <offy> <offz> ]
*   posSpline <dcs-name> begin|pause|flush|destruct

*   posTether <dcs-name> tether <target-dcs>
*   posTether <dcs-name> begin|pause|destruct

*   posConstrain <dcs-name> elbow <A-dcs> <B-dcs> <roll-deg>
*   posConstrain <dcs-name> roll <roll-deg>
*   posConstrain <dcs-name> smooth <factor>
*   posConstrain <dcs-name> destruct

*   rotSpline <dcs-name> mode seconds|unitsPerSec
*   rotSpline <dcs-name> smooth <factor>
*   rotSpline <dcs-name> key <t>
*   rotSpline <dcs-name> key <t> rotvect local|world <radians> <x> <y> <z>
*   rotSpline <dcs-name> key <t> quat    local|world <w> <x> <y> <z> 
*   rotSpline <dcs-name> key <t> euler   local|world <x-deg> <y-deg> <z-deg> 
*   rotSpline <dcs-name> key <t> lookat  local|world <x> <y> <z> <roll-deg>
*   rotSpline <dcs-name> key <t> lookat  dcs|geo <target-dcs> <roll-deg>
*   rotSpline <dcs-name> begin|pause|flush|destruct

*   rotTether <dcs-name> tether <target-dcs>
*   rotTether <dcs-name> begin|pause|destruct

*   rotTrack <dcs-name> dcs|geo <target-dcs> <roll-deg> [ local|world <offx> <offy> <offz> ]
*   rotTrack <dcs-name> roll <degrees>
*   rotTrack <dcs-name> pitch <degrees>
*   rotTrack <dcs-name> clamp <degrees>
*   rotTrack <dcs-name> scale <factor>
*   rotTrack <dcs-name> smooth <factor>
*   rotTrack <dcs-name> velocity <deg/sec>
*   rotTrack <dcs-name> begin|pause|destruct

    scaSpline <dcs-name> key <t> [<x> [<y> <z>]]
*   scaSpline <dcs-name> smooth <factor>
*   scaSpline <dcs-name> begin|pause|flush|destruct

*   posSensor <msg> <subject-dcs> <radius> <x> <y> <z> 
*   posSensor <msg> <subject-dcs> <radius> dcs|geo <target-dcs> [ local|world <offx> <offy> <offz> ]
*    RETURN EVENT: <msg> <subject-dcs> <x> <y> <z>