> Ok, now it starts for me.  Very cool!

Thx!

> I start with a clean working tree, build, start the rm501 config, and
> home the machine.  Then I switch from joint mode to world by hitting
> "$", and things go wrong.  The X, Y, and Z DRO values become NAN, and a
> big chunk of the robot arm in the vismach view disappears.

NAN appears when the inverse kinematics constraints could not be satisfied.
In the case described above, move the robot's end effector (X axis in
world mode) by jogging the X axis to closer to the origin.

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