I am getting more, not less, confused by this.

Exactly which kinematics file are you using?

What do you mean by "Teleop" mode?

I tried setting up a sim config using the millkins.c file. It seems to
behave exactly like trivkins, and stops short of the soft limits.

I am not sure how (or why) you are putting the system into teleop
mode, but even doing that I can't force the sim machine out of its
box.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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