I have some problems when i try configuring custom arm robot 6DOF. hope 
someone can help me resolve these.

1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. 
everytime i turn it on by "Alt+M" it return joint mode. if anyway to use 
"world mode" in manual control

2nd: i used genserkins to configure a new custom arm robot and compare to 
the one i configure in matlab. They are difference about coordinate, look 
like the origin coordinate was rotated. i think the one from genserkins is 
incorrect

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