I'd also like to mention that the "stow" command has a bad habit of breaking the roboarm. As does any movement of the arm after using the "unstow" command. If I unstow the arm and then issue a "topt" command, the arm literally jumps off the rover. It's quite spectacular. Also, topt command's accuracy is extremely hit or miss, and often will never actually finish the command.
Related to this... is there any way to manually control the rover's secondary joint besides the "topt" command? In other words, while it seems I can manually control the "shoulder" joint and the head or "wrist" joint, there doesn't seem to be a way to manually control the "elbow" joint. The up/down controls (which I thought might do this) don't seem to do anything.