Crank up max_x value for sampling.
(1) Fix gui so that instructions (reminders, really...) are on top. (2) Lock/unlock action list before doing is_reachable() requests (for state). This seemed to fix my intermittent crash issue (was happening when there was one pose that was changing state between unreachable/reachable and I drug back and forth a ton); I was able to get it to crash again by furiously dragging, but ROS said that there was a buffer overrun and it was trying to send a message over a GB, so maybe it's OK :-)