@gavanderhoorn The SDA operates differently on a DX100 than an FS100 or above. The DX100 version of MotoROS can only support 2 control groups. This is a limitation of the API which controls motion (mpMeiIncrementMove). So, for an SDA robot, you cannot control both arms and also the torso. I just realized that the max-group-detection mechanism in MotoROS doesn't have the restriction for DX100. I have just updated PR #213 to include this detection. In this new version, it will not create a task for the third group. I'm confused by @andreaskoepf's comment. Are you saying you were able to control all three groups with MotoROS on a DX100? --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/13) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: