@ted-miller I did this some time ago. I also had to tweak the Motoplus driver a bit to make this work, especially in MotionServer.c I added this: ``` // first robot moveData.ctrl_grp = 1 | (1 << 2); // AKo: Hard coded special value for our SD10D R1+B1 R2 special configuration ret = mpMeiIncrementMove(MP_SL_ID1, &moveData); ``` But yes, with these changes it is definitely possible to operate all 15 joints of the SDA10D with a DX100 controller simultaneously (run whole body motions). We at Xamla added a couple of more things to the Motoplus driver for better realtime control etc, e.g. see [FT control](https://www.youtube.com/watch?v=5D72o1vfU34) or [joystick control](https://www.youtube.com/watch?v=KgzYKmDy8jk). In general an issue of the DX100 is the big latency of the system (~ 100ms) which is probably caused by lower level moving average filtering in the motor controllers. --- [Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/15) 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: