I'm wondering whether there is some misconfiguration / misunderstanding here.
@ted-miller: afaik, all SDAx robots have 4 groups, with groups 2 & 3 controlling the two torso joints, correct? How is this configured on the DX100?
In the screenshot provided by @Sinai_Aranda, it looks like only 3 `AddToIncQueue` tasks are created. This strikes me as odd.
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Edit: @Sinai_Aranda: could you test with group nr 3 (so the [fourth entry](
https://github.com/sinaiaranda-CIDESI/motoman_sda20d/blob/94fbcc01efddae3a7a892e4cf642fa6ed63ffec4/motoman_sda20d_support/config/sda20d_motion_interface.yaml#L14-L17)) removed from your `sda20d_motion_interface.yaml`
A wireshark capture of some traffic would also help.
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