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.
Edit: @Sinai_Aranda: could you test with group nr 3 (so the fourth entry) removed from your sda20d_motion_interface.yaml
A wireshark capture of some traffic would also help.