@gavanderhoorn I can confirm that a SDA can be operated with three groups on a DX100. Removing the shared torso axis was the only way we found to execute full body motions (both arms + torso) with a DX100. Primary reason for this is the Motoplus driver which has to split the updates for both robots (R1, R2) on the DX100 into two different calls, e.g. see MotionServer.c#L1693-L1715. If both calls are executed after each other the DX100 complains about different joint values for the shared base axis (even when you try to set the exact same values).