@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?