No, we have no limitation of moving the torso of our SDA10D with DX100, e.g. we can move all 15 joints, 7 joints of one arm, 14 joints of two arms, or 8 joints of one arm and torso etc. We are using a slightly modified version of the MotoPlus driver and the Motoman ROS backend (e.g. correcting the deserialization of the joint_feedback_ex message, which also other did with some more lines of code as in Two arms and rail with DX100 PR.
Probably the hardest change we had to make: In the robot controller configuration we removed the B2 group.
These are the sda10d_motion_interface.yaml and the joint_names_sda10d.yaml we are using for our DX100.
And regarding the MotoPlus driver (@ted-miller): The documentation of mpMeiIncrementMove was quite challenging to decode - I guess the text about MP_POS_DATA.ctrl_grp in the mpManualMOV description also applies to mpMeiIncrementMove. So what I found is: It is possible to control R1 + B1 in one mpMeiIncrementMove command for MP_SL_ID1 by setting the corresponding two bits of the ctrl_grp member. After that it is possible to execute another mpMeiIncrementMove for MP_SL_ID2 with the ctrl_grp mask with a bit set for the data for R2. Both calls being made in one interpolation period results in smooth whole body motions.