Trossen PhantomX MKII - Raspberry Pi Robot called Charlotte

So here is a quick video of the robot. Everything is in and functioning! I'm always obsessed with smooth movements so usually any video I do is using a gait speed set really slow. One thing to note is I'm letting the Dynamixel's interpolate the step. I send one sync_write per goal position to keep the traffic through the USB2AX low. Oh yeah... I'm using Xevel's new USB2AX! It's working well with the Raspberry Pi.