The feedback of poresent position are mixed of two diffrerent type of motors: MX64AR and MX28

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1. How to setup? (ex, U2D2, OpenCR,...

• using U2D2 to connected serveral motors, inlcuding two types: MX64AR and MX28. Their firmweare were upgraded to V2.0.

3. Which Dynamixel have you used? and how many? (Please describe below format to all connected Dynamixels)

   • Model Name: 16 MX64 and 6 MX28

   • ID: 1-16 and 17-22

   • Baud Rate of Dynamixels: 400000

   • Protocol Version: 2.0

4. Write down the commands you used in order

I use workebnce to contro the motors

5. Copy and Paste your error message on terminal

There are no error and warning info message in terminal, but found problems in data collected using workbench API

6. Please, describe detailedly what difficulty you are in

   I can control the motors and get feedback of some motors, but some of the feedback were mixed. For example, when using synread function of workbench (result = dxl_wb->getSyncReadData(handler_index_read_position, &present_position[0], &log)) , the present_position array have a strange values, present_postion[0] was stored the present position of Motro ID1, but present_psotion[1] to present_position[6], were stored present positon of ID:17-22 (MX28), while present_position[7] to present_psotion[16] were stored position of ID: 7-16, present_psotion[17] to presenrt_position[22] are zero.