Yes indeed 
The first step will be to see how the Hkx code interfaces with the pypot server.
That’s great!! Let me know when you think it’s ready to be merged.
UnfortunateIy I don’t have any Herculex servos around, I would have loved to try this!
Did anyone ever create a solidworks (or other) model of the Poppy humanoid modified for Herkulex servos? @Red_Stark117, @seb, @rml4o ? I’m interested in creating a lower-cost, full-size Poppy humanoid that doesn’t need to stand or walk on its own (it will be more of a marionette)
The comparison table was really helpful. Thanks @Red_Stark117 for putting in the effort.
One thing Herkulex manuals do not mention is the rated current. I am using Herkulex servo motors and I need rated current to design my power circuitry. But I think I the current ratings for Dynamixel and Herkulex would be similar and I can just use numbers of Dynamixel.
Any thoughts?