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Hello :)

Thank you for your inquiry about dynamixel_workbench.

You can change parameters of multi-dynamixels using SyncWrite function.

If you look at line 56 in torque control example, 'Goal_Current' parameter are added to syncwrite handler. You can change it as 'P_Gain' or 'D_Gain' and write gain to the dynamixels by syncWrite function simultaneously.(line 152 in same example)

Best regards Darby