Differences in Input to output motion of dynamixel motors

I think, it should be worthy of setting time-based profile. Make 2 times larger than your frame rates as the example here

Seeing the example, the number of goal positions are updated every 100ms. and the Author tends to set the Profile Velocity (Time-based) 2 times larger that the frame rates (100ms).

Please allow me to update the ticket and drops other user to here, as the issue is being addressed here in the thread.