I have a processing sketch in which I tried to rewrite the Arduino library, but I got stuck at the communication protocol structure. It shouldn't be impossible, as someone points out here:  http://botscene.net/2012/10/20/getting-started-with-the-herkulex-drs-0101/. Here is a link to the manual that describes the protocol:  http://hovis.co.kr/guide/herkulexeng.pdf

And here is an excerpt from the library that shows how they package a command to send it to the servo over serial.

2. void CHerkuleX::torqueOn(uint8_t id)
3. {
4. send_buf[0] = 0xFF; // Packet Header
5. send_buf[1] = 0xFF;
6. send_buf[2] = 0x0A; // Packet Size
7. send_buf[3] = id;   // Servo ID
8. send_buf[4] = DR_SERVO_CMD_RAM_WRITE;   // Command Ram Write
9. send_buf[7] = 0x34; // Address 52
10. send_buf[8] = 0x01; // Length
11. send_buf[9] = 0x60; // Torque ON
12. send_buf[5] = (send_buf[2]^send_buf[3]^send_buf[4]^send_buf[7]^send_buf[8]^send_buf[9]) & 0xFE;
13. send_buf[6] = (~send_buf[5])&0xFE;
14. 
    
15. send(send_buf, 10);
16. }

2. void CHerkuleX::send(byte* buf, uint8_t size)
3. {
4. Serial3.write(buf, size);
5. }

So my is how to rewrite this structure in processing. Here's the arduino library:  http://robottini.altervista.org/dongbu-herkulex-arduino-library-2?doing_wp_cron=1368060408.9865930080413818359375

Anyone who can give me some advice? I can also post my earlier attempt if needed.