diff --git a/src/examples/darwin_manager_test.cpp b/src/examples/darwin_manager_test.cpp
index 98b6fc8d3e69572b52170592e0f029b2e0a656fa..61bc10e6d42ff3bfee7fe6a2169558605fbadb18 100644
--- a/src/examples/darwin_manager_test.cpp
+++ b/src/examples/darwin_manager_test.cpp
@@ -9,8 +9,8 @@ std::string robot_device="/tmp/darwin_driver";
 
 int main(int argc, char *argv[])
 {
-//  int i=0,num_servos;
-//  unsigned int present_servos;
+  int i=0,num_servos;
+  unsigned int present_servos;
 //  std::vector<int> servos;
 //  std::vector<double> angles,speeds,accels,offsets;
 
@@ -27,9 +27,28 @@ int main(int argc, char *argv[])
       std::cout << "scanning ..." << std::endl;
       usleep(100000);
     }
-    std::cout << "num. devices: " << (int)darwin.manager_get_num_devices() << std::endl;
-//    num_servos=darwin.mm_get_num_servos();
-//    present_servos=darwin.mm_get_present_servos();
+    num_servos=darwin.manager_get_num_devices();
+    std::cout << "num. devices: " << num_servos << std::endl;
+    present_servos=darwin.mm_get_present_servos();
+    std::cout << "present servos: " << std::hex << present_servos << std::endl;
+    i=0;
+    while(i<num_servos)
+    {
+      if(present_servos&(0x00000001<<i))
+      {
+        darwin.mm_enable_servo(i);
+        darwin.mm_assign_module(i,DARWIN_MM_ACTION);
+      }
+      i++;
+    }
+    darwin.action_load_page(9);
+    darwin.action_start();
+    while(darwin.action_is_page_running())
+    {
+      std::cout << "action running ... " << std::endl;
+      usleep(100000);
+    }
+
 //    std::cout << "Found " << num_servos << " servos " << std::endl;
 //    std::cout << "Present servos: " << present_servos << std::hex << "0x" << present_servos << std::dec << std::endl;
 //    std::cout << "Motion manager period " << darwin.mm_get_period() << " ms" << std::endl;