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We have used the Atacama Large Millimeter Array (ALMA) to measure preciseabsolute astrometric positions and detect the astrometric wobble of dwarfplanet Orcus and its satellite Vanth over a complete orbit. We also place upperlimits to the astrometric wobble induced by Dysnomia on dwarf planet Erisaround its orbit. From the Vanth-Orcus barycentric motion, we find aVanth-Orcus mass ratio of 0.16$\pm$0.02 -- the highest of any known planet ordwarf planet. This large ratio is consistent with the hypothesis that Vanth isa largely-intact impactor from a giant collision in the system, and that thesystem has likely evolved to a double synchronous state. We find only an upperlimit of the barycenter motion of Eris, which implies a one sigma upper limitto the Dysnomia-Eris mass ratio of 0.0085, close to the modeled transitionregion between giant impact generated satellites which are largely intactremnants of the original impactor and those which form out of reaccreted diskmaterial left over post-impact. The low albedo of Dysnomia leads us tomarginally favor the intact impactor scenario. We find that Dysnomia hasdensity of <1.2 g cm$^{-3}$, significantly lower than the 2.4 g cm$^{-3}$ ofEris.

Masses and densities of dwarf planet satellites measured with ALMA