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i guess this is also a reminder to have all out telemetry setup from the drives - ensuring we pull all available info from them like we do with the feetech ones (position, torque, voltage, temperature, current, power draw, and more so we can keep an eye on things and eventually feed them to the UI - we would basically need the extract telemetry for any arbitrary servo setup like we've done with the ethercat config (the ability to stetup any arbitrary number and type of joint/motion config - each of those we would need to extract the telemetry from)