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Support ExtendedPostiion and Current control; Implement on_configure#101

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sebtiburzio wants to merge 10 commits into
dynamixel-community:rollingfrom
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Support ExtendedPostiion and Current control; Implement on_configure#101
sebtiburzio wants to merge 10 commits into
dynamixel-community:rollingfrom
sebtiburzio:rolling

Merge and test (dummy mode only) changes from upstream

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