~Line 398:</strong>
Add code for calibrating the torque sensor and enabling motors for the new joint while in headless mode.</p>
<ul class="simple">
<li><p>Copy the formatting from another joint—ensure you do this for both the left and right sides.</p></li>
</ul>
</li>
<li><p><strong>~Line 540:</strong>
Update the section that sets the controller for each joint (while in headless mode).</p>
<ul class="simple">
<li><p>Copy the formatting for one joint and rename it to your new joint.</p></li>
<li><p>Pull i