unction <cite>read_data</cite> (~line 98), add an if statement at the end (around line 142) to read data specific to the new joint object (use other joints as templates).</p></li>
<li><p>In the function <cite>check_calibration</cite> (~line 161), add an if statement at the end (around line 189) to check calibration for the new joint (follow the established formatting).</p></li>
<li><p>In the function <cite>update_motor_cmds</cite> (~line 534), add an if statement at the end that executes functions for the n