Bug
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[EMCL-49] - Cyclic Sync start-up (target position is not the actual)
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[EMCL-63] - Cyclic Sync. Position wrong movement
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[EMCL-158] - Delay after enable brake is activated incorrectly
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[EMCL-172] - Brake functionality is not working correctly
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[EMCL-174] - Current boostrap not working properly
Improvement
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[EMCL-167] - Improve the update rate of the torque demand