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I’ve made KDNY’s for the MG996R servos and have found the weight is too heavy for the servos to move all of the legs/joints. (For example- it can somewhat raise and lower itself but the shoulder servos aren’t powerful enough to tilt in/out, and the PCA9685 makes the servos jitter/bounce under strain). Have you had similar trouble? Especially with the RPILidar on top?