Let us zero the zeroth robot actuators in-place

[codekansas]

We need to implement the zero_position option when configuring actuators

Code pointer

There are commands in the firmware to do this so it should just be a matter of gluing things together.

[nfreq]

Zero Position works consistently and reliably with the new python based kos feetech driver integration.

It is not obvious why the milkv driver fails to perform this reliably. We are deprecating that RTOS driver implementation.

100% confident the new stm32 driver will perform this without a problem as well.