Help extracting voice and idles?

You don't need to extract the voice and idles, you just need to create a new trait. Start by cloning the main humanoid trait, it's already got the voice section setup at the bottom: CB5FDDC7!0000001D!000000000003554C.trait_Humanoid_Robots_MainTrait.TraitTuning.xml

Clean out the file of unnecessary stuff that you don't want (check the TDESCs to make sure you don't need anything), but at least keep the first buff_type at the top which references the idles. You should also be able to leave the <E n="trait_type">ROBOT</E> alone, but I've never worked with them before so unsure.

Anyway, clone the buff next 6017e896!0000001d!00000000000359f6.buff_Humanoid_Robots_MainBuff.buff.xml. Inside, the section you need for the mod is:
<V n="interactions" t="enabled">
<U n="enabled">
<L n="interaction_items">
<T>223734<!--MixerInteraction: HumanoidRobot_Idle--></T>
</L>
<T n="weight">3</T>
</U>
</V>

And you will need to clone that mixer interaction as well to replace the original trait test at the bottom of the file. Not sure if there are any other idles for the servos, don't think there is, but you'd just add them to this list if there is.

To add this trait to sims, you need an interaction or something else to add it, and inject the interaction with XML Injector.

Here are some resources and tutorials to get you started, highly recommend Zer0's tutorials once you have your workspace setup and read the beginner tutorials.