Method set_torque_enabled

dynamixel_client.py:180–208

Sets whether torque is enabled for the motors. Args: motor_ids: The motor IDs to configure. enabled: Whether to engage or disengage the motors. retries: The number of times to retry. If this is <0, will retry forever. retry_int

(self,
                           motor_ids: Sequence[int],
                           enabled: bool,
                           retries: int = -1,
                           retry_interval: float = 0.25)

            self.OPEN_CLIENTS.remove(self)

    def set_torque_enabled(self,
                           motor_ids: Sequence[int],
                           enabled: bool,
                           retries: int = -1,
                           retry_interval: float = 0.25):
        """Sets whether torque is enabled for the motors.

        Args:
            motor_ids: The motor IDs to configure.
            enabled: Whether to engage or disengage the motors.
            retries: The number of times to retry. If this is <0, will retry
                forever.
            retry_interval: The number of seconds to wait between retries.
        """
        remaining_ids = list(motor_ids)
        while remaining_ids:
            remaining_ids = self.write_byte(
                remaining_ids,
                int(enabled),
                ADDR_TORQUE_ENABLE,
            )
            if remaining_ids:
                logging.error('Could not set torque %s for IDs: %s',
                              'enabled' if enabled else 'disabled',
                              str(remaining_ids))
            if retries == 0:
                break
            time.sleep(retry_interval)
            retries -= 1

    def read_pos_vel_cur(self) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
        """Returns the current positions and velocities."""