Shut down actuators from python code

[auxoche]

Good evening, is it possible to access low level commands for the actuators easily from Python code? I noticed that the open_manipulator_controller turns off the motors before exiting while a code with MoveIt will leave them on.

Are there any python code examples that address this? Would also accept python code examples that use the default open_manipulator_controller instead.

[ROBOTIS-Will]

Hi @auxoche The torque off feature of the controller is built in feature in the controller node, so you cannot disable it without modifying the controller node. You may comment the below code out in order to keep the torque of the DYNAMIXEL when the node is destroyed. https://github.com/ROBOTIS-GIT/open_manipulator/blob/ros2/open_manipulator_x_controller/src/open_manipulator_x_controller.cpp#L57