docs: def torque_off(self):
          """ Set the torques of Herkulex to zero
  
          In this mode, position control and velocity control
          will not work, enable torque before that. Also the
          servo shaft is freely movable
  
          Args:
              none
          """
          data = []
          data.append(0x0A)
          data.append(self.servoid)
          data.append(RAM_WRITE_REQ)
          data.append(TORQUE_CONTROL_RAM)
          data.append(0x01)
          data.append(0x00)
          send_data(data)