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)
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