Use disable_torque_on_disconnect

src/lerobot/robots/reachy2/configuration_reachy2.py

@@ -33,7 +33,7 @@ class Reachy2RobotConfig(RobotConfig):
     ip_address: str | None = "localhost"
 
     # If True, turn_off_smoothly() will be sent to the robot before disconnecting.
-    disable_torque_on_disconnect: bool = True
+    disable_torque_on_disconnect: bool = False
 
     # Tag for external commands control
     # Set to True if you use an external commands system to control the robot,

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -211,5 +211,6 @@ class Reachy2Robot(Robot):
         if self.reachy is not None:
             for cam in self.cameras.values():
                 cam.disconnect()
-            self.reachy.turn_off_smoothly()
+            if self.config.disable_torque_on_disconnect:
+                self.reachy.turn_off_smoothly()
             self.reachy.disconnect()

tests/robots/test_reachy2.py

@@ -60,11 +60,12 @@ PARAMS = [
     {"with_mobile_base": False},
     {"with_mobile_base": False, "with_l_arm": False, "with_antennas": False},
     {"with_r_arm": False, "with_neck": False, "with_antennas": False},
-    {"use_external_commands": True},
+    {"use_external_commands": True, "disable_torque_on_disconnect": True},
     {"use_external_commands": True, "with_mobile_base": False, "with_neck": False},
     {"with_right_teleop_camera": False},
     {"with_left_teleop_camera": False, "with_right_teleop_camera": False},
     {"with_left_teleop_camera": False, "with_torso_camera": True},
+    {"disable_torque_on_disconnect": False},
 ]
 
 
@@ -191,7 +192,10 @@ def test_connect_disconnect(reachy2):
     reachy2.disconnect()
     assert not reachy2.is_connected
 
-    reachy2.reachy.turn_off_smoothly.assert_called_once()
+    if reachy2.config.disable_torque_on_disconnect:
+        reachy2.reachy.turn_off_smoothly.assert_called_once()
+    else:
+        reachy2.reachy.turn_off_smoothly.assert_not_called()
     reachy2.reachy.disconnect.assert_called_once()