motor.restore-config

Writes a snapshot from motor.dump-config back to the motors it came from. It works with both MyActuator and Damiao motors. The command reads the snapshot from a file on the Host Computer, so it isn’t on the diagnostics dashboard.

Flag	Description
`--l` / `--r`	Select the left or right side (mutually exclusive, required)
`--target {axol,mantis}`	Use that side’s Axol arm or Mantis gripper bus (default: `axol`). Mantis restores only ID 8
`--channel IFACE`	Use this SocketCAN interface instead of the default, such as `can0`
`snapshot`	JSON file from `motor.dump-config` (positional, required)
`--id ID`	Restore only this motor CAN ID, hex or decimal. Omit to restore every motor in the snapshot
`--include-protected`	Also write protected parameters: factory calibration, CAN IDs and baud rate. Dangerous
`--yes`	Skip the confirmation prompt

The restore writes only the parameters that differ from the snapshot, and reports each one it changed. It always skips:

parameters that already hold the saved value
read-only parameters
parameters the motor’s firmware doesn’t support
protected parameters, unless you pass --include-protected

A wrong protected value can leave a motor unable to run or unreachable on the bus. You can’t restore a snapshot taken with --raw.

Don’t restore a MyActuator snapshot taken with an axol release older than v0.2.12. Its parameter names point at different settings. Take a fresh motor.dump-config snapshot instead.

axol motor.restore-config --l arm-left.json            # every motor in the snapshot
axol motor.restore-config --l --id 0x01 arm-left.json  # just one motor
axol motor.restore-config --target mantis --l mantis-left.json

To fix a motor whose settings have drifted, dump a good motor to a snapshot, then restore that snapshot onto the drifted one.

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motor.restore-config