How can i servo off the open manipulator-x?

[Eunsunggcu]

Hi i'm ros noetic user and i try inverse kinematic neural network by revise this code.
Meanwhile, I wonder how to turn off the servo of open manipulator-x.

As I know, when launch the openmanipulator-x controller launch , all dynamixels are got power and I can't manually move its joint.

And one more thing that i wonder is do you use U2D2 or OPEN CR to connect from PC to manipulator?

Your code is really helpful. Thank you!:D