motor.restore-config

Write a saved configuration snapshot back to motors.

Writes a JSON snapshot produced by motor.dump-config back to the motors it came from, returning them to a known-good configuration. Works for both motor families — each snapshot record carries the motor type it was taken from. This command is CLI-only (it reads a snapshot file from the robot host), so it isn’t offered 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	Override the selected hardware’s default SocketCAN interface (e.g. 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, baud rate (dangerous)
--yes	Skip the confirmation prompt

Parameters already holding the saved value are skipped, so restoring onto a matching motor writes nothing. Read-only parameters are always skipped, and protected ones unless --include-protected is passed, since rewriting those can leave a motor unable to commutate or unreachable on the bus. A snapshot taken with --raw cannot be restored — its bare indices have no known meaning. Parameters the motor’s firmware doesn’t implement are skipped too.

Don’t restore a MyActuator snapshot taken with a release before v0.2.12. The older parameter table was mis-indexed for the fleet firmware, so those snapshots store values under names that now address 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

Pair this with motor.dump-config: dump a good motor to a snapshot, then restore that snapshot onto one that has drifted. The restore reports exactly which parameters it changed.