diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py
index 6234e59de..0eb93b79c 100644
--- a/lerobot/common/robot_devices/motors/dynamixel.py
+++ b/lerobot/common/robot_devices/motors/dynamixel.py
@@ -450,64 +450,3 @@ class DynamixelMotorsBus:
     def __del__(self):
         if getattr(self, "is_connected", False):
             self.disconnect()
-
-    # def read(self, data_name, motor_name: str):
-    #     motor_idx, model = self.motors[motor_name]
-    #     addr, bytes = self.model_ctrl_table[model][data_name]
-
-    #     args = (self.port_handler, motor_idx, addr)
-    #     if bytes == 1:
-    #         value, comm, err = self.packet_handler.read1ByteTxRx(*args)
-    #     elif bytes == 2:
-    #         value, comm, err = self.packet_handler.read2ByteTxRx(*args)
-    #     elif bytes == 4:
-    #         value, comm, err = self.packet_handler.read4ByteTxRx(*args)
-    #     else:
-    #         raise NotImplementedError(
-    #             f"Value of the number of bytes to be sent is expected to be in [1, 2, 4], but "
-    #             f"{bytes} is provided instead.")
-
-    #     if comm != COMM_SUCCESS:
-    #         raise ConnectionError(
-    #             f"Read failed due to communication error on port {self.port} for motor {motor_idx}: "
-    #             f"{self.packet_handler.getTxRxResult(comm)}"
-    #         )
-    #     elif err != 0:
-    #         raise ConnectionError(
-    #             f"Read failed due to error {err} on port {self.port} for motor {motor_idx}: "
-    #             f"{self.packet_handler.getTxRxResult(err)}"
-    #         )
-
-    #     if data_name in CALIBRATION_REQUIRED:
-    #         value = self.apply_calibration([value], [motor_name])[0]
-
-    #     return value
-
-    # def write(self, data_name, value, motor_name: str):
-    #     if data_name in CALIBRATION_REQUIRED:
-    #         value = self.revert_calibration([value], [motor_name])[0]
-
-    #     motor_idx, model = self.motors[motor_name]
-    #     addr, bytes = self.model_ctrl_table[model][data_name]
-    #     args = (self.port_handler, motor_idx, addr, value)
-    #     if bytes == 1:
-    #         comm, err = self.packet_handler.write1ByteTxRx(*args)
-    #     elif bytes == 2:
-    #         comm, err = self.packet_handler.write2ByteTxRx(*args)
-    #     elif bytes == 4:
-    #         comm, err = self.packet_handler.write4ByteTxRx(*args)
-    #     else:
-    #         raise NotImplementedError(
-    #             f"Value of the number of bytes to be sent is expected to be in [1, 2, 4], but {bytes} "
-    #             f"is provided instead.")
-
-    #     if comm != COMM_SUCCESS:
-    #         raise ConnectionError(
-    #             f"Write failed due to communication error on port {self.port} for motor {motor_idx}: "
-    #             f"{self.packet_handler.getTxRxResult(comm)}"
-    #         )
-    #     elif err != 0:
-    #         raise ConnectionError(
-    #             f"Write failed due to error {err} on port {self.port} for motor {motor_idx}: "
-    #             f"{self.packet_handler.getTxRxResult(err)}"
-    #         )