def ctrl_dual_hand(self, left_q_target, right_q_target):
        """set current left, right hand motor state target q"""
        for idx, id in enumerate(Dex3_1_Left_JointIndex):
            self.left_msg.motor_cmd[id].q = left_q_target[idx]
        for idx, id in enumerate(Dex3_1_Right_JointIndex):
            self.right_msg.motor_cmd[id].q = right_q_target[idx]

        self.LeftHandCmb_publisher.Write(self.left_msg)
        self.RightHandCmb_publisher.Write(self.right_msg)
set current left, right hand motor state target q
deploy/controllers/controller.py