def ctrl_dual_arm_go_home(self):
        '''Move both the left and right arms of the robot to their home position by setting the target joint angles (q) and torques (tau) to zero.'''
        print("[H1_2_ArmController] ctrl_dual_arm_go_home start...")
        with self.ctrl_lock:
            self.q_target = np.zeros(14)
            # self.tauff_target = np.zeros(14)
        tolerance = 0.05  # Tolerance threshold for joint angles to determine "close to zero", can be adjusted based on your motor's precision requirements
        while True:
            current_q = self.get_current_dual_arm_q()
            if np.all(np.abs(current_q) < tolerance):
                print("[H1_2_ArmController] both arms have reached the home position.")
                break
            time.sleep(0.05)
Move both the left and right arms of the robot to their home position by setting the target joint angles (q) and torques (tau) to zero.
deploy/teleop/robot_control/robot_arm.py