I don't understand why you expect them to be zero..... Is seems they would settle at "HOME" after homing. That is what the DRO reads.... is the home offset added downstream to an expected zero joint cmd and fb? I want to understand the inner workings better....
According to HAL they are the same..
net y-pos-fb <= hm2_7i92.0.encoder.01.position
net y-pos-fb => pid.y.feedback
net y-pos-fb => joint.1.motor-pos-fb
