The standing pose parameters are configured in the ~/RoboTamerSdk4Qmini/bin/config.yaml file. The values used are from a blogger's values mentioned in the reference documentation. You can also create a stable standing pose on your own. The prerequisite for accurate standing is that you have already completed the zero position calibration!

ref_joint_act: [0.55, 0.25, -1.35, 1.2, -1.1, -0.55, -0.25, 1.35, -1.2, 1.1]

After the settings are complete, the next time you start up, pressing the Stand button on the Bluetooth controller will cause the robot to adjust to this pose. After that, you can perform various operations based on this pose.