Set_linear_count(0) by CAN bus

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Hi, I am working on ROS with odrive by CAN bus and I am new to ROS.

def set_home(self):
    """Sets the home position by zeroing the encoder."""
    # Switch to torque control
    arbitration_id = (0 << 5) | 0x00B  # Set control mode
    data = list(struct.pack('<i', 1))  # Torque control mode
    self.send_can_message(arbitration_id, data)
    self.get_logger().info("Switched to torque control mode.")
    time.sleep(2)  # Wait for user to move robot to calibration position
    # Set encoder count to zero (set home)
    arbitration_id = (0 << 5) | 0x00D  # Set encoder count command
    data = list(struct.pack('<i', 0))  # Set linear count to zero
    self.send_can_message(arbitration_id, data)
    self.get_logger().info("Encoder count set to zero (home).")

Can you help me check if this is correct command?
Thank you