Motion planning with moveit: Part 2 - Planning in Cartesian space

rosrun tiago_moveit_tutorial plan_arm_torso_ik 0.4 -0.3 0.26 -0.011 1.57 0.037

After running this command, the tcp moves to the point but after that to move Tiago arm to the home position, what could be done to move Tiago arm to home position?

You could use MoveIt! as described in the following section.