How to initialize robot in same pose as before?

[iRobot]

Hi,

When I initialize the xArm 5 and call in the initialization method:

        motion_code = xarm5.motion_enable(enable=True)

        xarm5.set_mode(0)
        xarm5.set_state(state=0)
        xarm5.reset(wait=True)

The arm always moves to the zero-pose (e.g. sends all joints to the zero or home position). How do I initialize the arm such that it stays in the same pose as before the application shut down?

[Minna]

Hi friend,

arm.reset internally calls move_gohome, so it will go back to zero position.

Please try:
xArmAPI.clean_warn()
xArmAPI.clean_error()
xArmAPI.motion_enable(True)
xArmAPI.set_mode(0)
xArmAPI.set_state(0)

Best regards,
Minna

[iRobot]

Ok thank you. Is there a way to bypass the move_gohome when resetting the arm?

[Minna]

Hi,

For now, it will move_gohome by default. You can achieve it by yourself without calling the reset method.