xArm 6 Lite Python SDK Initial Position

Hello, I am using the latest Python SDK to control an xARM 6 Lite in joint online trajectory planning mode (Github example 2006-joint_online_trajectory_planning.py).

Whenever I start the Python script, the arm approaches the [0,0,0,0,0,0,0] joint position before the first motion command. Is there a way to get rid of this pre-command motion or change the [0,0,0,0,0,0,0] position to any other joint position?

I tried to set the “Initial Position” Joints Position in Web GUI settings>motions>parameters - didn´t have any effect.

In the Python SDK, there is an arm.set_initial_point([0, 0, 180, 0, 0, 0, 0]) function - but didn´t have any effect either.

Any help very much appreciated

Hi Emanuelgollob,

You can remove arm.reset method, it will let the arm go to zero position [0,0,0,0,0,0,0] by default.

Best regards,

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