xArm7 cPLUS-SDK -- reset problem

[Theeraphong_Wongrata]

In CPLUS Do we need to reset the robot every time we start the program? When reset the robot moves to the zero position which is not desired in my application. The gripper will crash with the robot body. If I really need to reset, can I change the reset posture?

[Minna]

Hi Wongrata,

No need to reset each time.
arm->reset internally calls clean_warn/clean_error -> montion_enable -> set_state -> move_gohome.
move_gohome will return to zero position, which can not be changed.

If you really need to reset, you may use set_postion/set_servo_angle instead.

Best regards,
Minna