xARM 6 Lite Python SDK change of initial joint position

[emanuelgollob]

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 - it 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 is very much appreciated!

[penglongxiang]

Please comment out or delete the line: arm.reset(wait=True)

This will command the robot to go to all zero joint position.

[emanuelgollob]

Thanks a lot, that worked!