Mocap can not specify the manipulator's initial pose

[DuYi-angle]

I am adding mocap to the end of a Kinova Gen3 in mujoco to control a robotic arm. When I initialize the robotic arm, it works fine. But when the simulation starts, the robotic arm immediately returns to zero and then moves under the control of the mocap. I want to know why this is happening.This is my running code：

import mujoco
import mujoco.viewer
import numpy as np
import time
from copy import deepcopy

class KinovaControl:
def init(self, filename, init_position='home', is_show=True):
self.model = mujoco.MjModel.from_xml_path(filename)
self.data = mujoco.MjData(self.model)

    self.is_show = is_show
    if is_show:
        self.viewer = mujoco.viewer.launch_passive(self.model, self.data, key_callback=self.keyboard_cb)
        self.viewer.opt.frame = mujoco.mjtFrame.mjFRAME_WORLD 
        self.viewer.opt.frame = mujoco.mjtFrame.mjFRAME_BODY

    self.set_init(init_position)

def set_init(self, init_position):
    self.cnt = 0
    self.init_qpos = np.array([0, 0.26179939, 3.14159265, -2.26892803, 0, 0.95993109, 1.57079633])
    self.data.qpos = self.init_qpos
    mujoco.mj_forward(self.model, self.data)

    mujoco.set_mjcb_control(self.controller)

def controller(self, model, data):
    tmp = deepcopy(self.init_qpos)
    tmp[-1] += 0.01 * self.cnt
    self.cnt += 1
    # self.data.ctrl = tmp
    self.data.mocap_pos[0][1] -= 0.0001
    self.data.mocap_quat[0] = [1, 0, 0, 0]
    # print(self.data.body('bracelet_link'))

def main(self):
    while True:
        mujoco.mj_step(self.model, self.data)
        if self.viewer.is_running():
            self.viewer.sync()
        time.sleep(0.01)

def keyboard_cb(self, keycode):
    if chr(keycode) == ' ':
        mujoco.mj_resetData(self.model, self.data)
        mujoco.mj_forward(self.model, self.data)
        self.set_init('home')

if name == "main":
xml_path = "/home/zhangsl/DualArmControl/kinova_gen3/scene.xml"
kinova_control = KinovaControl(xml_path, 'home')
kinova_control.main()

My xml is modified from mujoco_menagerie
kinova_gen3.zip

[DuYi-angle]

https://github.com/user-attachments/assets/7b247aac-15ca-455b-860f-47b8b8212d2b
This is what I encountered