I have set angles for joints in the arm, and want to make NAO walk few centimeters, but as soon as the robot starting walking the arms moves from the initial position. I do it as follows by setting stiffness of the arms to 1.0 after they are set to their target positions:

I am using this code to detect learned objects: http://doc.aldebaran.com/2-4/dev/python/examples/vision/vision_recognition.html

I am using the visionrecognition module to detect learned object through images (using the following example: http://doc.aldebaran.com/2-4/dev/python/examples/vision/vision_recognition.html)
and I want to localize the position of the object whenever a known object is detected, the value variable in the callback (from the function:def on_picture_detected(self, value)) returns data such as :

I am using motionProxy.angleInterpolation(chain_id, angle_list, timeLists, True,_async=True) from http://doc.aldebaran.com/2-8/naoqi/motion/control-joint.html#control-joint to move the arms toward a certain direction based on the angles of the joints. But as soon as the call to the mentioned function terminates, the arm slowly returns to its initial resting position, my question being to prevent it from returning to its initial resting position?

I am using setAngles() (http://doc.aldebaran.com/2-8/naoqi/motion/control-joint-api.html#ALMotionProxy::setAngles__AL::ALValueCR.AL::ALValueCR.floatCR) as follows:

I want to grab an object shown to NAO by hands after performing proper arms movement. for that I first start by catching the position of the target position using the following code: