In this case you might want to use the functions np.hstack and np.vstack
arr = np.array([])
arr = np.hstack((arr, np.array([1,2,3])))
# arr is now [1,2,3]
arr = np.vstack((arr, np.array([4,5,6])))
# arr is now [[1,2,3],[4,5,6]]
You also can use the np.concatenate function.
Cheers