# Ask **URL:** https://forum.hello-robot.com/c/ask/5.md?page=3 [Latest](https://forum.hello-robot.com/latest.md) · [Categories](https://forum.hello-robot.com/categories.md) **Page:** 4 --- ## [Getting transform using python API](https://forum.hello-robot.com/t/getting-transform-using-python-api/1252)
**Author:** [@ris7188](https://forum.hello-robot.com/u/ris7188)\ **Replies:** 1\ **Last updated:** [March 6, 2025, 1:48pm UTC](https://forum.hello-robot.com/t/getting-transform-using-python-api/1252 "2025-03-06T13:48:21Z")
I am working on Hello Robot and am exploring python API. I would like to know if there is a way to get tranform of the base. I am trying to make head camera detect aruco marker and then move the robot close to the marker… --- ## [Help Needed: Build Error with stretch\_funmap Due to Numpy Dependency](https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191)
**Author:** [@allen](https://forum.hello-robot.com/u/allen)\ **Replies:** 6\ **Last updated:** [February 20, 2025, 8:24pm UTC](https://forum.hello-robot.com/t/help-needed-build-error-with-stretch-funmap-due-to-numpy-dependency/1191 "2025-02-20T20:24:29Z")
Hi everyone, I’m encountering a build error while setting up the Hello Robot workspace. Here’s what I did: Cloned the repository: cd ~ git clone https://github.com/hello-robot/stretch\_install cd stretch\_install git p… --- ## [Early termination or pause of actions while maintaining robot states](https://forum.hello-robot.com/t/early-termination-or-pause-of-actions-while-maintaining-robot-states/1238)
**Author:** [@dongping](https://forum.hello-robot.com/u/dongping)\ **Replies:** 5\ **Last updated:** [February 14, 2025, 1:58am UTC](https://forum.hello-robot.com/t/early-termination-or-pause-of-actions-while-maintaining-robot-states/1238 "2025-02-14T01:58:13Z")
Hey, I’m wondering how to advancedly terminate the running action of Stretch-3 while maintaining its current state. For example, Stretch is currently manipulating something, but I need to stop the action before it’s comp… --- ## [Stretch2 - Gazebo + MoveIt?](https://forum.hello-robot.com/t/stretch2-gazebo-moveit/787)
**Author:** [@ebeowulf](https://forum.hello-robot.com/u/ebeowulf)\ **Replies:** 5\ **Last updated:** [February 12, 2025, 8:17pm UTC](https://forum.hello-robot.com/t/stretch2-gazebo-moveit/787 "2025-02-12T20:17:42Z")
We recently got the stretch 2. I’d like students to develop solutions in simulation before trying to port to the real robot. But it looks like moveit support for Ros1 has been discontinued (stretch\_moveit\_config removed … --- ## [Help Needed: Simultaneous Base Movement and Look-Around on Stretch-3 Robot](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234)
**Author:** [@seongwoncho](https://forum.hello-robot.com/u/seongwoncho)\ **Replies:** 2\ **Last updated:** [February 12, 2025, 5:32pm UTC](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234 "2025-02-12T17:32:59Z")
I am curious whether the Stretch-3 robot can perform two or more actions simultaneously (for example, base movement and looking around at the same time). I am currently developing based on the DynaMem repository, and fro… --- ## [MoveIt for stretch 3](https://forum.hello-robot.com/t/moveit-for-stretch-3/982)
**Author:** [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Replies:** 4\ **Last updated:** [February 6, 2025, 8:01pm UTC](https://forum.hello-robot.com/t/moveit-for-stretch-3/982 "2025-02-06T20:01:05Z")
I am using stretch 3. Do you have the default MoveIt configuration. I use the stretch 2 version. It cannot connect to the topics and return 0 controllers. Do I need to launch FollowJointTrajectory action service? On the … --- ## [Stretch 3 Initial startup: do I have to apt update and apt upgrade](https://forum.hello-robot.com/t/stretch-3-initial-startup-do-i-have-to-apt-update-and-apt-upgrade/1211)
**Author:** [@jimmy](https://forum.hello-robot.com/u/jimmy)\ **Replies:** 1\ **Last updated:** [January 28, 2025, 12:19am UTC](https://forum.hello-robot.com/t/stretch-3-initial-startup-do-i-have-to-apt-update-and-apt-upgrade/1211 "2025-01-28T00:19:47Z")
Hi, This might be a bit of a silly question, but I just received our new stretch 3 and am wondering if we have to perform sudo apt update and sudo apt upgrade when first starting it up. Additionally, is it common practi… --- ## [Controller stops working](https://forum.hello-robot.com/t/controller-stops-working/1208)
**Author:** [@ris7188](https://forum.hello-robot.com/u/ris7188)\ **Replies:** 2\ **Last updated:** [January 27, 2025, 8:43pm UTC](https://forum.hello-robot.com/t/controller-stops-working/1208 "2025-01-27T20:43:27Z")
My game controller stops working as soon as I run "stretch\_robot\_home.py " on the terminal. Why does this happens? --- ## [Link to buy gamepad controller](https://forum.hello-robot.com/t/link-to-buy-gamepad-controller/1207)
**Author:** [@Vipul\_Patel](https://forum.hello-robot.com/u/Vipul_Patel)\ **Replies:** 1\ **Last updated:** [January 27, 2025, 7:06pm UTC](https://forum.hello-robot.com/t/link-to-buy-gamepad-controller/1207 "2025-01-27T19:06:51Z")
Hi, I have Stretch 3 robot and recently broke the gamepad controller, tried ordering one similar from amazon but didn’t work. Please provide the link to buy one that will support the system. --- ## [Upgrade kit for Stretch 2](https://forum.hello-robot.com/t/upgrade-kit-for-stretch-2/1100)
**Author:** [@Mustofa](https://forum.hello-robot.com/u/Mustofa)\ **Replies:** 4\ **Last updated:** [January 22, 2025, 6:31pm UTC](https://forum.hello-robot.com/t/upgrade-kit-for-stretch-2/1100 "2025-01-22T18:31:25Z")
Hi all, recently, I received upgrade kit for our existing Stretch 2 stretch-2-upgrade, however I am not sure on how to replace it. Is there any documentation, video as well as program (to run for calibration check) to h… --- ## [DynamixelCommError. Mismatched baud rate](https://forum.hello-robot.com/t/dynamixelcommerror-mismatched-baud-rate/1201)
**Author:** [@Shaoting](https://forum.hello-robot.com/u/Shaoting)\ **Replies:** 3\ **Last updated:** [January 21, 2025, 5:55pm UTC](https://forum.hello-robot.com/t/dynamixelcommerror-mismatched-baud-rate/1201 "2025-01-21T17:55:04Z")
Hello! We’ve been running into an issue while homing the robot: (base) sgupta-group@stretch-re2-2025:~$ stretch\_robot\_home.py For use with S T R E T C H (R) from Hello Robot Inc. --------------------------------------… --- ## [/dev/hello-dynamixel-wrist not found](https://forum.hello-robot.com/t/dev-hello-dynamixel-wrist-not-found/1203)
**Author:** [@Rishik\_Sathua](https://forum.hello-robot.com/u/Rishik_Sathua)\ **Replies:** 1\ **Last updated:** [January 21, 2025, 5:16pm UTC](https://forum.hello-robot.com/t/dev-hello-dynamixel-wrist-not-found/1203 "2025-01-21T17:16:53Z")
Hello Team, We are currently running into an error as shown below where the system is missing the /dev/hello-dynamixel-wrist file. stretch\_robot\_home.py For use with S T R E T C H (R) from Hello Robot Inc. ------------… --- ## [Web\_teleop no screen session found](https://forum.hello-robot.com/t/web-teleop-no-screen-session-found/1195)
**Author:** [@keshavshankar](https://forum.hello-robot.com/u/keshavshankar)\ **Replies:** 1\ **Last updated:** [January 15, 2025, 9:16pm UTC](https://forum.hello-robot.com/t/web-teleop-no-screen-session-found/1195 "2025-01-15T21:16:34Z")
I am trying to run the Web Teleop demo on stretch3. I run ./launch\_interface.sh in the ~/ament\_ws/src/stretch\_web\_teleop directory. The result is the following terminal output: Done! No screen session found. \[PM2\] Spa… --- ## [Communication between two Hello Robot stretch3 running ROS Humble](https://forum.hello-robot.com/t/communication-between-two-hello-robot-stretch3-running-ros-humble/1197)
**Author:** [@ris7188](https://forum.hello-robot.com/u/ris7188)\ **Replies:** 2\ **Last updated:** [January 15, 2025, 5:38am UTC](https://forum.hello-robot.com/t/communication-between-two-hello-robot-stretch3-running-ros-humble/1197 "2025-01-15T05:38:25Z")
I am trying to set up ROS communication between two Hello Robot Stretch 3 (both running ROS Humble on Ubuntu 22.04.5). Both the robots are connected to same wireless network and the firewall for both robots are inactive. … --- ## [What localization algorithm is used by Hello Stretch Robot?](https://forum.hello-robot.com/t/what-localization-algorithm-is-used-by-hello-stretch-robot/1188)
**Author:** [@BdA\_Alg](https://forum.hello-robot.com/u/BdA_Alg)\ **Replies:** 1\ **Last updated:** [January 13, 2025, 7:06pm UTC](https://forum.hello-robot.com/t/what-localization-algorithm-is-used-by-hello-stretch-robot/1188 "2025-01-13T19:06:46Z")
Hello every body, I would write an article about the localization algorithm used by Hello Stretch robot. I check the documents offered by Hello Robot but i could not find any mention about the localization algorithms us… --- ## [Stretch2 doesn't move in Trajectory mode](https://forum.hello-robot.com/t/stretch2-doesnt-move-in-trajectory-mode/1193)
**Author:** [@Benoit](https://forum.hello-robot.com/u/Benoit)\ **Replies:** 0\ **Last updated:** [January 10, 2025, 11:03am UTC](https://forum.hello-robot.com/t/stretch2-doesnt-move-in-trajectory-mode/1193 "2025-01-10T11:03:03Z")
I cannot make the robot move in trajectory mode by sending a trajectory to a joint of my Stretch2 on ROS2 Humble. As an example, I have written a small script ( Send trajectory · GitHub ) that sends a trajectory with two… --- ## [Stepper Type Mismatch on Lift Motor](https://forum.hello-robot.com/t/stepper-type-mismatch-on-lift-motor/1181)
**Author:** [@allen](https://forum.hello-robot.com/u/allen)\ **Replies:** 4\ **Last updated:** [December 21, 2024, 6:17pm UTC](https://forum.hello-robot.com/t/stepper-type-mismatch-on-lift-motor/1181 "2024-12-21T18:17:47Z")
Hi all, I’m encountering an issue while running the system check on my Stretch 3 robot from Hello Robot Inc. Here’s the relevant output: stretch\_system\_check.py For use with S T R E T C H (R) from Hello Robot Inc. … --- ## [Joints mismatch error](https://forum.hello-robot.com/t/joints-mismatch-error/1176)
**Author:** [@hyuk6745](https://forum.hello-robot.com/u/hyuk6745)\ **Replies:** 1\ **Last updated:** [December 9, 2024, 10:53pm UTC](https://forum.hello-robot.com/t/joints-mismatch-error/1176 "2024-12-09T22:53:47Z")
Hello, I need help with my Hello Robot Stretch 2. I’m using the Hello Robot Stretch 2 with the OK-Robot framework, and I encountered an error. Below is a picture of the error message I got: One thing to note is that… --- ## [Dex wrist installation and URDF generation](https://forum.hello-robot.com/t/dex-wrist-installation-and-urdf-generation/969)
**Author:** [@Peiqi\_Liu](https://forum.hello-robot.com/u/Peiqi_Liu)\ **Replies:** 2\ **Last updated:** [December 6, 2024, 5:23pm UTC](https://forum.hello-robot.com/t/dex-wrist-installation-and-urdf-generation/969 "2024-12-06T17:23:30Z")
Hello, I currently hope to create an URDF containing all dex wrist joints for inverse kinematic. Previously we just ran these installation scripts and run stretch calibration and we got an urdf containing all dex wrist … --- ## [A NumPy version \>=1.17.3 and \<1.25.0 is required for this version of SciPy (detected version 1.26.4)](https://forum.hello-robot.com/t/a-numpy-version-1-17-3-and-1-25-0-is-required-for-this-version-of-scipy-detected-version-1-26-4/1170)
**Author:** [@Dhruvi\_1010](https://forum.hello-robot.com/u/Dhruvi_1010)\ **Replies:** 1\ **Last updated:** [December 2, 2024, 11:28pm UTC](https://forum.hello-robot.com/t/a-numpy-version-1-17-3-and-1-25-0-is-required-for-this-version-of-scipy-detected-version-1-26-4/1170 "2024-12-02T23:28:36Z")
stretch\_robot\_home.py For homing the robot, NumPy version 1.26.4 is not supported. Which version is working best with Stretch3 ? --- ## [Navigation - Bad Initial Localization](https://forum.hello-robot.com/t/navigation-bad-initial-localization/1167)
**Author:** [@Pascalsutter](https://forum.hello-robot.com/u/Pascalsutter)\ **Replies:** 4\ **Last updated:** [December 2, 2024, 10:57pm UTC](https://forum.hello-robot.com/t/navigation-bad-initial-localization/1167 "2024-12-02T22:57:38Z")
Hi, I was wondering if I am the only one having difficulties to reliably run the navigation stack. Mapping an environment works very well. However, when running the navigation stack, the robot is not localizing itself p… --- ## [Best way to add new gripper for SE3](https://forum.hello-robot.com/t/best-way-to-add-new-gripper-for-se3/1162)
**Author:** [@themeede](https://forum.hello-robot.com/u/themeede)\ **Replies:** 4\ **Last updated:** [November 22, 2024, 1:50am UTC](https://forum.hello-robot.com/t/best-way-to-add-new-gripper-for-se3/1162 "2024-11-22T01:50:28Z")
I made a 2 finger gripper that uses 2 dynamixels to control each finger. I’m planning on swapping out the Stretch gripper with my gripper and I’d like to know what the minimal necessary changes would have to be to get de… --- ## [Handover Object Demo in ROS2 SE3](https://forum.hello-robot.com/t/handover-object-demo-in-ros2-se3/1166)
**Author:** [@allen](https://forum.hello-robot.com/u/allen)\ **Replies:** 1\ **Last updated:** [November 18, 2024, 5:11pm UTC](https://forum.hello-robot.com/t/handover-object-demo-in-ros2-se3/1166 "2024-11-18T17:11:22Z")
Hi, I was exploring the handover object demo from here. When I run the demo, the arm lifts to a certain position but doesn’t respond when I press ‘y’ or ‘Y’ again. Are there additional steps required to fully execute thi… --- ## [FUNMAP implementation using wrist D405 camera](https://forum.hello-robot.com/t/funmap-implementation-using-wrist-d405-camera/1164)
**Author:** [@Davide\_Peron](https://forum.hello-robot.com/u/Davide_Peron)\ **Replies:** 2\ **Last updated:** [November 18, 2024, 8:27am UTC](https://forum.hello-robot.com/t/funmap-implementation-using-wrist-d405-camera/1164 "2024-11-18T08:27:03Z")
We are looking to utilize the D405 wrist camera for plane detection using FUNMAP. In our application, the head camera’s vision may become occluded, so switching to the wrist camera would be beneficial. Could you please … --- ## [Nav2 with No Screen](https://forum.hello-robot.com/t/nav2-with-no-screen/1109)
**Author:** [@byrnete](https://forum.hello-robot.com/u/byrnete)\ **Replies:** 4\ **Last updated:** [November 15, 2024, 5:55pm UTC](https://forum.hello-robot.com/t/nav2-with-no-screen/1109 "2024-11-15T17:55:28Z")
Is it possible to use the stretch without a screen? I know about the Moonlight wireless HDMI dongle you can get, but that still requires you to connect to it. Ideally, I’d like to boot up Nav2 on startup, and then have i… --- ## [Pause at waypoint until audio complete](https://forum.hello-robot.com/t/pause-at-waypoint-until-audio-complete/1142)
**Author:** [@byrnete](https://forum.hello-robot.com/u/byrnete)\ **Replies:** 2\ **Last updated:** [November 8, 2024, 7:18pm UTC](https://forum.hello-robot.com/t/pause-at-waypoint-until-audio-complete/1142 "2024-11-08T19:18:09Z")
Hi all! I’m working on setting up our Stretch RE1 as a tour guide of a newly renovated lab space at RPI. I’m having a bit of trouble getting the stretch to stop at each way point until the audio finishes playing, and the… --- ## [Unable to Open Serial Port for PIMU - SerialException: No such file or directory](https://forum.hello-robot.com/t/unable-to-open-serial-port-for-pimu-serialexception-no-such-file-or-directory/1148)
**Author:** [@allen](https://forum.hello-robot.com/u/allen)\ **Replies:** 3\ **Last updated:** [November 1, 2024, 1:55pm UTC](https://forum.hello-robot.com/t/unable-to-open-serial-port-for-pimu-serialexception-no-such-file-or-directory/1148 "2024-11-01T13:55:36Z")
Hello everyone, I’m experiencing an issue with my Stretch 3 robot when running the system check. Below is the output I’m seeing when running system\_check and robot\_home : hello-robot@stretch-se3-3045:~$ stretch\_system… --- ## [Firmware Updater IndexErrror](https://forum.hello-robot.com/t/firmware-updater-indexerrror/1141)
**Author:** [@Pascalsutter](https://forum.hello-robot.com/u/Pascalsutter)\ **Replies:** 8\ **Last updated:** [October 31, 2024, 6:22pm UTC](https://forum.hello-robot.com/t/firmware-updater-indexerrror/1141 "2024-10-31T18:22:43Z")
Hi, I have following issue when running the REx\_firmware\_updater.py script: ################################ HELLO-MOTOR-ARM | CHECK #1 IF DEVICE RETURNS TO BUS... ################################# Checking that devic… --- ## [Web Teleop demo gets stuck loading](https://forum.hello-robot.com/t/web-teleop-demo-gets-stuck-loading/1112)
**Author:** [@kallet](https://forum.hello-robot.com/u/kallet)\ **Replies:** 14\ **Last updated:** [October 30, 2024, 6:19pm UTC](https://forum.hello-robot.com/t/web-teleop-demo-gets-stuck-loading/1112 "2024-10-30T18:19:56Z")
Hello, we followed instructions of Demo 2 - Web Teleop on Stretch 3. After launch\_interface.sh output is as expected, but neither localhost either remote operator over Moonlight in the same network are not launching the… --- ## [Stretch Replacement Charging cable](https://forum.hello-robot.com/t/stretch-replacement-charging-cable/1152)
**Author:** [@moore.dr](https://forum.hello-robot.com/u/moore.dr)\ **Replies:** 1\ **Last updated:** [October 25, 2024, 6:47pm UTC](https://forum.hello-robot.com/t/stretch-replacement-charging-cable/1152 "2024-10-25T18:47:01Z")
Hi, The very end cable that plugs into the stretch from the charger has gotten a bit damaged (I think Stretch accidentally ran over it a couple times). Where can I get a replacement for only the very last cable link tha… [Previous page](https://forum.hello-robot.com/c/ask/5.md?page=2) [Next page](https://forum.hello-robot.com/c/ask/5.md?page=4)