# Dex Wrist not homing (first use) **URL:** \ **Category:** Ask\ **Created:** [October 7, 2022, 11:46pm UTC](https://forum.hello-robot.com/t/dex-wrist-not-homing-first-use/515 "2022-10-07T23:46:01Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![Vidhi\_Jain](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/vidhi_jain/32/299_2.png) [@Vidhi\_Jain](https://forum.hello-robot.com/u/Vidhi_Jain)\ **Post date:** [October 7, 2022, 11:46pm UTC](https://forum.hello-robot.com/t/dex-wrist-not-homing-first-use/515/1 "2022-10-07T23:46:01Z")
We got Stretch RE2 with Dex wrist attached. While calibrating the robot, it fails while trying to find wrist yaw. > **Summary** > > ```auto > hello-robot@stretch-re2-2003:~/stretch_user/stretch-re2-2003$ stretch_robot_home.py > For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. > --------------------------------------------------------------------- > > [WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper > DynamixelHelloXL430 Ping failed... stretch_gripper > --------- Homing Head ---- > --------- Homing Lift ---- > Homing Lift... > Hardstop detected at motor position (rad) 115.04425048828125 > Marking Lift position to 1.098445 (m) > Marking Lift position to 0.000000 (m) > Lift homing successful > --------- Homing Arm ---- > Homing Arm... > Hardstop detected at motor position (rad) 0.12444206327199936 > Marking Arm position to 0.000000 (m) > Arm homing successful > [WARNING] [stretch_gripper]: Not able to home stretch_gripper. Hardware not present > [WARNING] [wrist_yaw]: Not able to home wrist_yaw. Hardware not present > > ``` We checked the `stretch_params.py` and found that it contains dex wrist params (and not the original gripper). We also checked all required package updates for [dex wrist](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/dex_wrist_guide_re2/) We also checked the gripper movements by `stretch_dex_wrist_jog.py --yaw|pitch|roll`. `yaw` and `pitch` executed correctly, but no movement for `roll`. We also inspected the wiring and cables around the wrist. They seem to be pulled/stretched somewhat during the homing motion but bear no visible tear. * * * Updates We ran `stretch_robot_stow.py`. It resulted in retracting of the arm but the stretch gripper did not fold in. > **Summary** > > ```auto > $ stretch_robot_stow.py > For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. > --------------------------------------------------------------------- > > [WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper > DynamixelHelloXL430 Ping failed... stretch_gripper > --------- Stowing Arm ---- > --------- Stowing ToolStretchDexWrist ---- > --------- Stowing Lift ---- > > ``` We tried to reset Dynamixels > **Summary** > > ```auto > For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. > --------------------------------------------------------------------- > > ---- Rebooting Head ---- > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > ---- Rebooting Wrist ---- > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1. > > ``` ---
**Author:** ![Mohamed\_Fazil](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mohamed_fazil/32/261_2.png) [@Mohamed\_Fazil](https://forum.hello-robot.com/u/Mohamed_Fazil)\ **Post date:** [October 10, 2022, 10:21pm UTC](https://forum.hello-robot.com/t/dex-wrist-not-homing-first-use/515/2 "2022-10-10T22:21:19Z")
Hey @Vidhi_Jain, welcome to the stretch community, Thank you for including the test summaries you have attached.I think debugging this issue over a support call will be better. I’ve sent you a message through the forum. Thank you!