# Gradual rotation when with translation command only
**URL:** https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304
**Category:** Ask
**Created:** [March 31, 2025, 9:35am UTC](https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304 "2025-03-31T09:35:04Z")
**Posts on this page:** 4
**Page:** 1
### Author:  [@yuzumon\_2013](https://forum.hello-robot.com/u/yuzumon_2013)
#### Post date: [March 31, 2025, 9:35am UTC](https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304/1 "2025-03-31T09:35:04Z")
Hello,
I’m currently working on a project using the Stretch 3 robot.
However, I’m encountering an issue when controlling Stretch 3.
Referring to the stretch\_ai GitHub repository, I was able to operate the robot with the dex teleop kit.
That said, even though the Dex Teleop Kit is not supposed to perform any rotation, the robot gradually rotates when I repeatedly move it back and forth.
This issue also occurs when operating the Stretch robot without using stretch\_ai and the Dex Teleop Kit, such as `translate_by` or `set_velocity` command in stretch\_body.robot API.
Do you think this might be a hardware issue with the robot itself? Or is it something that can be addressed through programmatic or software configuration?
Any help would be greatly appreciated!
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### Author:  [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [April 3, 2025, 7:59pm UTC](https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304/2 "2025-04-03T19:59:02Z")
Hi @yuzumon_2013, welcome to the Stretch forum! I’m not sure which API is used by Dex Teleop, but I suspect it may be velocity control (via `set_velocity`), which could explain the gradual drifting you’re seeing. However, I’m suprised that you’re seeing gradual rotational drift when using `translate_by` which a position control method (that should only move forwards and backwards). Would you help me reproduce the problem by providing a small script that creates the issue and taking a video of what you see when you run it? Additionally, could you tell me the serial number of this robot?
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### Author:  [@yuzumon\_2013](https://forum.hello-robot.com/u/yuzumon_2013)
#### Post date: [April 7, 2025, 4:44am UTC](https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304/3 "2025-04-07T04:44:08Z")
@bshah
Thank you for your replying!
> [@bshah](#):
>
> Would you help me reproduce the problem by providing a small script that creates the issue and taking a video of what you see when you run it? Additionally, could you tell me the serial number of this robot?
The serial number is `stretch-se3-3056`.
Here is a small example which we can see the problem, and a [video](https://drive.google.com/file/d/1s0jhvo2DoobuW54QZP_P4KhwWF4eTcFw/view?usp=sharing)\* when this code is executed:
```auto
from stretch_body.robot import Robot
def foward_backward_loop():
robot = Robot()
robot.startup()
print("Stretch is ready to go!")
for _ in range(10):
# Move forward
print("Moving forward")
robot.base.translate_by(0.2)
robot.push_command()
robot.wait_command()
# Move backward
print("Moving backward")
robot.base.translate_by(-0.2)
robot.push_command()
robot.wait_command()
robot.stop()
if __name__ == " __main__":
foward_backward_loop()
```
\*I could not attach video because the system of this forum prevent new users from attaching files. Then, I share the google drive link of the video.
---
### Author:  [@yuzumon\_2013](https://forum.hello-robot.com/u/yuzumon_2013)
#### Post date: [April 10, 2025, 3:40am UTC](https://forum.hello-robot.com/t/gradual-rotation-when-with-translation-command-only/1304/4 "2025-04-10T03:40:36Z")
I have realized that the issue stemmed from how the robot interacted with the carpet. As a test, we removed the carpet and ran the script on a smooth, hard floor, and under those conditions, the robot did not rotate. I apologize for taking your time and appreciate your cooperation.