# Help Needed: Simultaneous Base Movement and Look-Around on Stretch-3 Robot

**URL:** <https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234>\
**Category:** Ask\
**Created:** [February 12, 2025, 4:55pm UTC](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234 "2025-02-12T16:55:06Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![seongwoncho](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/seongwoncho/32/937_2.png) [@seongwoncho](https://forum.hello-robot.com/u/seongwoncho)\
**Post date:** [February 12, 2025, 4:55pm UTC](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234/1 "2025-02-12T16:55:06Z")

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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](https://github.com/hello-robot/stretch_ai/blob/main/docs/dynamem.md)** repository, and from what I have observed, this functionality does not seem to be supported. I would like to know whether this is a hardware limitation or if it can be achieved by modifying the Stretch-3 robot’s software.

If I need to modify ROS2 code, could you recommend any relevant resources or references? For example, guidance on **which parts of the code handle motion control** or **where to implement parallel command execution** would be helpful. Specifically, knowing the location of the base movement or head control nodes (like in `stretch_ros2_bridge/src/` or similar directories) and how to coordinate them for simultaneous operation would be appreciated.

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [February 12, 2025, 4:57pm UTC](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234/2 "2025-02-12T16:57:39Z")

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Hi @seongwoncho, yes, two or more actions can happen simultaneously and the Python/ROS2 API supports this. Likely, the DynaMem project also supports this (since it builds on the ROS2 code), but I am not familiar with it, so I’ll like one of the authors of DynaMem, @Peiqi_Liu, answer how to achieve this in DynaMem.

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**Author:** ![Peiqi\_Liu1](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/peiqi_liu1/32/931_2.png) [@Peiqi\_Liu1](https://forum.hello-robot.com/u/Peiqi_Liu1)\
**Post date:** [February 12, 2025, 5:32pm UTC](https://forum.hello-robot.com/t/help-needed-simultaneous-base-movement-and-look-around-on-stretch-3-robot/1234/3 "2025-02-12T17:32:59Z")

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hi @seongwoncho , I used to try what you said (i.e. sending two actions simultaneously to robots) in dynamem project but sadly I don’t think two commands were processed nicely in Stretch AI codes. I do believe processing two actions is working in ROS2 API as @bshah said, but sadly Stretch AI currently does not support it.

We do appreciate if you can fix this bug if you have chances. You might start from checking [zmq client codes](https://github.com/hello-robot/stretch_ai/blob/main/src/stretch/agent/zmq_client.py) on workstation end and [server codes](https://github.com/hello-robot/stretch_ai/blob/main/src/stretch_ros2_bridge/stretch_ros2_bridge/remote/server.py) on the robot end.