Joints mismatch error

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1

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:

error1
error1810×461 212 KB

One thing to note is that I recently replaced the gripper on my Stretch 2 because the original one was broken. I suspect this might be related to the issue.

this is after running the ok-robot-home.py script. I’m also sharing this picture because I think my setup might be slightly different from the standard working environment, which could be a factor.
I’m not entirely sure, but I feel like the robot’s state after homing used to look different before this issue started. However, it seems that new users can only post one picture. :cry:

Could anyone help me figure this out?

2

Hey @hyuk6745, welcome to the forum! Those error messages appear because the driver is receiving commands for joints that don’t exist. This can be fixed by amending the commands being sent by the OK Robot software. You’ll need to debug or ask the developers of OK Robot for assistance (link to the OK Robot Discord).

I’d also recommend using the stretch_system_check.py CLI to confirm that your robot reports a healthy state.