# Robot doesn't move after push\_command **URL:** \ **Category:** Ask\ **Created:** [October 2, 2023, 6:54pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820 "2023-10-02T18:54:35Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![Hung-Te\_Wu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/hung-te_wu/32/524_2.png) [@Hung-Te\_Wu](https://forum.hello-robot.com/u/Hung-Te_Wu)\ **Post date:** [October 2, 2023, 6:54pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/1 "2023-10-02T18:54:35Z")
i have faced issues with only being able to command each part of the robot once. e.g. after a push command to move robot.arm, i cannot push another command to move robot.arm again unless i recalibrate the robot in the terminal by calling stretch\_robot\_home.py. ---
**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 3, 2023, 6:41pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/2 "2023-10-03T18:41:02Z")
Greeting @Hung-Te_Wu. As a first step, could you try upgrading the Stretch Body and Tools to the latest version if it is not yet upgraded and retry pushing multiple motion commands? `pip3 install -U hello-robot-stretch-body` `pip3 install -U hello-robot-stretch-body-tools` Further if the issue still exists, could perform the following debug steps: - Try jogging the arm/lift/base individually using the CLI tools: `stretch_arm_jog.py`/ `stretch_lift_jog.py`/`stretch_base_jog.py` - Does the individual joints move? - If possible, could you attach the outputs of these commands - Send us the output of `stretch_robot_system_check.py` - Send us a script to reproduce the issue you are facing ---
**Author:** ![Hung-Te\_Wu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/hung-te_wu/32/524_2.png) [@Hung-Te\_Wu](https://forum.hello-robot.com/u/Hung-Te_Wu)\ **Post date:** [October 3, 2023, 8:24pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/3 "2023-10-03T20:24:37Z")
Hi @Mohamed_Fazil, thanks for the reply. pip3 installing did not solve the problem. Jogging the arm individually also did not move the parts. The output of stretch\_arm\_jog.py is the following: * * * ## howard-gesture@stretch-re1-1041:~$ stretch\_arm\_jog.py For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. * * * m: menu i / o : small in out I / O : large in out f: stiffness float s: stiffness soft h: stiffness hard 1: rate slow 2: rate default 3: rate fast 4: rate max q: quit ## Input? ----- Arm ------ Pos (m): 0.07999671566647522 Vel (m/s): -0.0004468031605360779 Soft motion limits (m) [0.0, 0.5181478787417008] Timestamp PC (s): 1696359447.2533283 ## Mode MODE\_SAFETY x\_des (rad) 0 (deg) 0.0 v\_des (rad) 25 (deg) 1432.3944878270581 a\_des (rad) 15 (deg) 859.4366926962349 Stiffness 1 Feedforward 0 Pos (rad) 11.662919044494629 (deg) 668.236038052293 Vel (rad/s) -0.06514053791761398 (deg) -3.7322778978911897 Effort (Ticks) 1.1210387714598537e-44 Effort (Pct) 4.533612678697937e-45 Current (A) 1.45075605718334e-46 Error (deg) 0.0 Debug 0.0 Guarded Events: 6 Diag 00000000000000000000000100000001 Position Calibrated: True Runstop on: False Near Pos Setpoint: False Near Vel Setpoint: False Is Moving: False Is Moving Filtered: 0 At Current Limit: False Is MG Accelerating: False Is MG Moving: False Encoder Calibration in Flash: True In Guarded Event: False In Safety Event: False Waiting on Sync: False Timestamp (s) 1696359447.2531343 Board variant: Stepper.Guthrie.V1 Firmware version: Stepper.v0.0.1p0 m: menu i / o : small in out I / O : large in out f: stiffness float s: stiffness soft h: stiffness hard 1: rate slow 2: rate default 3: rate fast 4: rate max q: quit Input? * * * The output of stretch\_robot\_system\_check.py is the following: * * * ## howard-gesture@stretch-re1-1041:~$ stretch\_robot\_system\_check.py For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. [WARNING] [robot]: Not able to use asyncio for transport communications. Defaulting to sync. ---- Checking Devices ---- [Pass] : hello-wacc [Pass] : hello-motor-left-wheel [Pass] : hello-pimu [Pass] : hello-lrf [Pass] : hello-dynamixel-head [Pass] : hello-dynamixel-wrist [Pass] : hello-motor-arm [Pass] : hello-motor-right-wheel [Pass] : hello-motor-lift [Pass] : hello-respeaker ---- Checking Pimu ---- [Pass] Voltage = 13.23493480682373 [Pass] Current = 1.6320662244277844 [Pass] Temperature = 35.70894293296031 [Pass] Cliff-0 = 2.296875 [Pass] Cliff-1 = 6.44403076171875 [Pass] Cliff-2 = 1.694122314453125 [Pass] Cliff-3 = -5.9464111328125 [Pass] IMU AZ = -9.764451026916504 [Pass] IMU Pitch = -2.18147087097168 [Pass] IMU Roll = 1.6483917236328127 ---- Checking EndOfArm ---- [Pass] Ping of: stretch\_gripper [Pass] Calibrated: stretch\_gripper [Pass] Ping of: wrist\_pitch [Pass] Ping of: wrist\_roll [Pass] Ping of: wrist\_yaw [Pass] Calibrated: wrist\_yaw ---- Checking Head ---- [Pass] Ping of: head\_pan [Pass] Ping of: head\_tilt ---- Checking Wacc ---- [Pass] AX = 10.682317733764648 ---- Checking hello-motor-left-wheel ---- [Pass] Position = 11.884260177612305 ---- Checking hello-motor-right-wheel ---- [Pass] Position = 12.056734085083008 ---- Checking hello-motor-arm ---- [Pass] Position = 11.664052963256836 [Pass] Position Calibrated = True ---- Checking hello-motor-lift ---- [Pass] Position = 62.842681884765625 [Pass] Position Calibrated = True ---- Checking for Intel D435i ---- Bus 002 Device 002: ID 8086:0b3a Intel Corp. Intel(R) RealSense™ Depth Camera 435i [Pass] : Device found ---- Checking Software ---- [Warn] Ubuntu 20.04 not ready (ros-noetic-librealsense2 not set-up correctly) [Warn] Firmware not up-to-date (try REx\_firmware\_updater.py --recommended) hello-pimu = v0.0.1p0 hello-wacc = v0.1.0p1 hello-motor-arm = v0.0.1p0 hello-motor-lift = v0.0.1p0 hello-motor-left-wheel = v0.0.1p0 hello-motor-right-wheel = v0.0.1p0 [Pass] Python pkgs are up-to-date Stretch Body = 0.5.7 Stretch Body Tools = 0.5.2 Stretch Tool Share = 0.2.8 Stretch Factory = 0.4.10 Stretch Diagnostics = 0.0.14 [Warn] ROS Noetic not ready (stretch\_core missing) * * * I didn’t run a script, it was just simply type in the following command in the terminal to control the Stretch RE1: $ pkill -f stretch\_xbox\* $ stretch\_robot\_home.py $ ipython robot.arm.move\_to(0.1) robot.push\_command() # this command works and the arm moved robot.arm.move\_to(0.1) robot.push\_command() # this command doesn’t work The same thing happened when I ran $ stretch\_xbox\_controller\_teleop.py in the terminal, the arm and life only responded for the first time when I moved the joy stick, and didn’t have any respond after that; however, the DexWrist does work perfectly fine. ---
**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 3, 2023, 8:57pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/4 "2023-10-03T20:57:45Z")
@Hung-Te_Wu As you can see from the software section of the Stretch Sytem Check’s output, all of your robot’s devices’ firmware seems to be outdated(~ v0.1). > [@Hung-Te\_Wu](#): > > [Warn] Firmware not up-to-date (try REx\_firmware\_updater.py --recommended) > hello-pimu = v0.0.1p0 > hello-wacc = v0.1.0p1 > hello-motor-arm = v0.0.1p0 > hello-motor-lift = v0.0.1p0 > hello-motor-left-wheel = v0.0.1p0 > hello-motor-right-wheel = v0.0.1p0 Our newest software is compatible with firmware v0.5.0 and above. As the next step, I recommend you update all the device’s Firmware to the latest. You can update all the device’s firmware to the latest using the command: ```auto REx_firmware_updater.py --install ``` Ensure your lift is clamped underneath before starting the [firmware update](https://docs.hello-robot.com/0.2/stretch-firmware/docs/tutorial_updating_firmware/). Contact [support@hello-robot.com](mailto:support@hello-robot.com) if you get into any trouble while updating the firmware. Let us know if updating the firmware resolved your issue. ---
**Author:** ![Hung-Te\_Wu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/hung-te_wu/32/524_2.png) [@Hung-Te\_Wu](https://forum.hello-robot.com/u/Hung-Te_Wu)\ **Post date:** [October 4, 2023, 4:50pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/5 "2023-10-04T16:50:39Z")
Hi @Mohamed_Fazil thanks for the suggestion. The problem was fixed! ---
**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 4, 2023, 7:05pm UTC](https://forum.hello-robot.com/t/robot-doesnt-move-after-push-command/820/6 "2023-10-04T19:05:21Z")
@Hung-Te_Wu Glad you were able to fix the issue!