# Severe issues with trajectory mode **URL:** \ **Category:** Ask\ **Created:** [March 20, 2025, 10:19am UTC](https://forum.hello-robot.com/t/severe-issues-with-trajectory-mode/1282 "2025-03-20T10:19:35Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![snoato](https://avatars.discourse-cdn.com/v4/letter/s/f14d63/32.png) [@snoato](https://forum.hello-robot.com/u/snoato)\ **Post date:** [March 20, 2025, 10:19am UTC](https://forum.hello-robot.com/t/severe-issues-with-trajectory-mode/1282/1 "2025-03-20T10:19:35Z")
Our Stretch 3 has been facing significant issues in trajectory mode. Previously we only did minor tests in position mode (due to the projects related to it being used not having started yet/focusing on simulation) and successfully used Joystick remote control and the visual servoing demo. However, when I tried to test the trajectory mode in the Python API, I could not get any positive results. Trying to control the arm in trajectory mode leads to it being stuck, while translation in trajectory mode is very imprecise, not predictable and creates loud motor noises. Examples of this behaviour can be found here: [sciebo](https://rwth-aachen.sciebo.de/s/BX93tVnx6orGio1) For my tests I tried using the stretch\_trajectory\_jog.py as well as an adaptation of the examples provided here: [stretch\_tutorials/python/moving.md at master · hello-robot/stretch\_tutorials · GitHub](https://github.com/hello-robot/stretch_tutorials/blob/master/python/moving.md) (using r.base.trajectory.add to add waypoints and then using r.follow\_trajectory led to no motion being done). Running system check reveals the following error: stepper type mismatch error on the left wheel. According to the updater all of our firmware and packages are on latest releases. ---
**Author:** ![snoato](https://avatars.discourse-cdn.com/v4/letter/s/f14d63/32.png) [@snoato](https://forum.hello-robot.com/u/snoato)\ **Post date:** [March 20, 2025, 11:42am UTC](https://forum.hello-robot.com/t/severe-issues-with-trajectory-mode/1282/2 "2025-03-20T11:42:10Z")
Additionally we face the following issues using funmap and rviz: - the wheels motors keep making sounds after the room scan - the robot turns the right way, but drives in the wrong direction when giving it a navpose with rviz ---
**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:** [March 20, 2025, 8:27pm UTC](https://forum.hello-robot.com/t/severe-issues-with-trajectory-mode/1282/3 "2025-03-20T20:27:53Z")
We’re recently started work on making trajectory mode more robust and I believe the software patches should address the issues you’re seeing. But first, I’d like to solve the “Stepper type mismatch error” you’re seeing. Would you try: 1. Update your [Python libraries](https://docs.hello-robot.com/0.3/software/updating_software/#python-libraries): ```auto pip3 install -U hello-robot-stretch-body pip3 install -U hello-robot-stretch-factory ``` 1. Reassign the USB rules using REx\_discover\_hello\_devices.py --arduino --discover Here’s [a video](https://drive.google.com/file/d/1FrID_8JmmxPG5BgyCSvsSgsVPubEgXhZ/view?usp=sharing) of the expected output. 2. Reboot and power cycle your robot. Confirm that each joint moves correctly with stretch\_base\_jog.py and stretch\_robot\_home.py Here’s [a video](https://drive.google.com/file/d/1DczfJ10wJq6CYfUW_klFntIHcH9XJBOJ/view?usp=sharing) of the expected output of homing. 3. Update your firmware using REx\_firmware\_updater.py --install Here’s [a video](https://drive.google.com/file/d/1KV5LPMgsONm3cR69KqZrHiiQ2PncAk5f/view?usp=sharing) of the expected output. 4. Save the “motor types” to each motor’s firmware using REx\_stepper\_type.py --write Here’s [a video](https://drive.google.com/file/d/1oflcbEhua86-6Wbg3n3gJz7EhgCKecjp/view?usp=sharing) of the expected output. ---
**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:** [March 20, 2025, 8:28pm UTC](https://forum.hello-robot.com/t/severe-issues-with-trajectory-mode/1282/4 "2025-03-20T20:28:27Z")
Would you open a new thread for the FUNMAP issues you’re seeing?