# Stretch AI throws error with Traceback

**URL:** <https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476>\
**Category:** Ask\
**Created:** [March 11, 2026, 10:58pm UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476 "2026-03-11T22:58:19Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![gregory\_sin](https://avatars.discourse-cdn.com/v4/letter/g/ecae2f/32.png) [@gregory\_sin](https://forum.hello-robot.com/u/gregory_sin)\
**Post date:** [March 11, 2026, 10:58pm UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476/1 "2026-03-11T22:58:19Z")

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Hello hello robot team,

I followed the instructions for the Stretch AI setup using a GPU machine and docker image on the Stretch 3. After completing this and seeing the images streaming to the GPU machine, I attempt to try the ‘language-directed pick and place’. I tried the llm version that allow text entry in the terminal. After entering the text, I got an error with Traceback. There there anything specific I should try to debug this error? It seems to happen during a rotate in place operation. See error output below:

## You: Place the tennis ball in the cardboard box

Passing `generation_config` together with generation-related arguments=({‘max\_new\_tokens’}) is deprecated and will be removed in future versions. Please pass either a `generation_config` object OR all generation parameters explicitly, but not both.  
Both `max_new_tokens` (=4096) and `max_length`(=20) seem to have been set. `max_new_tokens` will take precedence. Please refer to the documentation for more information. ( [Generation](https://huggingface.co/docs/transformers/main/en/main_classes/text_generation) )  
[stretch.agent.task.pickup.pickup\_executor] Resetting agent…  
[WARNING] Resetting the robot’s spatial memory. Everything it knows will go away!  
[stretch.agent.task.pickup.pickup\_executor] Command: 0 say “I am picking up the tennis ball and placing it in the cardboard box.”  
[stretch.agent.task.pickup.pickup\_executor] Saying: “I am picking up the tennis ball and placing it in the cardboard box.”  
[stretch.agent.task.pickup.pickup\_executor] Command: 1 pickup tennis ball  
[stretch.agent.task.pickup.pickup\_executor] [Pickup task] Pickup: tennis ball  
[stretch.agent.task.pickup.pickup\_executor] 2 place cardboard box  
[stretch.agent.task.pickup.pickup\_executor] [Pickup task] Place: cardboard box  
[stretch.agent.task.pickup.pickup\_executor] [Pickup task] Pickup: tennis ball Place: cardboard box  
Warning in search\_for\_tennis ball\_on\_floor: Overwriting target object class from None to tennis ball.  
Warning in search\_for\_cardboard box: Overwriting target object class from None to cardboard box.  
place\_object\_on\_receptacle  
Trying go to navigation mode: will switch to navigation mode.  
[TASK INFO] Starting operation go to navigation mode  
Running go to navigation mode: Switching to navigation mode.  
go to navigation mode: Robot is in navigation mode: True  
[TASK INFO] Operation complete.  
!!! go to navigation mode !!!: Robot is in navigation mode.  
[TASK INFO] Operation go to navigation mode successful.  
[TASK INFO] Transitioning to rotate\_in\_place  
Trying rotate\_in\_place: Rotating for 8 steps.  
[TASK INFO] Starting operation rotate\_in\_place  
Running rotate\_in\_place: rotating for 8 steps.  
[stretch.agent.robot\_agent] Rotate in place  
==================== Waiting for 16 at goal ====================  
Traceback (most recent call last):  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/runpy.py”, line 196, in \_run\_module\_as\_main  
return \_run\_code(code, main\_globals, None,  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/runpy.py”, line 86, in \_run\_code  
exec(code, run\_globals)  
File “/home/greg/stretch\_ai/src/stretch/app/ai\_pickup.py”, line 227, in  
main()  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/site-packages/click/core.py”, line 1485, in **call**  
return self.main(\*args, \*\*kwargs)  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/site-packages/click/core.py”, line 1406, in main  
rv = self.invoke(ctx)  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/site-packages/click/core.py”, line 1269, in invoke  
return ctx.invoke(self.callback, \*\*ctx.params)  
File “/home/greg/miniforge3/envs/stretch\_ai/lib/python3.10/site-packages/click/core.py”, line 824, in invoke  
return callback(\*args, \*\*kwargs)  
File “/home/greg/stretch\_ai/src/stretch/app/ai\_pickup.py”, line 217, in main  
ok = executor(llm\_response)  
File “/home/greg/stretch\_ai/src/stretch/agent/task/pickup/pickup\_executor.py”, line 287, in **call**  
self.\_pickup(target\_object, target\_receptacle)  
File “/home/greg/stretch\_ai/src/stretch/agent/task/pickup/pickup\_executor.py”, line 104, in \_pickup  
task.run()  
File “/home/greg/stretch\_ai/src/stretch/core/task.py”, line 214, in run  
self.current\_operation.run()  
File “/home/greg/stretch\_ai/src/stretch/agent/operations/rotate\_in\_place.py”, line 23, in run  
self.agent.rotate\_in\_place(  
File “/home/greg/stretch\_ai/src/stretch/agent/robot\_agent.py”, line 545, in rotate\_in\_place  
self.update()  
File “/home/greg/stretch\_ai/src/stretch/agent/robot\_agent.py”, line 884, in update  
self.get\_voxel\_map().add\_obs(obs)  
File “/home/greg/stretch\_ai/src/stretch/mapping/voxel/voxel.py”, line 1452, in locked\_method  
return method(\*args, \*\*kwargs)  
File “/home/greg/stretch\_ai/src/stretch/mapping/voxel/voxel.py”, line 391, in add\_obs  
self.add(  
File “/home/greg/stretch\_ai/src/stretch/mapping/voxel/voxel.py”, line 571, in add  
self.instances.process\_instances\_for\_env(  
File “/home/greg/stretch\_ai/src/stretch/mapping/instance/instance\_map.py”, line 762, in process\_instances\_for\_env  
embedding = self.encoder.encode\_image(cropped\_image).to(cropped\_image.device)  
File “/home/greg/stretch\_ai/src/stretch/perception/encoders/siglip\_encoder.py”, line 86, in encode\_image  
image\_features /= image\_features.norm(dim=-1, keepdim=True)  
AttributeError: ‘BaseModelOutputWithPooling’ object has no attribute ‘norm’

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<div class="post-metadata">

**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\
**Post date:** [March 13, 2026, 1:14am UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476/2 "2026-03-13T01:14:15Z")

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Hi @gregory_sin,

Thanks for flagging this and for sharing the detailed logs, that’s very helpful.

We’re currently reviewing this internally to better understand what might be causing the error during the `rotate_in_place` step. We’ll get back to you as soon as we have more information or suggested debugging steps.

Thanks for your patience in the meantime.

Best,  
Jason

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<div class="post-metadata">

**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\
**Post date:** [March 17, 2026, 11:14pm UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476/3 "2026-03-17T23:14:28Z")

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Hi @gregory_sin ,

We’ve been working on a fix and created a branch with the updates. On your GPU machine, could you please try the following:

```auto
pip install "transformers>=4.50.0,<5"

# Navigate to your stretch_ai repo (adjust path if different)
cd ~/stretch_ai
git fetch
git checkout fix/transformers-trimesh-compat

cd ~/stretch_ai/src
pip install -e .

```

Then rerun:

```auto
python -m stretch.app.ai_pickup --use_llm

```

Let us know if this resolves the issue for you, or if anything else comes up.

Best,  
Jason

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<div class="post-metadata">

**Author:** ![gregory\_sin](https://avatars.discourse-cdn.com/v4/letter/g/ecae2f/32.png) [@gregory\_sin](https://forum.hello-robot.com/u/gregory_sin)\
**Post date:** [March 18, 2026, 7:16pm UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476/4 "2026-03-18T19:16:05Z")

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Hello @Jason_Koubi ,

Thank you. That fix is working well! I will let you know if any other issue comes up.

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<div class="post-metadata">

**Author:** ![Jason\_Koubi](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jason_koubi/32/1050_2.png) [@Jason\_Koubi](https://forum.hello-robot.com/u/Jason_Koubi)\
**Post date:** [March 18, 2026, 7:27pm UTC](https://forum.hello-robot.com/t/stretch-ai-throws-error-with-traceback/1476/5 "2026-03-18T19:27:58Z")

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Hi @gregory_sin,

That’s great to hear, glad the fix is working well on your end.

Please don’t hesitate to reach out if anything else comes up.

Best,  
Jason