# System check fails **URL:** \ **Category:** Ask\ **Created:** [September 10, 2021, 9:13pm UTC](https://forum.hello-robot.com/t/system-check-fails/294 "2021-09-10T21:13:11Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![Chaoran\_Zhang](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/chaoran_zhang/32/198_2.png) [@Chaoran\_Zhang](https://forum.hello-robot.com/u/Chaoran_Zhang)\ **Post date:** [September 10, 2021, 9:13pm UTC](https://forum.hello-robot.com/t/system-check-fails/294/1 "2021-09-10T21:13:11Z")
Hi, My robot used to work well. However, to make sure its configuration is using dex wrist, I followed some setups here: [stretch\_factory/updates/001\_ROS\_INSTALL at master · hello-robot/stretch\_factory · GitHub](https://github.com/hello-robot/stretch_factory/tree/master/updates/001_ROS_INSTALL) and currently it fails the system check: ---- Checking Devices ---- [Fail] : hello-wacc [Fail] : hello-motor-left-wheel [Fail] : hello-pimu [Pass] : hello-lrf [Fail] : hello-dynamixel-head [Fail] : hello-dynamixel-wrist [Fail] : hello-motor-arm [Fail] : hello-motor-right-wheel [Fail] : hello-motor-lift [Pass] : hello-respeaker Those packages seems missing at /dev, if there is anyway for me to install those back? And, if there is any guidlines for using moveit? Thanks. * * * This is the robot with ID 1007 at CMU. My partner says he previously set it up and comment out something to make it work, just in case that information might be helpful. ---
**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:** [September 13, 2021, 5:43pm UTC](https://forum.hello-robot.com/t/system-check-fails/294/3 "2021-09-13T17:43:22Z")
Hi @Chaoran_Zhang, welcome to the forum! Can you post the full output of running `stretch_robot_system_check.py`? You mentioned that “packages seems missing at /dev”; can you also include the output of `ls -al /dev/hello*`? At the moment, support for MoveIt and MoveIt2 are actively under development. We have a demonstration of MoveIt planning for a Gazebo simulated Stretch described in this [README](https://github.com/hello-robot/stretch_ros/tree/master/stretch_gazebo#running-gazebo-with-moveit-and-stretch). Stay tuned for details on using MoveIt to plan for the real robot. ---
**Author:** ![Chaoran\_Zhang](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/chaoran_zhang/32/198_2.png) [@Chaoran\_Zhang](https://forum.hello-robot.com/u/Chaoran_Zhang)\ **Post date:** [September 13, 2021, 7:41pm UTC](https://forum.hello-robot.com/t/system-check-fails/294/4 "2021-09-13T19:41:43Z")
Hi, I re-installed some of the packages and currently, everything is working except the gripper. For the Moveit and Moveit2, is that means the currently only the simulator, Gazebo, is fully-supported, but using Moveit or Moveit2 to control the real robot is not fully-supported at this moment? The output of stretch\_robot\_system\_check.py is: Overwritting Factory Params with User Params. Type mismatch for key: tool\_none For use with S T R E T C H ™ RESEARCH EDITION from Hello Robot Inc. [WARNING] [stretch\_gripper]: DynamixelHelloXL430 Ping failed… stretch\_gripper DynamixelHelloXL430 Ping failed… stretch\_gripper ---- Checking Devices ---- [Pass] : hello-wacc [Pass] : hello-motor-left-wheel [Pass] : hello-motor-arm [Pass] : hello-dynamixel-wrist [Pass] : hello-motor-right-wheel [Pass] : hello-motor-lift [Pass] : hello-pimu [Pass] : hello-respeaker [Pass] : hello-lrf [Pass] : hello-dynamixel-head ---- Checking Pimu ---- [Pass] Voltage = 12.7837586403 [Pass] Current = 3.25759907856 [Pass] Temperature = 24.5389783994 [Fail] Cliff-0 = 28.4993896484 out of range -50 to 20 [Pass] Cliff-1 = 19.1741943359 [Fail] Cliff-2 = 49.0583496094 out of range -50 to 20 [Fail] Cliff-3 = 46.025177002 out of range -50 to 20 [Pass] IMU AZ = -9.75911903381 [Pass] IMU Pitch = -7.90741157532 [Pass] IMU Roll = -7.24780273438 ---- Checking EndOfArm ---- [Fail] Ping of: stretch\_gripper [Pass] Ping of: wrist\_yaw [Fail] Not Calibrated: wrist\_yaw ---- Checking Head ---- [Pass] Ping of: head\_tilt [Pass] Ping of: head\_pan ---- Checking Wacc ---- [Pass] AX = 9.55035305023 ---- Checking hello-motor-left-wheel ---- [Pass] Position = -2.50163269043 [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 34.843325 errors per minute ---- Checking hello-motor-right-wheel ---- [Pass] Position = -0.203243404627 ---- Checking hello-motor-arm ---- [Pass] Position = -3.03727412224 [Fail] Position Calibrated = False ---- Checking hello-motor-lift ---- [Pass] Position = -2.70553970337 [Fail] Position Calibrated = False ---- Checking for Intel D435i ---- Bus 002 Device 002: ID 8086:0b3a Intel Corp. [Pass] : Device found and the output of ls -al /dev/hello\* is: lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-dynamixel-head → ttyUSB0 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-dynamixel-wrist → ttyUSB1 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-lrf → ttyUSB2 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-arm → ttyACM4 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-left-wheel → ttyACM0 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-lift → ttyACM2 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-right-wheel → ttyACM1 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-pimu → ttyACM3 lrwxrwxrwx 1 root root 15 Sep 13 12:36 /dev/hello-respeaker → bus/usb/001/012 lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-wacc → ttyACM5 ---
**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:** [September 13, 2021, 8:17pm UTC](https://forum.hello-robot.com/t/system-check-fails/294/5 "2021-09-13T20:17:00Z")
Great, looks like everything else works. We’ll continue debugging gripper issues in your [other thread](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295). A demo for Gazebo and MoveIt exists [here](https://github.com/hello-robot/stretch_ros/tree/master/stretch_gazebo#running-gazebo-with-moveit-and-stretch). Using MoveIt and MoveIt2 with the real robot is in active development at the moment.