stretch_configure_tool now works with or without SBS running by hello-robot-shehab · Pull Request #93 · hello-robot/stretch4_body

hello-robot-shehab · 2026-07-09T21:01:29Z

To test

Run stretch_configure_tool with SBS not running. Go through a tool change.
Run stretch_configure_tool with SBS running. Go through a tool change.

hello-robot-shehab · 2026-07-13T16:46:32Z

Hey @hello-bharadwaj , I made the changes we talked about. The tool now works with or without SBS, and you don't have to pass -d. Thanks for taking a look again!

…wise restarts the daemon. --daemon and --restart do not tail the log. However, the user can now pass --daemon --print or --restart --print to tail the log. --status now shows the daemon status too. --status now shows the user owning the server.

…erver isn't running, causing hanging. Cleaned up stop() in Client classes.

…ther _server_connected is truthy

…inger=0

…figure_tool_direct_mode

…nfigure_tool_direct_mode # Conflicts: # stretch4_body/tools/stretch_body_server.py

hello-bharadwaj · 2026-07-18T00:06:56Z

🛑 First Attempt Failed: Stretch Tool Configuration

The attempt to switch the end-of-arm tool to the Calibration Tool (eoa_wrist_dw4_tool_calibration) failed during the homing and initialization phase.

Key Issues Detected:

Feetech Servo Error: The system threw a communication error while trying to start the stretch_gripper due to a baud rate mismatch on servo ID 23.
- [ERROR]: FeetechCommError. Mismatched baud rate. Expected 1000000 but servo is set to 0.
Process Lock Collision: The script got stuck in a continuous loop failing to acquire the transport_filelock, which indicates a zombie process or an already running background server was blocking the initialization before the user aborted (^C).
- [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.

Traceback

hello-robot@stretch-se4-4040:~$ stretch_body_server --kill
For use with S T R E T C H (R) from Hello Robot Inc.
---------------------------------------------------------------------

Setting log level to INFO
[07/17/2026 16:45:29] [stretch_body_server] [INFO]: Received user request to kill stretch body server.
Kill Stretch Body Server Daemon: SUCCESS
hello-robot@stretch-se4-4040:~$ stretch_configure_tool 
For use with S T R E T C H (R) from Hello Robot Inc.
---------------------------------------------------------------------

This script will guide you through swapping your end-of-arm tool.
Steps:
1. Power off the current tool.
2. Swap the tool after power is off.
3. Select the new tool (auto-detection will highlight it).
4. Restart the server and home the new tool.
---------------------------------------------------------
Detected Robot Model: SE4
[07/17/2026 16:45:36] [stretch_body_client] [ERROR]: 
===============================================
                  
StretchBodyClient: Not able to connect to Stretch Body Server. Check that server is running
StretchBodyClient: Try running the server with stretch_body_server --launch
                  
===============================================
                  

[07/17/2026 16:45:36] [power_periph] [INFO]: Starting PowerPeriph...
Starting transmit_q thread: /dev/hello-power-periph
Turn off power to the peripheral? [Y/n]: y
Powering off eoa...
Connect the tool then press any key to continue...
Powering on eoa...
Scanning for tool on Feetech bus...
Detected tool: eoa_wrist_dw4_tool_nil (No Tool)
Shutting down transmit_q thread /dev/hello-power-periph
Current End-Of-Arm Tool: eoa_wrist_dw4_tool_sg4

Available Tools:
  0) No Tool: eoa_wrist_dw4_tool_nil  (detected)
      No tool attached to the robot.
  1) Stretch Gripper: eoa_wrist_dw4_tool_sg4 (current) 
      The standard Stretch 4 compliant gripper.
  2) Parallel Jaw Gripper: eoa_wrist_dw4_tool_pg4  
      A parallel jaw gripper for the Stretch 4.
  3) Tablet Holder: eoa_wrist_dw4_tool_tablet  
      A holder for a tablet device.
  4) Calibration Tool: eoa_wrist_dw4_tool_calibration  
      A tool for calibrating the robot's head sensors.
  5) Enter a custom tool name
  6) Quit without saving

Select a tool [0-6] [0]: 4

Setting End-Of-Arm Tool to: eoa_wrist_dw4_tool_calibration
Saved to /home/hello-robot/stretch_user/stretch-se4-4040/stretch_user_params.yaml

Would you like to home the end_of_arm? [Y/n]: y
[07/17/2026 16:46:14] [robot] [INFO]: Starting up Robot stretch-se4-4040 of batch francis
[07/17/2026 16:46:14] [lift] [INFO]: Starting Lift...
Starting transmit_q thread: /dev/hello-motor-lift
[07/17/2026 16:46:14] [arm] [INFO]: Starting Arm...
Starting transmit_q thread: /dev/hello-motor-arm
[07/17/2026 16:46:14] [omnibase] [INFO]: Starting Omnibase...
Starting transmit_q thread: /dev/hello-motor-omni-0
Starting transmit_q thread: /dev/hello-motor-omni-1
Starting transmit_q thread: /dev/hello-motor-omni-2
[07/17/2026 16:46:14] [power_periph] [INFO]: Starting PowerPeriph...
Starting transmit_q thread: /dev/hello-power-periph
[07/17/2026 16:46:14] [wrist_pitch] [INFO]: Starting Wrist_pitch...
[ID:021] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:14] [wrist_pitch] [WARNING]: Feetech not calibrated: wrist_pitch
Feetech not calibrated: wrist_pitch
[07/17/2026 16:46:14] [wrist_roll] [INFO]: Starting Wrist_roll...
[ID:022] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:14] [wrist_roll] [WARNING]: Feetech not calibrated: wrist_roll
Feetech not calibrated: wrist_roll
[07/17/2026 16:46:14] [wrist_yaw] [INFO]: Starting Wrist_yaw...
[ID:020] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:14] [wrist_yaw] [WARNING]: Feetech not calibrated: wrist_yaw
Feetech not calibrated: wrist_yaw
[07/17/2026 16:46:14] [stretch_gripper] [INFO]: Starting Stretch_gripper...
Scanning baud rates on ID 23 and bus /dev/hello-feetech-wrist. Please wait...
Unable to identify baudrate on servo 23
[07/17/2026 16:46:14] [stretch_gripper] [ERROR]: FeetechCommError. Mismatched baud rate. Expected 1000000 but servo is set to 0.
[07/17/2026 16:46:14] [stretch_gripper] [WARNING]: FeetechSMHello Ping failed... stretch_gripper
[07/17/2026 16:46:15] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:16] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:17] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:18] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:19] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:20] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:21] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:22] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:23] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:24] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
[07/17/2026 16:46:25] [robot] [ERROR]: Unable for RobotCore to aquire transport_filelock, server may already be running.                
Try running stretch_body_server --status or stretch_free_robot_process. 
Exiting loop.
^C
Aborted!
Shutting down transmit_q thread /dev/hello-power-periph
Shutting down transmit_q thread /dev/hello-motor-omni-2
Shutting down transmit_q thread /dev/hello-motor-omni-1
Shutting down transmit_q thread /dev/hello-motor-omni-0
Shutting down transmit_q thread /dev/hello-motor-arm
Shutting down transmit_q thread /dev/hello-motor-lift

hello-bharadwaj · 2026-07-18T00:09:26Z

✅ Second Attempt Successful: Stretch Tool Configuration

Traceback

hello-robot@stretch-se4-4040:~$ stretch_configure_tool 
For use with S T R E T C H (R) from Hello Robot Inc.
---------------------------------------------------------------------

This script will guide you through swapping your end-of-arm tool.
Steps:
1. Power off the current tool.
2. Swap the tool after power is off.
3. Select the new tool (auto-detection will highlight it).
4. Restart the server and home the new tool.
---------------------------------------------------------
Detected Robot Model: SE4
[07/17/2026 16:46:41] [stretch_body_client] [ERROR]: 
===============================================
                  
StretchBodyClient: Not able to connect to Stretch Body Server. Check that server is running
StretchBodyClient: Try running the server with stretch_body_server --launch
                  
===============================================
                  

[07/17/2026 16:46:42] [power_periph] [INFO]: Starting PowerPeriph...
Starting transmit_q thread: /dev/hello-power-periph
Turn off power to the peripheral? [Y/n]: y\
Error: invalid input
Turn off power to the peripheral? [Y/n]: y
Powering off eoa...
Connect the tool then press any key to continue...
Powering on eoa...
Scanning for tool on Feetech bus...
Detected tool: eoa_wrist_dw4_tool_nil (No Tool)
Shutting down transmit_q thread /dev/hello-power-periph
Current End-Of-Arm Tool: eoa_wrist_dw4_tool_calibration

Available Tools:
  0) No Tool: eoa_wrist_dw4_tool_nil  (detected)
      No tool attached to the robot.
  1) Stretch Gripper: eoa_wrist_dw4_tool_sg4  
      The standard Stretch 4 compliant gripper.
  2) Parallel Jaw Gripper: eoa_wrist_dw4_tool_pg4  
      A parallel jaw gripper for the Stretch 4.
  3) Tablet Holder: eoa_wrist_dw4_tool_tablet  
      A holder for a tablet device.
  4) Calibration Tool: eoa_wrist_dw4_tool_calibration (current) 
      A tool for calibrating the robot's head sensors.
  5) Enter a custom tool name
  6) Quit without saving

Select a tool [0-6] [0]: 4

Setting End-Of-Arm Tool to: eoa_wrist_dw4_tool_calibration
Saved to /home/hello-robot/stretch_user/stretch-se4-4040/stretch_user_params.yaml

Would you like to home the end_of_arm? [Y/n]: y
[07/17/2026 16:46:59] [robot] [INFO]: Starting up Robot stretch-se4-4040 of batch francis
[07/17/2026 16:46:59] [lift] [INFO]: Starting Lift...
Starting transmit_q thread: /dev/hello-motor-lift
[07/17/2026 16:46:59] [arm] [INFO]: Starting Arm...
Starting transmit_q thread: /dev/hello-motor-arm
[07/17/2026 16:46:59] [omnibase] [INFO]: Starting Omnibase...
Starting transmit_q thread: /dev/hello-motor-omni-0
Starting transmit_q thread: /dev/hello-motor-omni-1
Starting transmit_q thread: /dev/hello-motor-omni-2
[07/17/2026 16:46:59] [power_periph] [INFO]: Starting PowerPeriph...
Starting transmit_q thread: /dev/hello-power-periph
[07/17/2026 16:46:59] [wrist_pitch] [INFO]: Starting Wrist_pitch...
[ID:021] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:59] [wrist_pitch] [WARNING]: Feetech not calibrated: wrist_pitch
Feetech not calibrated: wrist_pitch
[07/17/2026 16:46:59] [wrist_roll] [INFO]: Starting Wrist_roll...
[ID:022] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:59] [wrist_roll] [WARNING]: Feetech not calibrated: wrist_roll
Feetech not calibrated: wrist_roll
[07/17/2026 16:46:59] [wrist_yaw] [INFO]: Starting Wrist_yaw...
[ID:020] ping Succeeded. SCServo model number : 10504
[07/17/2026 16:46:59] [wrist_yaw] [WARNING]: Feetech not calibrated: wrist_yaw
Feetech not calibrated: wrist_yaw
Homing end_of_arm...
[07/17/2026 16:47:02] [eoa_wrist_dw4_tool_calibration] [INFO]: Homing eoa_wrist_dw4_tool_calibration
[07/17/2026 16:47:03] [wrist_yaw] [INFO]: Moving to first hardstop (wrist_yaw)...
[07/17/2026 16:47:08] [wrist_yaw] [INFO]: Applying homing offset bias of -133 ticks
[07/17/2026 16:47:08] [wrist_yaw] [INFO]: First hardstop contact at position (ticks): 1531
[07/17/2026 16:47:08] [wrist_yaw] [INFO]: Moving to calibrated pos: (ticks) 53.0
[07/17/2026 16:47:10] [wrist_yaw] [INFO]: Done homing wrist_yaw
[07/17/2026 16:47:10] [wrist_roll] [INFO]: Moving to first hardstop (wrist_roll)...
[07/17/2026 16:47:11] [wrist_roll] [INFO]: Applying homing offset bias of 100 ticks
[07/17/2026 16:47:11] [wrist_roll] [INFO]: First hardstop contact at position (ticks): 2739
[07/17/2026 16:47:11] [wrist_roll] [INFO]: Moving to calibrated pos: (ticks) 4217.0
[07/17/2026 16:47:13] [wrist_roll] [INFO]: Done homing wrist_roll
[07/17/2026 16:47:13] [wrist_pitch] [INFO]: Moving to first hardstop (wrist_pitch)...
[07/17/2026 16:47:18] [wrist_pitch] [INFO]: Applying homing offset bias of -160 ticks
[07/17/2026 16:47:18] [wrist_pitch] [INFO]: First hardstop contact at position (ticks): 31
[07/17/2026 16:47:18] [wrist_pitch] [INFO]: Moving to calibrated pos: (ticks) -1447.0
[07/17/2026 16:47:20] [wrist_pitch] [INFO]: Done homing wrist_pitch
[07/17/2026 16:47:20] [robot] [INFO]: ---- Shutting down robot ----
[07/17/2026 16:47:20] [hello-motor-lift] [INFO]: Shutting down Stepper on: /dev/hello-motor-lift
Shutting down transmit_q thread /dev/hello-motor-lift
[07/17/2026 16:47:20] [hello-motor-arm] [INFO]: Shutting down Stepper on: /dev/hello-motor-arm
Shutting down transmit_q thread /dev/hello-motor-arm
[07/17/2026 16:47:20] [hello-motor-omni-0] [INFO]: Shutting down Stepper on: /dev/hello-motor-omni-0
Shutting down transmit_q thread /dev/hello-motor-omni-0
[07/17/2026 16:47:20] [hello-motor-omni-1] [INFO]: Shutting down Stepper on: /dev/hello-motor-omni-1
Shutting down transmit_q thread /dev/hello-motor-omni-1
[07/17/2026 16:47:20] [hello-motor-omni-2] [INFO]: Shutting down Stepper on: /dev/hello-motor-omni-2
Shutting down transmit_q thread /dev/hello-motor-omni-2
Shutting down transmit_q thread /dev/hello-power-periph
[07/17/2026 16:47:20] [robot] [INFO]: ---- Shutdown complete ----
Done! You are ready to use the tool.

hello-robot-shehab added 2 commits July 9, 2026 16:57

Added a -d flag to stretch_configure_tool

26d3b8c

Added failure if cannot connect to powerperiph

dae155f

hello-robot-shehab requested a review from hello-bharadwaj July 9, 2026 21:01

Direct connection is now inferred

315e133

hello-robot-shehab changed the title ~~Added a -d flag to stretch_configure_tool~~ stretch_configure_tool now works with or without SBS running Jul 13, 2026

hello-robot-shehab added 7 commits July 14, 2026 18:23

StretchBodyClient.startup() was not cleaning up open zmq sockets if s…

9d28265

…erver isn't running, causing hanging. Cleaned up stop() in Client classes.

Fixed server_connected always true after stop()

47e03d4

Added tests to reproduce the bug

bcc48de

Removed unused is_valid and added check_connection() that updates whe…

7bf0703

…ther _server_connected is truthy

Added a logger to StretchBodyClient

6274625

Added a test for garbage collection, and fixed the hanging by using l…

2793cc7

…inger=0

hello-robot-shehab mentioned this pull request Jul 17, 2026

stretch_configure_tool workflow should not require the currently configured gripper to be connected #109

Open

hello-bharadwaj added 2 commits July 17, 2026 16:39

Merge branch 'feature/sbs-better-restart-ux' into feature/stretch_con…

0b490bb

…figure_tool_direct_mode

Merge branch 'bugfix/robot-client-zombie-zmq' into feature/stretch_co…

975839c

…nfigure_tool_direct_mode # Conflicts: # stretch4_body/tools/stretch_body_server.py

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stretch_configure_tool now works with or without SBS running#93

stretch_configure_tool now works with or without SBS running#93
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hello-bharadwaj commented Jul 18, 2026

🛑 First Attempt Failed: Stretch Tool Configuration

Key Issues Detected:

Traceback

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hello-bharadwaj commented Jul 18, 2026

✅ Second Attempt Successful: Stretch Tool Configuration

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hello-robot-shehab commented Jul 9, 2026 •

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