# Adding additional DOF to the wrist

**URL:** <https://forum.hello-robot.com/t/adding-additional-dof-to-the-wrist/51>\
**Category:** Discuss\
**Created:** [July 30, 2020, 11:11pm UTC](https://forum.hello-robot.com/t/adding-additional-dof-to-the-wrist/51 "2020-07-30T23:11:48Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![aedsinger](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/aedsinger/32/6_2.png) [@aedsinger](https://forum.hello-robot.com/u/aedsinger)\
**Post date:** [July 30, 2020, 11:11pm UTC](https://forum.hello-robot.com/t/adding-additional-dof-to-the-wrist/51/1 "2020-07-30T23:11:48Z")

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Hello!

We just [posted a tutorial](https://github.com/hello-robot/stretch_body/blob/master/tutorial/extending_wrist_dof/README.md) on how to integrate additional Dynamixel servos onto the Stretch wrist and access them via the Stretch Body Python interface.

This tutorial illustrates a single DOF but it applies equally to multi-DOF. If you’re looking for multi-DOF wrist hardware, also check out our [Reactor Wrist tutorial](https://github.com/hello-robot/stretch_tool_share/tree/master/reactorx_wrist_V1) on the Stretch Tool Share.