Removing stretch gripper from dex wrist


I had made a tool for my stretch re2 and wanted to utilize the already installed dex wrist on it. I was wondering if there was a way to remove the gripper from the dex wrist correctly? I had tried removing the gripper and editing the dex wrist urdf to no avail as would still look for the stretch_gripper. I had also checked the user_params.yaml as I’d seen in a previous post but saw no mention of the gripper.


Hey @nwagwu, welcome to the forum. Yup, it’s possible to remove the gripper and Stretch’s SDKs support modification of the end effector tool. The Changing Tools tutorial covers everything you’d need to know about this.

In particular, it sounds like the “Changing Tool Interfaces in Stretch Body” and “Changing Tool Interfaces in Stretch ROS” sections would be helpful for you. Let me know if you’ve still got questions after looking at them.