# Removing stretch gripper from dex wrist

**URL:** <https://forum.hello-robot.com/t/removing-stretch-gripper-from-dex-wrist/603>\
**Category:** Ask\
**Created:** [February 21, 2023, 9:42pm UTC](https://forum.hello-robot.com/t/removing-stretch-gripper-from-dex-wrist/603 "2023-02-21T21:42:58Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![nwagwu](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/nwagwu/32/403_2.png) [@nwagwu](https://forum.hello-robot.com/u/nwagwu)\
**Post date:** [February 21, 2023, 9:42pm UTC](https://forum.hello-robot.com/t/removing-stretch-gripper-from-dex-wrist/603/1 "2023-02-21T21:42:58Z")

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Hi,

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 stretch\_robot\_home.py 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.

Thanks.

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**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:** [February 21, 2023, 11:09pm UTC](https://forum.hello-robot.com/t/removing-stretch-gripper-from-dex-wrist/603/2 "2023-02-21T23:09:06Z")

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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](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/tutorial_tool_change/) 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.