# Switching out Stretch Dex Wrist to Dry Erase Holder

**URL:** <https://forum.hello-robot.com/t/switching-out-stretch-dex-wrist-to-dry-erase-holder/670>\
**Category:** Ask\
**Created:** [April 14, 2023, 4:03am UTC](https://forum.hello-robot.com/t/switching-out-stretch-dex-wrist-to-dry-erase-holder/670 "2023-04-14T04:03:45Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![sonny](https://avatars.discourse-cdn.com/v4/letter/s/58f4c7/32.png) [@sonny](https://forum.hello-robot.com/u/sonny)\
**Post date:** [April 14, 2023, 4:03am UTC](https://forum.hello-robot.com/t/switching-out-stretch-dex-wrist-to-dry-erase-holder/670/1 "2023-04-14T04:03:45Z")

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Hello, I am interested in trying writing letters on a whiteboard like in the video where Stretch robot writes “HELLO” on a whiteboard. So, I was wondering if there is an instruction on how to remove the gripper and install the Dry Erase Holder on Stretch 2 robot.

Thank you

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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:** [April 14, 2023, 10:29am UTC](https://forum.hello-robot.com/t/switching-out-stretch-dex-wrist-to-dry-erase-holder/670/2 "2023-04-14T10:29:30Z")

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Hi @sonny, yes, here’s the instructions to attach the Dry Erase Holder: [Dry Erase Holder - Stretch Documentation](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_tool_share/dry_erase_holder/#assembly-instructions)

Here’s the instructions to remove the gripper: [Gripper Removal - Stretch Documentation](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_tool_share/gripper_removal/)

And lastly, here’s the instructions to configure the software for the newly attached tool: [Changing Tools - Stretch Documentation](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/tutorial_tool_change/#loading-tool-interfaces-from-stretch-tool-share)

Let me know if you have any questions!