stretch_tutorials/stretch_tool_share/dexwrist.md

## Stretch Dex Wrist

**Created by**: Hello Robot Inc

The [Stretch Dex Wrist](https://hello-robot.com/stretch-dex-wrist) is commercially available from Hello Robot. The following hardware guides are available:

* [Stretch RE1 DexWrist Hardware Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/dex_wrist_guide_re1/)
* [Stretch 2 DexWrist Hardware Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/dex_wrist_guide_re2/)

Additional resources available here include:

* [Gazebo Support](https://github.com/hello-robot/stretch_tool_share/blob/master/tool_share/stretch_dex_wrist/gazebo_support/README.md)
* [URDF](https://github.com/hello-robot/stretch_tool_share/tree/master/tool_share/stretch_dex_wrist/stretch_description)