Stretch 4 Tool Share

Community-shared end-of-arm (EOA) tools for the Stretch 4 mobile manipulator from Hello Robot. Each folder in this repository is a complete, robot-tested tool — drivers, URDF, meshes, and parameters — ready to install on your robot.

Tool Gallery

Image	Tool	Author	Description
	NYU Gripper	NYU	Tendon-driven parallel gripper for the DexWrist v4 — one Feetech servo winds a Kevlar tendon to close, spring-return opens

Installing a shared tool

1. Clone this repository onto your robot:

   cd ~/repos/
   git clone https://github.com/hello-robot/stretch4_tool_share.git

2. Link the tool's folder into ~/stretch_user/user_tools/:

   mkdir -p ~/stretch_user/user_tools/
   ln -s $HOME/repos/stretch4_tool_share/stretch4_tool_share/* ~/stretch_user/user_tools/

3. Register the tool:

   stretch_add_user_tool <tool_name>

4. Activate it by selecting it from the tool list:

   stretch_configure_tool

5. Restart the body server:

   stretch_body_server --restart

Verify the installation:

1. Confirm all validation checks pass:

   stretch_add_user_tool <tool_name> --check

2. Jog the tool:

   stretch_gripper_jog

3. Check the tool appears and moves in the collision visualizer:

   stretch_collision_viz

Each tool's README may add tool-specific steps (bill of materials, servo configuration, homing caveats) — read it before installing.

Building your own tool

New tools are scaffolded on the robot, not copied from existing ones:

stretch_add_user_tool my_tool_name

This generates ~/stretch_user/user_tools/my_tool_name/ with boilerplate drivers, an empty tool.urdf, and a user_tool.md reference guide documenting every file and the full authoring workflow. See also the official Changing Tools documentation.

Contributing

Built a tool the community could use? See CONTRIBUTING.md, and consider announcing it on the Stretch forum.

License

This repository is licensed under the Apache License 2.0. Attribution for each tool lives in its own README.