Unitree Robotics — Official End-Effector Unitree R1 Dedicated Dex1-1 Gripper (Advanced Version) Official end-effector gripper for the Unitree R1 humanoid robot. Advanced Version includes an integrated RGB Camera (FOV 160) with a dedicated mount, a free D405 camera mounting bracket (D405 camera not included), a 485-to-USB adapter board, cables, and accessories. Open to secondary development with full robotics development interfaces provided. This listing is for a single hand — typically, two grippers are selected per humanoid robot for dual-arm manipulation. RGB Camera FOV 160 D405 Free Mount Open SDK / Dev 1 Hand Single Gripper R1 Dedicated Product Overview The Unitree R1 Dedicated Dex1-1 Gripper (Advanced Version) is the official end-effector for the Unitree R1 humanoid robot, designed to bring versatile manipulation capabilities to your robotic platform. This gripper package includes a precision-machined D405 camera mounting bracket that allows customers to integrate Intel RealSense D405 depth cameras for visual servoing and grasp detection (note: the D405 depth camera itself is not included). The included 485-to-USB conversion board bridges the gripper's RS-485 actuator bus to the robot's USB host interface, enabling seamless communication without custom hardware. All necessary cables and accessories are included for plug-and-play installation. The gripper is open to secondary development with comprehensive robotics development interfaces provided, allowing researchers and engineers to implement custom grasp strategies, force control, and tactile feedback algorithms. This listing covers a single gripper unit — for dual-arm manipulation, two grippers are typically required. Integrated RGB Camera (FOV 160) Built-in RGB camera with 160° field of view provides color visual feedback directly at the gripper. Enables object recognition, visual servoing, and grasp verification without external cameras. RGB Camera Dedicated Mount Precision dedicated mount for the integrated RGB camera. Optimized positioning for maximum field of view and minimal occlusion during grasping operations. Free D405 Camera Mount Includes a free D405 camera mounting bracket (Intel RealSense D405 depth camera not included). Customers can optionally add a D405 for depth-based visual servoing and 3D grasp detection. 485-to-USB Adapter Board Integrated RS-485 to USB adapter board translates the gripper actuator bus to standard USB. No additional interface hardware required — plug directly into the R1 compute module. Open to Secondary Development Full robotics development interfaces provided. Access gripper position, force, velocity, and RGB camera data via APIs. Implement custom control loops, grasp planners, and vision-based algorithms. Single Hand Listing This package includes one gripper hand. For dual-arm manipulation configurations, two grippers are typically selected per humanoid robot. Order quantity accordingly. Manipulation Capabilities The Dex1-1 Gripper is engineered for reliable grasping across a wide range of object shapes, sizes, and materials commonly encountered in research, logistics, and service robotics: Grasp Parallel Jaw Gripping Standard parallel-jaw configuration for stable, centered grasps on prismatic and cylindrical objects. Vision Integrated RGB + Optional D405 Built-in RGB camera FOV 160 for color feedback. Optional D405 depth camera mount included for 3D sensing and depth-based grasping. Control Position & Force Control Programmable position and force limits via the development interface. Implement compliant manipulation and delicate handling. Dev Custom Grasp Strategies Open development environment supports custom grasp planners, tactile feedback loops, and adaptive force control algorithms. Secondary Development & Interfaces The Dex1-1 Gripper is built for researchers and developers who need full control over manipulation behavior. Unitree provides comprehensive robotics development interfaces that expose all actuator and sensor data: Actuator Control API Command gripper position, velocity, and torque directly. Implement position control, velocity control, or force-controlled grasps via the provided API. Sensor Feedback Read real-time gripper state including jaw position, motor current, and temperature. Use current sensing as a proxy for grasp force. D405 Integration Support Documentation and sample code for integrating Intel RealSense D405 depth data with gripper control. Build visual servoing and grasp detection pipelines. ROS / Robotics Middleware Compatible with standard robotics middleware. Integrate the gripper into existing ROS-based manipulation stacks and motion planning frameworks. What's Included (Per Hand) Each Dex1-1 Gripper Advanced Version package contains the following components for a single gripper hand: Hardware Dex1-1 Gripper Unit Complete gripper assembly with actuator, fingers, and mechanical housing. Mount RGB Camera FOV 160 Integrated RGB camera with 160° field of view for color visual feedback at the gripper. Interface RGB Camera Mount Dedicated precision mount for the integrated RGB camera. Optimized for maximum FOV coverage. Cables Free D405 Camera Mount Free mounting bracket for Intel RealSense D405 depth camera (camera not included). Add depth sensing optionally. Important Notes This package includes an integrated RGB Camera (FOV 160) and a free D405 Camera Mount. The Intel RealSense D405 Depth Camera itself is not included — the mount is provided so customers can add their own D405 if desired. This is the price and information for a single hand. Typically, two grippers are selected per humanoid robot for dual-arm manipulation. Please order the appropriate quantity for your configuration. Secondary development requires programming knowledge in supported languages and familiarity with robotics middleware. The 485-to-USB Conversion Board enables direct USB connection to the R1 compute module. No additional interface hardware is required. Technical Specifications Parameter Unitree R1 Dex1-1 Gripper (Advanced Version) Product Name R1 Dedicated Dex1-1 Gripper Advanced Version Compatible Robot Unitree R1 humanoid robot Integrated RGB Camera RGB Camera (FOV 160) x1 with dedicated mount D405 Camera Mount Free D405 Camera Mounting Bracket x1 (D405 depth camera not included) Adapter Board 485-to-USB Adapter Board x1 Development Support Open to secondary development with robotics development interfaces provided Actuator Interface RS-485 (via included 485-to-USB board) Control Modes Position control, velocity control, force-limited grasping Depth Camera Support Intel RealSense D405 (customer-provided, bracket included) Package Quantity Single hand per package Typical Robot Configuration Two grippers per humanoid robot (dual-arm) Warranty 12 months * Specifications are based on manufacturer data and may vary slightly by production batch.* This package includes an integrated RGB Camera (FOV 160) and a free D405 Camera Mount. The Intel RealSense D405 Depth Camera itself is not included.* This package includes one gripper hand. For dual-arm manipulation, order two units.* Secondary development requires programming skills and familiarity with robotics control concepts.* Unitree is a registered trademark of Unitree Robotics.
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