Unitree Robotics — Official End-Effector Unitree R1 Dedicated Dex1-1 Gripper (Standard Version) Official end-effector gripper for the Unitree R1 humanoid robot. Includes a D405 camera mounting bracket (camera not included), 485-to-USB conversion board, cables, and accessories. Open to secondary development with full robotics development interfaces provided. This listing is for a single gripper unit — typically, two grippers are selected per humanoid robot for dual-arm manipulation. D405 Camera Mount 485-USB Conversion Board Open SDK / Dev 1 Unit Single Gripper R1 Dedicated Product Overview The Unitree R1 Dedicated Dex1-1 Gripper (Standard 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. D405 Camera Mounting Bracket Precision bracket for mounting an Intel RealSense D405 depth camera (camera not included). Enables visual servoing, grasp pose estimation, and depth-based object detection directly on the gripper. 485-to-USB Conversion Board Integrated RS-485 to USB conversion board translates the gripper actuator bus to standard USB. No additional interface hardware required — plug directly into the R1 compute module. Cables & Accessories Included Complete set of cables and accessories for installation. Power, data, and signal cables are pre-terminated and length-matched for clean integration with the R1 arm wiring harness. Open to Secondary Development Full robotics development interfaces provided. Access gripper position, force, and velocity data via APIs. Implement custom control loops, grasp planners, and tactile algorithms. R1 Dedicated Design Mechanical and electrical interface designed specifically for the Unitree R1 humanoid robot arm. Optimized mounting geometry, cable routing, and weight distribution for dynamic manipulation. Single Unit Listing This package includes one gripper unit. 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 D405 Depth Integration Mount an Intel RealSense D405 for close-range depth sensing, enabling visual servoing and grasp pose estimation. 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 Unit) Each Dex1-1 Gripper Standard Version package contains the following components for a single gripper unit: Hardware Dex1-1 Gripper Unit Complete gripper assembly with actuator, fingers, and mechanical housing. Mount D405 Camera Bracket Precision mounting bracket for Intel RealSense D405 depth camera (camera not included). Interface 485-to-USB Board RS-485 to USB conversion board for direct connection to the R1 compute module. Cables Power & Data Cables Pre-terminated cables and accessories for plug-and-play installation. Important Notes This package does not include the Intel RealSense D405 Depth Camera. The D405 Camera Mounting Bracket is provided so customers can mount their own camera if desired. This is the price and information for a single gripper unit. 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. Technical Specifications Parameter Unitree R1 Dex1-1 Gripper (Standard Version) Product Name R1 Dedicated Dex1-1 Gripper Standard Version Compatible Robot Unitree R1 humanoid robot Camera Mounting Bracket D405 Camera Mounting Bracket x1 (D405 depth camera not included) Conversion Board 485-to-USB Conversion Board x1 Cables & Accessories Power cables, data cables, and installation accessories included 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 gripper unit 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.* The Intel RealSense D405 Depth Camera is not included with this package. The mounting bracket is provided for customers who wish to add their own camera.* This package includes one gripper unit. 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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