Replace the Dex1-1 Advanced Gripper with the Dex3-1 Force-Controlled Three-Finger Dexterous Hand (with tactile sensing, includes RGB camera)

Dexterous Hand Parameters:
Model: Dex3-1 Force-Controlled Three-Finger Dexterous Hand (with tactile sensing)
Weight: Approx. 650 g
Dimensions: 175 mm × 88 mm × 77 mm
DoF per Hand: 7 (Thumb: 3 DoF, Index Finger: 2 DoF, Middle Finger: 2 DoF)
Operating Voltage: 12–58 V
Static Current: 0.2 A @ 58 V
Communication Interface: USB
Sensing Range: 10 g–2500 g

Total Degrees of Freedom (DoF): 31
Breakdown: (7 DoF/Arm × 2) + 2 (Waist) + 1 (column) + (7 DoF/Dexterous hand × 2) = 31