Replace the Dex1-1 Gripper with the Strong-Arm Five-Finger Dexterous Hand Revo 2 Tactile Edition (includes RGB camera)

Dexterous Hand Parameters:
Model: Five-Finger Dexterous Hand
Degrees of Freedom (DoF): 6
Number of Joints: 11
Repeatability Control Accuracy: 0.1°
Height: 160 mm (from middle fingertip to base of palm)
Tactile Sensing Capabilities: Pressure, friction, direction, etc.

Total Degrees of Freedom (DoF): 29
Breakdown: (7 DoF/Arm × 2) + 2 (Waist) + 1 (Column) + (6 DoF/Dexterous Hand × 2) = 29