lerobot/unitree-g1-hardware-modifications

Unitree G1 Hardware Modifications

Custom 3D-printable parts and reference photos for modifying the Unitree G1: OpenArm grippers on the wrists, an extra head camera, and a backpack enclosure for the CAN-FD interface and cabling.

Everything here is printable geometry plus photos of the assembled result — there is no firmware or control code in this repo.

Modifications

1. Gripper on the G1 wrist

The gripper itself is the stock gripper from the OpenArm project by Enactic — we use it as-is, with CAD and assembly instructions in enactic/openarm_hardware and docs.openarm.dev/hardware. The only custom part is the mount: the G1 wrist plate does not match the OpenArm gripper bolt pattern, so STLs/unitree-g1-openarm-adapter.stl sits between them. The white printed bracket carries the gripper actuator and its small driver PCB, and the aluminium linkage drives the two jaws.

Front	Mount side

• media/gripper_front.jpeg — assembled gripper seen from the jaw side. The black fingers have tape/foam padding added for grip on smooth objects.
• media/gripper_mount.jpeg — rear of the same assembly, showing the actuator can, the printed adapter arm, and the driver board mounted on the top face.

2. Head camera

An Arducam board camera is mounted on the front of the G1 head, just off-centre from the stock depth camera, using a printed holder that clips onto the face plate.

• media/head_mount.jpeg — camera board in place on the head. Note the cable routed down behind the face plate.
• STLs/head_camera_holder.stl — the holder that mounts to the head.
• STLs/arducam_holder.stl — the smaller cradle that holds the Arducam board itself.

3. Backpack enclosure

A printed box on the G1's back holds the CAN-FD adapter (a SavvyCAN 2CH CAN-FD unit in the photos) and takes up the slack in the gripper and camera cabling. It mounts over the existing torso rails, and the removable faceplate gives access without unmounting the box.

Open	Closed

• media/backpack_open.jpeg — faceplate removed, showing the CAN-FD adapter and the cable loom.
• media/backpack_closed.jpeg — faceplate on, as the robot runs.
• STLs/robot backpack v2.stl — the box body on its own.
• STLs/robot backpack v2 with faceplate.stl — body plus faceplate, for printing both at once.

Files

STLs/

File	Modification	Notes
unitree-g1-openarm-adapter.stl	Gripper	Adapter between the G1 wrist and the OpenArm gripper
head_camera_holder.stl	Head camera	Mounts to the G1 head face plate
arducam_holder.stl	Head camera	Cradle for the Arducam board
robot backpack v2.stl	Backpack	Enclosure body
robot backpack v2 with faceplate.stl	Backpack	Enclosure body and faceplate together